视觉识别下分拣机器人目标稳准抓取系统设计
Design of target stable and accurate grasping system of sorting robot based on visual recognition
余鹏 1唐荣芳 1赵莹莹 1庞广富1
作者信息
- 1. 广西工业职业技术学院,南宁 530000
- 折叠
摘要
目标的不同规格在一定程度上影响了抓取效果,为此,设计视觉识别下的分拣机器人目标稳准抓取系统.构建以STM32F429单片为主机芯片的系统总体框架,优化采集影像、机械手臂、智能避障等模块.主机模块将采集影像模块摄像头采集的目标影像数据传送到机械手臂模块后,采用视觉识别方法定位目标,并计算质心和旋转角度获取抓取目标中心距.通过智能避障模块规划抓取路径,实现分拣机器人目标稳准抓取.实验结果表明,在不同距离、不同目标形状以及质量条件下,该方法可以在智能躲避障碍物的同时,稳准抓取目标.
Abstract
Different specifications of the target affect the grasping effect to a certain extent.Therefore,a target stable and accurate grasping system of the sorting robot based on visual recognition is designed.The overall framework of the system is built with stm32f429 single chip as the host chip,and the modules of im-age acquisition,robot arm,intelligent obstacle avoidance and so on are optimized.After the host module transmits the target image data collected by the camera of the image acquisition module to the robot module,the visual recognition method is used to locate the target,and the centroid and rotation angle are calculated to obtain the center distance of the captured target.Through the intelligent obstacle avoidance module,the grasp path is planned to realize the stable and accurate grasp of the sorting robot.The experiment results show that under the conditions of different distances,different target shapes and masses,this method can grasp the target steadily and accurately while avoiding obstacles intelligently.
关键词
视觉识别/分拣机器人/目标稳准抓取/机械手臂/智能避障Key words
visual recognition/sorting robot/target stable and accurate grasp/manipulator/intelligent ob-stacle avoidance引用本文复制引用
基金项目
广西壮族自治区高等学校中青年教师科研基础能力提升项目(2021)(T2021KY1277)
广西壮族自治区高等学校中青年教师科研基础能力提升项目(2021)(T2021KY1271)
广西工业职业技术学院校级科研项目(2020)(Y2020KY007)
出版年
2024
NETL
NSTL
万方数据