Research on the Application of Machine Vision in Mechanical Design,Manufacturing and Automation
Machine vision technology,through the use of cameras and image processing algorithms,can simulate the visual function of the human eye to achieve recognition,positioning,and tracking of target objects.In this study,a grasping system based on machine vision was first established,consisting of three cameras placed below the material box,the incoming material box,and the manipulator,each responsible for different positioning tasks.Through joint calibration of the cameras and the manipulator,the images were successfully transformed from the pixel coordinate system to the manipulator base coordinate system,enabling efficient grasping of materials.Next,the positioning technology of the grasping system was analyzed,including camera coordinate transformation,camera calibration,robot-camera calibration,and template matching positioning.Camera coordinate transformation takes into account factors such as camera distortion to obtain more accurate two-dimensional images.Camera calibration employed the Zhang's calibration method,solving camera parameters by calculating the homography matrix and internal and external parameter matrices.Robot-camera calibration adopted the Eye-on-Hand approach,establishing an accurate mapping relationship between the camera and the manipulator.Finally,template matching positioning relies on the extraction of image characteristics,considering both grayscale information and geometric characteristics,to achieve rapid and accurate positioning of the target area.
万方数据
维普
