基于视觉的机器人抓取系统应用研究综述

针对生产线上工业机器人的柔性和智能水平不高的问题,将日益发展的计算机视觉技术引入原有的搬运工业机器人领域,利用机器人视觉技术获取工件及其周围环境的信息,识别出了所要操作的目标工件,并能通过做出决策来引导工业机器人完成对工件的抓取和放置等操作。针对生产线上的工业机器人抓取系统中摄像机的标定、目标工件的识别匹配、机器人对目标工件的定位抓取这3个主要步骤在现阶段的研究成果进行了综述,对计算机视觉定位中涉及到的相关图像预处理方法进行了分析与归纳,并对该技术的实际应用研究和未来发展进行了讨论。研究结果表明,视觉抓取系统技术成熟,能够满足工业应用中的实时性要求,各部分算法的研究和改进对工业的发展和相关研究具有一定的参考价值。

Review on application research of robots scraping system based on visual

Aiming at the problem that the level of intelligence and flexibility of industrial robots in production line is not high,computer vision technology which is advancing rapidly were introduced to the original field of industrial transfer robot. Machine vision technology was used to obtain information on the workpiece and its surroundings and target artifact to be operated was identified. Decisions were made by using of this technology to guide industrial robot to complete some operations on artifact, such as picking and placing. Three aspects of the research result at present stage were reviewed, which was aiming at industrial robot scraping system in production line, such as camera calibration, identification and matching of target artifact, positioning and scraping to artifact by robot. The image preprocessing methods which were involved in computer vision were analyzed and summarized. The practical application and future development of the technique were discussed. The results indicate that this scraping system has strong technology supported, and it can satisfy the real-time requirement of industrial application. Each part of the research and improvement of the algorithm have a certain reference value for industrial development and related studies.