摘要
文章提出了一种面向花生类椭圆体目标,添加重心高度补偿的精准定位方法。该方法优化现场标定步骤,借助自制高精度标定块完成传送带平面标定,利用直接最小二乘法拟合花生椭圆轮廓曲线,重新校正短半轴图像信息,以传送带水平面为基准,映射到实际花生重心作出定位补偿。结果表明,该方法的平面定位精度优于1 mm,抓取成功率由87%提高至97%;现场测试表明该定位方法具有良好的工业实用性,能够满足实际生产需要。
A precise positioning method for peanut ellipsoid target with gravity center height compensation is proposed,which is suitable for field operation.This method optimizes the field calibration steps and completes the belt plane calibration with the help of self-made high-precision calibration block.The ellipse contour curve of peanut was fitted by the direct least square method,and the short half axis size was corrected again.The horizontal plane of the conveyor belt was taken as the reference,and the actual center of gravity of peanut was mapped to make positioning compensation.Grasping success rate increased from 87%to 97%.Field test shows that the positioning method has good industrial practicability which can meet the needs of actual production.
作者
谷林峰
李亚
丁彦玉
孙科
GU Lin-feng;LI Ya;DING Yan-yu;SUN Ke(Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry and Food Machinery and Equipment,College of Mechanical Engineering,Tianjin 300222,China;Tianjin University of Science&Technology,Tianjin 300222,China)
出处
《食品与机械》
北大核心
2021年第2期164-168,共5页
Food and Machinery
基金
天津市科技计划项目(编号:18ZXRHGX00020)
天津市教委科研计划项目(编号:2018KJ118)
天津市企业科技特派员项目(编号:19JCTPJC52100,20YDTPJC00130,20YDTPJC00140)。
关键词
花生
机器视觉
手眼标定
传送带
peanut
machine vision
hand-eye calibration
conveyor bel
