摘要
齿轮在热处理炉内完成渗碳后再进入淬火工艺．介绍一种重载机器人二维视觉导引系统的实现．它实时摄取炉门开启时的图像、进行快速图像处理，计算齿轮坐标，引导机器人在2s内快速准确地抓取随机叠放的齿轮，迅速移至淬火压床．
The gears would be quenched next after carbonization in the heat treatment furnace. How to realize a 2D vision leading system of heavy-duty robot for heat treatment purpose is described. The camera in the system will take the image in the furnace as soon as the furnace door is opened. Fast medium filtering algorithm is used to carry out the image pre-processing. In order to minimize the operation time for image segmentation, the fast algorithm with 2D entropy threshold is applied to separate the gears from the background. After judging if there is any mistake with the piling of the gears,the gears are located as exactly as possible. Then the coordinates of the gears are calculated, the arms of the robot are piloted to grab the randomly piled gears quickly and exactly, and the gears are moved to the quenching machine in 2 seconds.
出处
《华中理工大学学报》
CSCD
北大核心
1998年第1期24-27,共4页
Journal of Huazhong University of Science and Technology
