单目视觉在棒料全自动上下料系统中的应用

摘要

在全自动上下料系统中,机器视觉技术以它快而准确无误的性质发挥重要的作用.针对系统的功能要求,进行了基于单目视觉全自动上下料系统平台的设计和搭建,通过Halcon完成了摄像机和机械手标定,理论上研究了实现空间棒料的三维姿态的算法,在图像处理中运用二项式滤波、傅立叶变换、闵可夫斯基加减法确定空间棒料的三维姿态,通过VS2015C#与Halcon混合编程,进行软件界面开发,控制机械手上下料.结果表明该方法具有可行性.%In automatic loading and unloading system,machine vision technology play an important role for its fast and accurate nature.Aiming at function requirements of loading and unloading systems,a monocular vision bar loading and unloading system is designed and built up.And through the Halcon,complete calibration of camera and manipulator.Research on three-dimensional gesture algorithm for space bar in theory,and using binomial filtering,Fourier transform,Minkowski add1 and Minkowski sub1 in image processing in order to determine threedimensional gesture of the space bar.Software interface is developed by VS2015C # programming mixed with Halcon and verify that the method is feasible.