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当前,在制砖的工艺过程中一般都要经过码垛-烧制-卸垛三个过程。在卸垛的环节上,虽然市场上已经有很多卸垛的机械化产品,但是针对卸砖这种高温、近距离的环境,人工操作的通用机械设备显得不可取,因此,对专用智能化的卸垛机器人的需求显得很迫切。在自动化、智能化的自主卸垛机器人的设计过程中,对砖垛的姿态和三维位置定位是研究的重点。针对卸垛机器人的工作环境和特点,设计图像采集与处理单元,在图像场景中设置双十字线性结构光标记,采集获得特征图像,同时结合数字图像处理算法,设计了一种处理简单、快速的单目视觉定位系统。工程实践证明该方法达到了快速、准确获取砖垛姿态和三维位置坐标的目的,可以满足卸垛机器人视觉定位要求。
At present, in the brick process usually go through the palletizing - firing - unloading stack of three processes. In the process of unpacking, although there are many mechanized products for depalletizing on the market, it is not desirable to manually operate the general machinery for the high temperature and short-distance environment of unloading brick. Therefore, The demand for robotic pallets is pressing. In the design process of robotic and intelligent self-destacking robots, the attitude and three-dimensional positioning of brickwork are the focuses of research. According to the working environment and characteristics of depalletizing robots, the image acquisition and processing unit is designed. Double cross linear structured light markings are set in the image scene, and the characteristic images are acquired. Combined with the digital image processing algorithms, a simple and fast Monocular visual positioning system. The engineering practice proves that the method achieves the purpose of obtaining the brick stacker position and the three-dimensional position coordinate quickly and accurately, and meets the visual positioning requirements of the depalletizing robot.