基于Halcon的无序堆放状态下农机热态锻件的三维模板匹配研究

Research on 3D template matching of hot forging parts in agricultural machinery under disordered stacking state based on Halcon

热态锻件的连续和无序堆放是许多农机锻件生产的特点,如何在无序堆放的条件下进行三维模板匹配和检测是机器视觉测量的难点。在研究双目立体视觉原理和模板匹配算法的基础上,重点讨论了基于机器视觉软件Halcon的三维模板匹配的原理、方法和步骤。并基于Halcon软件平台开发了相应的三维重构、模板匹配及检测系统,实现了热态锻件的三维重构和三维模板匹配。对具有联接方孔的犁体锻件进行实验,结果表明,基于Halcon软件进行三维重构和三维模板匹配,可以将被测件从无序堆放的背景中提取出来,为后续热态锻件的连续、在线、实时、尺寸检测提供了参数。

The characteristics of many agricultural machinery forging products are the continuous and disordered stacking of hot forging parts. How to carry out 3D match and measurement is a key problem for machine vision measurement under the disordered condition. On the basis of researching binocular stereo vision principle and template matching algorithm, the principle, method and procedure of 3D template matching were emphatically discussed based on machine vision software Halcon. Furthermore, the 3D reconstruction, template matching and detection system were developed based on Halcon software platform. Then 3D reconstruction and 3D template matching for hot forging parts were realized, and the experiment for plough body with a connecting square hole was conducted. The experimental results show that the measured parts can be extracted by the Halcon software from the disordered background through 3 D reconstruction and 3 D template matching, which can provide a reference for the continuous, on-line, real-time and size detection of hot forging.