[1]卫泓宇,刘冠灵,谢爱倍,等.基于单目视觉的智能物料分拣机器人的设计[J].计算机技术与发展,2020,30(02):98-103.[doi:10. 3969 / j. issn. 1673-629X. 2020. 02. 020]
　WEI Hong-yu,LIU Guan-ling,XIE Ai-bei,et al.Design of Intelligent Material Sorting Robot Based on Monocular Vision[J].COMPUTER TECHNOLOGY AND DEVELOPMENT,2020,30(02):98-103.[doi:10. 3969 / j. issn. 1673-629X. 2020. 02. 020]
点击复制

基于单目视觉的智能物料分拣机器人的设计()
分享到：

《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
30
期数:
2020年02期
页码:
98-103
栏目:
智能、算法、系统工程
出版日期:
2020-02-10

文章信息/Info

Title:
Design of Intelligent Material Sorting Robot Based on Monocular Vision
文章编号:
1673-629X(2020)02-0098-06
作者:
卫泓宇1; 刘冠灵1; 谢爱倍1; 陈志鹏2; 李志鹏1; 李德荣1
1. 广东海洋大学 机械与动力工程学院,广东 湛江 524088; 2. 广东海洋大学 电子与信息工程学院,广东 湛江 524088
Author(s):
WEI Hong-yu1; LIU Guan-ling1; XIE Ai-bei1; CHEN Zhi-peng2; LI Zhi-peng1; LI De-rong 102;  102); background-color: rgb(255;  255;  255); font-family: Arial;  Verdana;  sans-serif; font-size: 10pt;">1
1.School of Mechanical and Power Engineering,Guangdong Ocean University,Zhanjiang 524088,China; 2.School of Electronic and Information Engineering,Guangdong Ocean University,Zhanjiang 524088,China
关键词:
物料自动分拣; 单目视觉; STM32; OV2640; 遍历腐蚀算法; 增量式 PID 算法; DBCSAN 算法; Dijkstra 算法
Keywords:
automatic material sorting; monocular vision; STM32; OV2640; ergodic corrosion algorithm; incremental PID algorithm;  DBCSAN algorithm; Dijkstra algorithm
分类号:
TP242
DOI:
10. 3969 / j. issn. 1673-629X. 2020. 02. 020
摘要:
为解决目前工业物料分拣机器人发展的需求问题,以模拟自动化物流系统的作业流程为目标,提出了一种基于单 目视觉的智能物料分拣机器人的设计。 为实现物料的自动分拣过程,以 STM32作为核心控制器,驱动 OV2640摄像头对 图像进行实时采集、处理与分析,实现颜色识别和目标定位,并将处理结果传送给驱动控制系统。 在图像标定方面,采用 读取 TFT 屏中目标的坐标和求取目标的实际坐标,通过 MATLAB 软件来进行数据拟合,找出两个坐标的函数关系,从而 实现目标的定位。 采用遍历腐蚀算法、增量式 PID 算法、DBCSAN 算法和 Dijkstra 算法,分别完成对随机摆放的物料的自 动识别和定位、电机控制和路径规划。 实验与竞赛结果表明,该单目视觉分拣机器人的分拣准确率和效率高,能够实现智 能分拣功能。
Abstract:
In order to meet the demand of industrial material sorting robot,an intelligent material sorting robot based on monocular vision is proposed to simulate the operation flow of automatic logistics system. In order to realize the automatic sorting process of materials, STM32 is used as the core controller to drive the OV2640 camera to collect, process and analyze images in real time,realize color recognition and target positioning,and transmit the processing results to the driving control system. In image calibration,the target coordinates in the TFT screen are read and the actual coordinates of the target are obtained. Data fitting is carried out through MATLAB software to find out the functional relationship between thetwo coordinates,so asto realizethetarget positioning. Ergodic corrosion algorithm, incremental PID algorithm,DBCSAN algorithm and Dijkstra algorithm are used to respectively complete the automatic identification and positioning of randomly placed materials,motor control and path planning. The experiment and competition results show that the monocular vision sorting robot has high sorting accuracy and efficiency,and can realize intelligent sorting function.

相似文献/References:

[1]苏 萍,朱晓辉.基于单目视觉的水面目标识别与测距方法研究[J].计算机技术与发展,2021,31(02):80.[doi:10. 3969 / j. issn. 1673-629X. 2021. 02. 015]
　SU Ping,ZHU Xiao-hui.Research on Water Surface Target Recognition and Ranging Based on Monocular Vision[J].COMPUTER TECHNOLOGY AND DEVELOPMENT,2021,31(02):80.[doi:10. 3969 / j. issn. 1673-629X. 2021. 02. 015]
[2]夏红杰,陈姚节,徐 新,等.动态船舶行驶场景下的实时单目测距算法研究[J].计算机技术与发展,2022,32(02):167.[doi:10. 3969 / j. issn. 1673-629X. 2022. 02. 027]
　XIA Hong-jie,CHEN Yao-jie,XU Xin,et al.Research on Real-time Monocular Ranging in Dynamic Ship Navigation Scene[J].COMPUTER TECHNOLOGY AND DEVELOPMENT,2022,32(02):167.[doi:10. 3969 / j. issn. 1673-629X. 2022. 02. 027]

更新日期/Last Update: 2020-02-10