基于单目视觉的工件定位技术研究

doi:10.16180/j.cnki.issn1007-7820.2019.12.015

Abstract

Abstract:

Aiming at the problem of position and pose location of common workpiece, a workpiece location scheme using monocular vision platform and CAD model was proposed. In order to clarify the specific design of this scheme, this paper introduced the calibration method of monocular camera, the related technology of workpiece image recognition, designed the image preprocessing process of workpiece, and finally proposed a monocular vision localization algorithm based on CAD model. The experimental results showed that, compared with the location scheme based on priori relationship, the location scheme had higher accuracy and better flexibility, and could meet the needs of common workpiece location.

Key words: industrial robot, monocular vision, image processing, posture recognition

CLC Number:

TP212

YANG Yunhui. Research on Workpiece Location Technology Based on Monocular Vision[J].Electronic Science and Technology, 2019, 32(12): 72-75.

Figures/Tables 6

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Figure 2.

Table 1

Figure 3.

Table 2

Table 3

References 10

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内参	数值	外参	数值
f	16.008	t₁	-97.656
d_x	2.300	t₂	-104.007
d_y	2.300	t₃	832.167
u₀	1 306.640	r₁	2.240
v₀	1 186.765	r₁	2.210
K₁	0.075	r₁	0.069
K₂	-6.450	-	-
K₃	89.589	-	-

编号	实际坐标/mm	定位坐标/mm
1	(463.32,63.24,85.04)	(462.26,62.78,84.47)
2	(463.88,-34.95,83.37)	(464.33,-35.57,82.35)
3	(482.06,63.38,84.52)	(480.38,64.04,82.27)
4	(435.75,53.65,84.51)	(436.32,55.21,86.31)

编号	实际坐标/mm	定位坐标/mm
1	(435.64,25.23,83.41)	(434.87,24.95,83.49)
2	(463.70,23.51,79.18)	(465.84,25.32,82.17)
3	(427.99,-32.44,83.42)	(428.48,-31.38,84.16)
4	(465.48,-19.12,84.22)	(464.76,-18.74,84.32)

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Research on Workpiece Location Technology Based on Monocular Vision

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