摘要
锯条包装目前主要依靠人工,这样不仅包装效率低下,而且工人的工作环境恶劣,为了提高锯条的包装效率,改善工人的工作环境,搭建了以工业机器人、工业相机、传送带为基础的锯条自动包装系统;首先将相机坐标、传送带坐标、机器人坐标三者之间进行坐标转换,完成相机与传送带的标定;其次利用图像处理技术提取锯条的质心坐标及锯条的角度,实现对锯条的定位;最后利用机器人跟踪算法对锯条进行跟踪抓取;经测试,此系统对锯条的抓取效率大大高于人工包装,不仅解放了劳动力,而且也提高了企业的经济效益。
Blade packaging is mainly rely on manual currently, not only low packaging efficiency, and also poor working conditions. In order to improve the efficiency of the blade packaging and the working conditions, build automated packaging systems with industrial robots, industrial camera. Firstly, making the coordinate conversion between camera coordinate, conveyor coordinate and robot coordinate to finish the conveyor calibration and camera calibration; secondly, using image processing to extract the blade＇ s centroid coordinate and the angle o{ the blade; finally, tracking the blade to crawl with tracking algorithm. After testing, this system will improve the efficiency of blade packa ging, not only liberate the labor force, but also improve the enterprise economic benefits.
出处
《计算机测量与控制》
2015年第12期4060-4063,共4页
Computer Measurement &Control
基金
国家自然基金(51275477)
关键词
机器视觉
图像处理
坐标转换
动态抓取
machine vision
image processing
coordinate conversion
dynamic grab
