基于Halcon的工件视觉分拣系统

The Visual Sorting System of Workpiece Based on Halcon

为了实现多种工件的准确抓取和分类,设计了一款基于Halcon的工件视觉分拣系统。该系统利用标定算法对标定板进行标定,得到相机坐标系与机械臂坐标系间的仿射变换矩阵,利用基于形状的模板匹配算法对工件进行匹配,结合仿射变换矩阵得到工件的位置坐标。最后将工件坐标与种类信息发送到机械臂控制器,引导机械臂对工件进行抓取与放置。经过多次分拣实验,结果表明该分拣系统可实现对工件的准确分拣。

In order to grasp and classify many kinds of workpieces accurately,a visual sorting system based on Halcon is designed.The system uses calibration algorithm to calibrate the calibration target,which obtains the affine transformation matrix between the camera coordinate system and the manipulator coordinate system.Then,the template matching algorithm based on shape is adopted to match the workpiece,and the position coordinates of the workpiece are obtained by affine transformation matrix.Finally,the workpiece coordinate and type information are sent to the manipulator controller to guide the manipulator to grasp and place the workpiece.After many sorting experiments,the results show that the sorting system can realize the accurate sorting of the workpiece.