基于LabVIEW的Tripod机器人视觉处理和定位研究

Tripod robot's visual processing and location based on LabVIEW

针对传统的物流分拣过程效率低、成本高的现状,以及利用机器视觉进行分拣快速、可靠的优点,对机器视觉、图像处理和Tiropd机器人进行了研究,基于LabVIEW,设计了Tripod机器人视觉系统,将分拣过程简化为对几何体的识别和抓放过程。利用边缘提取、滤波去噪、圆心检测等算法,采用LabVIEW视觉模块及其库函数,进行了图像的预处理、特征提取以及中心点定位。研究结果表明,基于LabVIEW的Tripod机器人系统能够准确识别平台几何体的颜色和形状,可较为精确地定位几何体中心,满足后续控制的要求。

Aiming at the low efficiency and high cost of the traditional sorting process,machine vision had reliable advantages and could expedite the sorting process,study on the machine vision and image processing were carried out on a Tripod robot. A proposed method was introduced to design the visual system of Tripod robot based on LabVIEW,which simplified the sorting process as identifying,picking,and placing the geometric object. The image processing,feature extraction and locating the center by applying the algorithms of edge extraction,filtering,and center detection were conducted. The results indicate that Tripod robot system based on LabVIEW can identify the color and shape of the geometric object accurately,locate the center point and satisfy the requirements of the follow-up control.