Slice Precision Stacking Technology Based on Machine Vision
Aiming at the problems of low efficiency and poor consistency of stacking,a precision stacking technology based on machine vision in dynamic environment was proposed.Firstly,the original image was preprocessed by the target recognition al-gorithm combining down-sampling,binarization and morphology to eliminate the interference information unrelated to the target in the dynamic environment and enhance the detectability of the target features.Secondly,the posture detection algorithm was de-signed by using the radial search method to discretize the outer circle into 360 parts and sample the edge points to locate the notch,which realized the positive and negative direction recognition and posture calculation.Lastly,a target calibration method was designed to achieve system calibration.Through coarse and fine adjustments of the attitude,the robot was guided to stack the slice precisely onto a dedicated positioning mold,thereby realizing precise stacking.Practical tests show that the designed system achieves a 100%stacking success rate with a precision of up to 0.02 mm.
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