一种并联机械手视觉引导算法

Design of Visual Algorithm for Guiding Parallel Manipulator

摘要:

钣金冲压件为例,根据传送带输送的工件具有一致性的特点,介绍了用于从传送带上抓取并将其摆放整齐的并联机械手的视觉引导算法设计,采用一种非匹配的算法,快速将在传送带上杂散分布的工件的位置和角度计算出来；该算法较模板匹配法运算量大大减少,保证了系统的实时性；另外,对于传送带上工件正反面颠倒、工件重叠现象,算法也进行了相应处理；机械手可根据视觉算法得到的工件信息,逆解计算出机械手主动臂转角,从而实现拾放(pick-and-place)操作；对3万件工件实测,其中发生重叠的工件43个,没有正确识别工件28个；该算法对工件定位准确度达到99.7%,证明该算法具有很高的可靠性。

Abstract:

Taking stamping parts as an example, according to the consistency of components on the conveyor belt, we introduce a design of visual algorithm for guiding parallel manipulator to pick components from the conveyor belt. We use a non-matching algorithm, by which position and angle of components on the conveyor belt can be fast calculated. Compared with template matching method, this algorithm has greatly reduced computing time, which ensures the real-time performance of the system. In addition, the algorithm also deals with reversal and overlapping phenomenon of components. According to the information obtained by visual algorithm, angle of driving arm of the manipulator can be calculated, and the pick-and-place operation can be realized. We tested 30,0 components, except for 43 overlapping ones, and 28 not-correctly-recognized ones, the algorithm has the correct rate of 99.7%, which prove that the algorithm has high reliability.