|本期目录/Table of Contents|

[1]杨喜年,金守峰,昝 杰.基于点云的堆叠玛钢管件识别定位方案[J].工业仪表与自动化装置,2024,(02):67-74.[doi:DOI:10.19950/j.cnki.CN61-1121/TH.2024.02.012]
　YANG Xinian,JIN Shoufeng,ZAN Jie.Identification and positioning method of stacked malleable steel pipe fittings based on point cloud[J].Industrial Instrumentation & Automation,2024,(02):67-74.[doi:DOI:10.19950/j.cnki.CN61-1121/TH.2024.02.012]
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基于点云的堆叠玛钢管件识别定位方案(PDF)

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2024年02期
页码:
67-74
栏目:
出版日期:
2024-04-15

文章信息/Info

Title:
Identification and positioning method of stacked malleable steel pipe fittings based on point cloud
文章编号:
1000-0682（2024）02-0067-08
作者:
杨喜年1; 2; 金守峰1; 2; 昝 杰1; 2
（1.西安工程大学 机电工程学院，陕西 西安 710048；2.西安市现代智能纺织装备智能实验室，陕西 西安 710600)
Author(s):
YANG Xinian1; 2; JIN Shoufeng1; 2; ZAN Jie1; 2
(1. School of Mechanical and Electrical Engineering, Xi’an Polytechnic University, Shaanxi Xi’an 710048, China;2. Xi’an Modern Intelligent Textile Equipment Key Kaboratory, Shaanxi Xi’an 710600, China)
关键词:
双目视觉; 改进欧式聚类; 堆叠管件; 点云匹配; 三维重构
Keywords:
binocular vision;  improved European-style clustering;  stack fitting point;  cloud matching;  3D reconstruction
分类号:
TP391.4
DOI:
DOI:10.19950/j.cnki.CN61-1121/TH.2024.02.012
文献标志码:
A
摘要:
针对机器人抓取堆叠玛钢管件识别定位精度较低等问题，提出基于点云信息的堆叠玛钢管件识别定位方法。通过双目视觉获取管件的视差图，采用HSI权重分配及左右一致性校验法对玛钢管件的遮挡点进行校验，得到完整的管件视差图；基于玛钢管件点云的法向量特征，剔除管件接触部分边缘点，利用欧式聚类对相互独立的管件点云进行分割提取，采用ISS算法得到玛钢管件的关键点云数据信息，通过RANSAC算法与ICP算法进行点云匹配，确定玛钢管件的位姿。实验结果表明，该方法对不同工况下堆叠玛钢三通管件的平均识别率为89.5%，机器人抓取精度平均提升了37%。
Abstract:
Aiming at the problem of low recognition and positioning accuracy of robot grasping stacked steel pipe fittings, a recognition and positioning method of stacked steel pipe fittings based on point cloud information was proposed. Binocular vision was used to obtain the disparity map of the pipe fittings. HSI weight distribution and left-right consistency verification method were used to verify the occlusion points of the pipe fittings, and the complete disparity map of the pipe fittings was obtained. Based on the normal vector characteristics of the point cloud of the pipe fittings, the edge points of the contact part of the pipe fittings are eliminated, and the European clustering is used to segment and extract the independent point cloud of the pipe fittings. The ISS algorithm is used to obtain the key point cloud data information of the pipe fittings. The experimental results show that the average recognition rate of the proposed method for stacked Masteel three-way pipe fittings under different working conditions is 89.5%, and the robot grasping accuracy is improved by 37% on average.

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备注/Memo

备注/Memo:
收稿日期：2023-10-13基金项目：陕西省自然科学基础研究计划项目(2023-JC-YB-288)；湖北省数字化纺织装备重点实验室开放课题(KDTL2020005)第一作者：杨喜年(2000—)，男，甘肃武威人，硕士研究生，研究方向为机器视觉。E-mail：15193505579@139.com通信作者：金守峰(1979—)，男，满族，教授，硕士生导师，博士，研究方向为机器人视觉检测与控制。E-mail：jdxyjsf@126.com
更新日期/Last Update: 1900-01-01