双目视觉机械手对堆叠球体抓取方法研究

Research on Grasping Method of Stacked Sphere by Binocular Vision Manipulator

堆叠物体的抓取在工件分拣等方面有着重要作用。为了实现对堆叠球体的抓取,对图像进行中值滤波后,采用霍夫变换检测图像中的圆,确定每个小球的圆心及半径。然后根据相机标定原理,通过异面直线的概念反解出圆心点对应的三维空间坐标,误差可控制在1%之内。最后控制机械手抓取目标物,利用视觉形成闭环。研究表明,系统可完成堆叠小球顺序抓取。

The grabbing of stacked objects plays an important role in the sorting of workpieces.In order to achieve the capture of stacked spheres,after median filtering of the image,Hough transform is used to detect the circles in the image,and the center and radius of each sphere are determined.Then,according to the principle of camera calibration,the three-dimensional space coordinates corresponding to the center point of the circle are inversely solved through the concept of straight lines on different planes,and the error can be controlled within 1%.Finally,control the manipulator to grab the target,and use vision to form a closed loop.The research shows that the system can complete the sequential capture of stacked balls.