| 齿轮热处理机器人视觉导引系统的实现 |
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| 引用本文： | 朱德森,刘隽璇.齿轮热处理机器人视觉导引系统的实现[J].华中科技大学学报(自然科学版),1998(1). |
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| 作者姓名： | 朱德森 刘隽璇 |
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| 作者单位： | 华中理工大学自动控制工程系!430074 |
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| 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．
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| 关 键 词： | 热处理机器人 视觉导引系统 图像处理 |
The Realization of Vision Leading System of a Robot Gear Heat Treatment Job |
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| Zhu Desen,Liu Junxuan.The Realization of Vision Leading System of a Robot Gear Heat Treatment Job[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1998(1). |
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| Authors: | Zhu Desen Liu Junxuan |
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| Institution: | Zhu Desen;Liu Junxuan |
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| Abstract: | 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. |
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| Keywords: | heat treatment robot vision leading system image processing |
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