机器视觉技术在工业机器人的应用研究

Study on Visual Guidance Technology in the Application of Industrial Robots

工业机器人自20世纪60年代初问世以来,其研究、开发及应用一直受到企业与科学家的关注,广泛应用于化工成产、设备安装、道路施工、机械制造、凿岩采矿等诸多领域。随着工业机器人的发展,越来越重视将视觉系统应用到工业机器人上。本文主要进行图像处理,针对二值化分割,目的在于后续求得工作质心与角度。因本实验工件与背景色的问题,先进行普通阈值二值化处理得到的结果令人并不是很满意,所以结合具体情况,对算法进行优化,采用基于6色调的黑白化处理。最后,先做工件最后的定位分析和求解工件摆放角度。

Since the beginning of the 1960 s,the research,development andapplication of Industrial robot have always been the concern of the scientists and scientists. Nowadays,more and more attention to the visual system that have been applied to the industrial robot.For image processing,The two value segmentation,for the follow-up work to calculate the centroid and the angle. Because of the workpiece and the background of this experiment,the common threshold value of the two processing results are not very satisfied,so combined with the specific circumstances and to optimize the algorithm,using black and white 6 colors method.Finally,analysis for positioning the workpiece and solve the workpiece angle.