[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]
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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a; b; 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 Tangfeia; b;  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 robot; piston; image moment; Hough transform; line detection; digital 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:

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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