基于工业机器人视觉系统的工件识别与定位

Identification and Location of Workpiece Based on Robot Vision System

随着工业机器人技术的发展, 越来越多的工业机器人已经参与到实际生产当中。目前的工业机器人普遍是示教 再现型, 处理复杂的任务相对困难, 导致工作效率降低。为了使工业机器人完成复杂多样的任务, 能够检测外部环境, 研究了基于工业机器人视觉系统的工件识别与定位技术。以工业机器人视觉搬运流程为例, 阐述了目标工件的形状与颜色的视觉识别方法、 对目标工件的相机标定与旋转中心的视觉位姿测量方法。分析可见, 工业机器人可以通过视觉技术对工件进行识别和定位, 并可以准确地完成搬运任务。

With the development of the application of industrial robots,more and more robots have been involved in practical production.However,the current robots are generally teaching-reproduction type,which are relatively difficult to deal with complex tasks,resulting in reduced work efficiency.In order to enable the robots to complete complex and diverse tasks and to detect the external environment,this paper studies the workpiece identification and positioning technology based on the robot vision system.It introduces the visual handling process of the robot in detail,and explains the visual identification method of the shape and color of the target workpiece,the camera calibration of the target workpiece and the visual pose measurement method of the rotation center.Through analysis,it can be found that industrial robots can identify and locate the workpiece through visual technology,and can accurately complete the handling task.