机器视觉是工业机器人获得外部环境信息的方法之一，通过视觉所得到的图像信息能实时地提取工件参数、判断出工件所处的位置。为了改善从 CCD 摄像头摄取的工件图像的质量，需通过理论分析和MATLAB软件对图像进行预处理，利用直方图均衡化、中值滤波、边缘检测等方法，提取出板材矩形类工件的边缘特征，用Halcon软件计算测量板材边缘，利用Canny算子取得板材在精度误差之内的边缘检测效果。%Machine vision for industrial robots is the primary means of access to environmental information ,which can increase the robot's autonomous ability to improve the flexibility of the robot .In order to improve the quality of workpiece image from CCD camera ,the theoretical analysis and software simulation by MATLAB for image preprocessing are carried on .The edge features of a rectangular plate workpiece class are extracted by histogram equalization ,median filtering ,edge detection and others . Halcon software is used to calculate the sheet edge ,and an accurate plate’s edge detection result is obtained using the Canny operator .
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