基于机器视觉的自动插件系统设计与研究

以SCARA机器人、机械夹爪、摄像机CCD为硬件基础，搭建了基于单目视觉的SCARA机器人自动识别和定位插件系统平台，并利用摄像机参数标定和建立的抓取系统参数化模型，将CCD摄像机获取的工件图像坐标信息转化为机器人坐标系下的抓取位置信息。本系统以Visual studio软件为开发平台，利用OpenCV视觉数据库函数进行颜色识别与定位算法开发，经测试，该视觉算法能够实现工件的颜色识别和获取工件的位置信息，并控制机器人夹爪进行目标工件的精确抓取，满足了一般工业生产中抓取工件实时性的要求。

Design and research of automatic plug-in system based on machine vision

The system uses SCARA robot, mechanical jaw and camera CCD as the hardware foundation, building a SCARA robot automatic identification and positioning plug-in system platform based on monocular vision. The co-ordinate information of the workpiece image acquired by the CCD camera is transformed into the crawling position information in the robot coordinate system by using the parametric model of the crawler system calibration and establishment of the camera parameters. The system uses Visual Studio as the development platform, utilizing OpenCV visual database function for the secondary development of visual algorithms. The visual algorithm can realize the color recognition of the workpiece and obtain the position information of the workpiece, and control the robot jaws to grasp the target workpiece accurately, which meets the general industrial production in the grasp of real-time requirements of the workpiece.