基于机器视觉的水表抓取系统

目前国内对水表的检定多采用人工的检定方式，过程中存在许多重复人力操作，造成检定过程费时费力.为了解决这一问题，本文在水表检定过程设计了用工业机器人代替人工完成水表的检定工作，提出了一种基于机器视觉的水表抓取方法.系统通过YOLOv3网络对处于不同环境下的不同型号的水表进行检测，获取目标水表的型号和位置后再进行水表的位姿检测得到水表抓取点坐标与水表姿态角并控制机器人进行抓取.实验表明，该系统能在不同外界环境下实现不同型号水表的抓取和精确放置，具有较好的鲁棒性和较高抓取成功率，能够满足实际水表自动检定线上的水表抓取需求.

Water Meter Grasping System Based on Machine Vision

At present, the calibration of water meters in China mostly adopts manual calibration, and there are many repetitive manual operations in the process, which makes the calibration process time-consuming and laborious. In order to solve this problem, robots were used to replace the manual work to complete the calibration in the process of water meter calibration and a water meter grasping method based on machine vision was proposed in this study. Different types of water meters in different environments can be detected through the YOLOv3 network in the system. After obtaining the type and position of the target water meter, the system carries on the dection of position and posture of the water meter to obtain the coordinates of the grasping point and the attitude angle of the water meter, and controls the robot to grasp the water meter. Experimental results show that different types of water meter in different external environments can be grasped and accurately placed with the system, the system has sound robustness and high grasping success rate, and can satisfy the needs of actual water meter automatic calibration line.