基于图像识别的端拾器吸盘安装的研究及应用
陈坤煌，樊留群*，杨永
（同济大学中德学院，上海 201804）
摘要：针对传统的汽车冲压件端拾器的线上装配问题，提出了一种基于图像识别的线下安装方法。采用两个摄像机对装配中的端拾器进行视觉检测，通过图像预处理提取图中吸盘的轮廓，利用最小二乘法拟合其轮廓曲线，提取吸盘特征，并与模板库中的吸盘样本图像进行相似度匹配，根据吸盘的圆面特征和空间坐标变换原理，获取吸盘的位姿，通过计算其与理论位姿的偏差，给出调整的方法，为吸盘的正确装配提供指导。实验结果表明，该方法可以有效地提取吸盘的位姿，提高了安装吸盘的效率和精度。
关键词：端拾器；真空吸盘；图像识别；位姿验证
中图分类号：TP391.7 文献标志码：A doi：10.3969/j.issn.1006-0316.2020.05.010
文章编号：1006－0316 (2020) 05－0060－07
Installation of Tooling Suction Cup Based on Image Processing Methods
CHEN Kunhuang，FAN Liuqun，YANG Yong
( Sino-German School for Postgraduate Studies, Tongji University, Shanghai 201804, China )
Abstract：To solve the problem of traditional on-line assembly of tooling of automobile stamping parts, this paper proposed an off-line installation method based on image recognition. Two cameras were used to detect the tooling in assembly process. The contour of suction cups was extracted by image preprocessing. The least square method was applied to contour curve fitting. Features of suction cups were then extracted and matched with the sample images in template library. The suction cup’s posture was obtained according to the characteristics of the circular surface and the spatial coordinate transformation. By calculating the deviation from its theoretical posture, an adjustment method was developed, which provides guidance for correct assembly of the suction cup. The results show that this method can effectively extract the suction cup’s posture and improve its installation efficiency and accuracy.
Key words：tooling；vacuum suction cup；image recognition；posture verification
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收稿日期：2020－01－02
作者简介：陈坤煌（1994－），男，福建漳州人，硕士，主要研究方向为图像处理和识别；杨永（1993－），男，安徽宿州人，硕士，主要研究方向为图像处理和识别。*通讯作者：樊留群（1964－），男，河南长垣人，博士，教授，主要研究方向为机床数控与机器人和智能制造系统，E-mail：lqfan@tongji.edu.cn。
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