机器人视觉搬运系统构建与软件开发

Construction of Robot Vision Handling System and Software Development

目的基于双目CCD相机、机器人、搬运手爪构建机器人视觉识别与搬运平台,引导机器人实现自动抓取。方法利用OPENCV库函数,由二次开发完成相机的标定,经图像采集、预处理,研究了立体匹配、边缘提取等算法,提取物体的轮廓特征点,并计算物体质心点的三维坐标,换算成机器人的关节转角信息,为机器人抓取提供视觉定位。结果基于VS2012开发平台,将视觉图像处理、机器人控制、数据传输集成于PC端,便于人机交互和软件集成,正交实验表明空间不同方向的定位误差在0.5～1.5 mm范围内。结论所提视觉引导方案能提高机器人动作的精确度,满足工业搬运要求。

The work aims to build a robot visual recognition and handling system based on stereo CCD camera, robot and gripping claws to instruct the robot to achieve automatic grabbing. The OPENCV library functions were used to complete the camera calibration based on the secondary development. Through image acquisition and pre-processing, the algorithms of stereo matching and edge extraction were studied, and the feature contour points of the objects were also extracted to calculate the 3 D coordinates of centroid points. The 3 D coordinates of the centroid points were converted into robot’s joint angle data to provide visual positioning for robotic grasping. Based on VS2012 development platform, visual image processing, robot control and data transmission were integrated into the PC to facilitate human-computer interaction and software integration. The orthogonal experiment indicated that the positioning error in different directions of the space was within the range of 0.5~1.5 mm. The proposed visual guidance scheme can improve the accuracy of robotic motion, and meet the requirements of industrial handling.