|本期目录/Table of Contents|

[1]陶唐飞a,b,贺 华a,等.基于数字图像处理的活塞位姿检测技术研究[J].工业仪表与自动化装置,2018,(05):3-8.[doi:1000-0682(2018)05-0000-00]
 TAO Tangfeia,b,HE Huaa,et al.Study on the detection technology of piston position and orientation based on digital image processing[J].Industrial Instrumentation & Automation,2018,(05):3-8.[doi:1000-0682(2018)05-0000-00]
点击复制

基于数字图像处理的活塞位姿检测技术研究

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

卷:
期数:
2018年05期
页码:
3-8
栏目:
出版日期:
2018-10-15

文章信息/Info

Title:
Study on the detection technology of piston position and orientation based on digital image processing
作者:
陶唐飞ab贺 华a郑 翔a徐佳宇a
西安交通大学 a.机械工程学院;b.现代设计与转子轴承系统教育部重点实验室,西安 710049
Author(s):
TAO Tangfeiab HE Huaa ZHENG Xianga XU Jiayua
a.School of Mechaical Engineering; b.Key Laboratory of Education Ministry for Modern Design & Rotor-Bearing System,Xi’an Jiaotong University, Xi’an 710049, China
关键词:
工业机器人活塞图像矩Hough变换直线检测数字图像处理
Keywords:
industrial robotpistonimage momentHough transformline detectiondigital image process
分类号:
TP242.2
DOI:
1000-0682(2018)05-0000-00
文献标志码:
A
摘要:
为满足生产线上工业机器人自主抓取活塞的需求,提出了一种基于数字图像处理的活塞位姿检测技术。在分析活塞图像特点的基础上,得到了表征活塞位姿的特征;对预处理后的活塞图像通过基于邻域搜索的方法进行轮廓提取,利用Graham扫描算法生成外凸包络,进而根据包络的图像矩信息求解出表示活塞位置的质心坐标;改进Hough变换算法提取图像中表征活塞姿态信息的特征直线,并求解出直线的倾斜角度,实现活塞姿态的获取。实验结果表明,基于数字图像处理的方法能够准确地提取活塞的位姿信息,为工业机器人自主抓取活塞奠定了基础。
Abstract:
In this paper, the detection technology of piston position and orientation based on digital image processing is proposed to meet the demand of industrial robots on the product line to grasp piston autonomously.After analyzing the characteristics of the piston images,the features of piston position and orientation are obtained.The contour of the preprocessed piston image is extracted based on the neighborhood search method, and the convex envelope of the piston image is generated by Graham scan algorithm, and then the centroid coordinates representing the piston position is solved according to image moments of the envelope; the Hough transform algorithm is improved to extract the straight line characterizing the piston orientation, and the linear inclination angle is solved to get the piston orientation.Experimental results show that the piston position and orientation can be accurately obtained based on digital image processing method, and lay the necessary foundation for industrial robots to grasp piston autonomously.

参考文献/References:

[1] Ales Pochyly, Tomas Kubela, Vladislav Singule,et al. 3D Vision Systems for Industrial Bin-Picking Applications[C]// Proceedings of 15th International Conference on Mechatronics, USA:IEEE Computer Society, 2012.

[2] 陈四杰.面向数控机床群的上下料机器人视觉识别定位研究[D].镇江:江苏大学,2013.
[3] 宋文平,郭全喜,于志勇.我国活塞加工设备的技术现状及发展趋势[J].现代零部件,2011(7):78-79.
[4] 陈国栋.面向机器人的物体形状及姿态识别研究[D].哈尔滨:哈尔滨工业大学,2011.?
[5] FANG Jinsheng,DENG Xiaoyan,SUN Cunmiao,et al. A Vision Based Position System for Robot Picking[C]// Proceedings-International Conference on Electrical and Control Engineering, USA: IEEE Computer Society, 2010: 319-322.
[6] 熊春山,黄心汉,王敏,等.融合图像处理与超声测距的工件精确抓取[J].机器人,2000(03):183-187.
[7] 陈海永,方灶军,徐德,等.基于视觉的薄钢板焊接机器人起始点识别与定位控制[J].机器人,2013(01):90-97.
[8] Kim Kyekyung, Kim Joongbae, Kang Sangseung, et al. Vision-based bin picking system for industrial robotics applications[C]//2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence.USA:IEEE Computer Society,2012:515-516.
[9] 郭书刚,李岩,刘耀东.活塞加工粗基准选择分析与工艺改进[J].内燃机与动力装置,2010(05):49-51+58
[10] Otsu N. A threshold selection method from gray-level histograms[J].IEEE Transactions on Systems,Man,and Cybernetics,1979,9(1):62-66
[11] Satoshi Suzuki, Keiichi Abe.Topological structural analysis of digitized binary images by border following[J]. Computer Vision, Graphics, and Image Processing,1985, 30:32-46.
[12] Richard O Duda, Peter E Hart. Use of the Hough transformation to detect lines and curves in pictures[J]. Communication,1972,15(1):11-15.

相似文献/References:

[1]熊磊翔,诸 洪,余海勇,等.基于视觉的机器人抓取技术的研究[J].工业仪表与自动化装置,2017,(05):41.
 XIONG Leixiang,ZHU Hong,YU Haiyong,et al.Research on industrial robots scraping technologies based on vision[J].Industrial Instrumentation & Automation,2017,(05):41.
[2]陈 杰,王宏彦.基于视觉的汽车轮毂打磨实训系统设计[J].工业仪表与自动化装置,2021,(01):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
 CHEN Jie,WANG Hongyan.Design of practical training system of wheel hub grinding based on vision[J].Industrial Instrumentation & Automation,2021,(05):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
[3]袁锦涛a,b,刘 军a,等.基于粒子群算法的工业机器人多目标最优轨迹规划[J].工业仪表与自动化装置,2021,(05):73.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.016]
 YUAN Jintaoa,b,LIU Juna,et al.Multi objective optimal trajectory planning of industrial robot based on particle swarm optimization[J].Industrial Instrumentation & Automation,2021,(05):73.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.016]
[4]唐兴贵,和文云,马志艳,等.基于S7-1200PLC和时域分析的工业机器人移动轨迹最优化规划方法[J].工业仪表与自动化装置,2022,(02):51.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.011]
 TANG Xinggui,HE Wenyun,MA Zhiyan,et al.Optimal trajectory planning method of industrial robot based on s7-1200plc and time domain analysis[J].Industrial Instrumentation & Automation,2022,(05):51.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.011]
[5]李 丹,南向曈*,兰强强,等.物料智能分拣控制系统的设计[J].工业仪表与自动化装置,2022,(05):22.[doi:10.19950/j.cnki.cn61-1121/th.2022.05.004]
 LI Dan,NAN Xiangtong*,LAN Qiangqiang,et al.Design of intelligent material sorting control system[J].Industrial Instrumentation & Automation,2022,(05):22.[doi:10.19950/j.cnki.cn61-1121/th.2022.05.004]
[6]隋胄君.基于PLC的工业机器人抗扰动控制系统设计[J].工业仪表与自动化装置,2022,(06):57.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.011]
 SUI Zhoujun.Design of anti-disturbance control system for industrial robot based on PLC[J].Industrial Instrumentation & Automation,2022,(05):57.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.011]
[7]刘天宋,张 俊,张任天,等.基于视觉的工业机器人码垛控制系统[J].工业仪表与自动化装置,2023,(01):51.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.010]
 LIU Tiansong,ZHANG Jun,ZHANG Rentian,et al.Palletizing control system for industrial robots based on visual inspection[J].Industrial Instrumentation & Automation,2023,(05):51.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.010]

备注/Memo

备注/Memo:
收稿日期:2018-05-14
基金项目:国家科技重大专项项目“高档数控机床与基础制造装备”(2014ZX0415-041)
作者简介:陶唐飞(1972),男,博士,副教授,研究方向为面向智能制造的图像处理/机器视觉技术。
更新日期/Last Update: 2018-10-15