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Research on Robot Classification-and-grab Technology Based on Machine Vision

Author: TangJian
Tutor: JiaoEnZuo
School: Nanjing Forestry University
Course: Mechanical Design and Theory
Keywords: Industrial robots Sorting Image processing Target recognition Target tracking
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 112
Quote: 0
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Abstract


Modern society increasingly high degree of automation , robotics applications increasingly wide robotics machine vision - based robot development today is a hot direction . MOTOMAN-UP6 robot built a machine vision - based industrial robot sorting experimental system , the system includes a CCD camera , a frame grabber , PC machine , robot . The entire system through the camera image capture card will receive the analog image is converted to a digital image , developed by the author of the software for digital image processing , derived target classification and centroid coordinates , and finally realize the robot to complete the sorting job . Firstly camera calibration technique carried out research , direct linear method is implemented in Matlab , perspective projection matrix method and the a Zhang Zhengyou method camera calibration , and these three methods were compared , the final decision to Zhang Zhengyou method as the experimental system camera calibration method . The first image in a static target recognition threshold segmentation, extract the target area, perimeter features using clustering methods for target classification . Background subtraction method to extract a moving target in a dynamic target tracking , data association focuses on the nearest neighbor method . Dynamic target recognition using Kalman prediction the tracking target centroid and template matching algorithm combined method , the method reduces the matching range , improved real-time . After several experiments , debug and modify , I completed a preliminary experiment sorting machine vision - based robot system . The experiment proved the feasibility of the sorting system , the sorting technology implemented to provide a useful reference for the robot , the experiment also reflects the inadequacies of the system and the need to strengthen in the future direction of the research .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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