摘要
为提高家电装配生产线自动化水平和生产节拍,提出采用基于机器视觉的跟踪抓取和装配系统代替人工进行分拣上料和装配工作。使用Open CV进行摄像机内外参数标定,运用基于1DPHT方法求取目标位姿,采用卡尔曼滤波算法对目标位置进行跟踪预测。并搭建基于SCARA机器人的视觉跟踪抓取平台和基于6R机器人的装配平台,实验表明该系统能够实现2D空间移动目标的有效抓取和装配,且工作效率和精度较高。
In order to improve the automation level and production efficiency of auto-assembly line, an auto-grasping and assembly system is proposed based on machine vision to replace manual sorting and assembly. Camera calibration was carried out by OpenCV for parameters inside and out. Based on One Dimensional Hough Probability Transform （1DPHT） algorithm, the pose of target was solved. And the Kalman Filter （KF） algorithm was used for tracking and location forecast for moving target. The visual tracing and grasping platform based on Selective Compliance Assembly Robot Arm （SCARA） and auto-assembly platform based on 6R robot was built for experiment. It shows that the system proposed is valid in auto-grasping and assembly in two dimensional （2D） space with preferable efficiency and accuracy.
出处
《机床与液压》
北大核心
2018年第3期12-15,共4页
Machine Tool & Hydraulics
基金
安徽省科技重大专项(15czz02016)
