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题名: 圆柱体工件上下料机器人视觉系统设计
其他题名: Design of Robot Vision System for Loading and Unloading Cylindrical Workpiece
作者: 关号兵 ; 顾寄南 ; 陈四杰 ; 沈巍
作者部门: 机器人学研究室
关键词: 视觉系统 ; 光源 ; 图像预处理 ; 检测边缘方法 ; 匹配
刊名: 机械设计与研究
ISSN号: 1006-2343
出版日期: 2012
卷号: 28, 期号:1, 页码:18-21
收录类别: CSCD
产权排序: 2
摘要: 主要研究了对无规则放置的圆柱体工件的识别方法。工作包括光源选取方法,摄像机的选择和标定;提出了直方图均衡化和中值滤波的图像预处理措施,运用了改进的Hough变换检测直线和区域生长法相融合的检测边缘方法;此外依据待匹配对象的特点,提出了一种点匹配和线段匹配相结合插值求取直线段中点的方法。通过查新确定本文具有重要的理论意义和潜在实用价值。
英文摘要: This paper mainly provides a visual system as an identification method for cylindrical workpiece without placing rules.The main work including light source selection method,the camera calibration and choosing;The second part puts forward the measures of Histogram equalization and Median filtering,then shows the improving Hough transform to detect straight line and the regional growth method.According to the characteristics of the being matched,object an interpolating method for calculating the midpoint of line through the combination of point matching and line segment matching is proposed.Checking the novelty of this system,it’s sure that this paper has important theoretical significance and potential application value. 
语种: 中文
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10018
Appears in Collections:机器人学研究室_期刊论文

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