王少锋, 夏广远, 吉春生, 等.基于嵌入式的单目视觉工业机器人定位系统设计[J].河南理工大学学报（自然科学版）,2022,41(1):100-106.

WANG S F, XIA G Y, JI C S, et al. Design of positioning system of industrial robot with monocular vision based on embedded system [J].Journal of Henan Polytechnic University(Natural Science) ,2022,41(1):100-106.

基于嵌入式的单目视觉工业机器人定位系统设计

王少锋1, 夏广远1, 吉春生2, 王海岭3

1.内蒙古科技大学 机械工程学院，内蒙古 包头 014010；2.包头市特种设备检验所，内蒙古 包头 014030；3.内蒙古北方重工业集团有限 公司，内蒙古 包头 014033

摘要:为解决传统工业机器人定位不精确、不灵活的问题，对机器视觉引导的工业机器人定位进行研究，提出以KUKA机械臂和嵌入式ZYNQ开发板为硬件平台的低成本系统方案。首先对工业机器人视觉定位抓取过程建立数学模型；然后研究基于机器视觉的图像处理技术，采用轮廓特征参数为辨识条件对预处理后的工件轮廓进行识别和定位；最后，经过坐标转换，将工件真实位姿发送给工业机器人控制系统进行抓取引导。实验结果表明，该系统对目标工件能够实现有效、精准的定位。 

关键词:嵌入式系统;机器视觉;单目视觉;工业机器人;图像处理

doi:10.16186/j.cnki.1673-9787.2020100050

基金项目:国防科工局技术基础科研项目（JSZL2018208C004）；国家自然科学基金资助项目（52075270 ）；内蒙古自治区科技计划项 目（2020GG0160）

收稿日期:2020/10/21

修回日期:2021/02/08

出版日期:2022/01/01

Design of positioning system of industrial robot with monocular vision based on embedded system

WANG Shaofeng 1, XIA Guangyuan 1, JI Chunsheng 2, WANG Hailing 3

1.School of Mechanical Engineering， Inner Mongolia University of Science and Technology， Baotou  014010 ， Inner Mongolia ， China；2.Baotou Special Equipment Inspection Institution， Baotou  014030 ， Inner Mongolia， China；3.Inner Mongolia North Heavy Industries Group Corp. Ltd. ， Baotou  014033，InnerMongolia，China

Abstract:  In order to solve the problems of the traditional industrial robot control method，the positioning of industrial robots guided by machine vision was studied，and a low-cost system solution based on the KUKA robot arm and the embedded ZYNQ development board as the hardware platform was proposed． Firstly，a mathematical model was established for the visual positioning and grasping of industrial robots． Secondly，the image processing technology based on machine vision was studied，and the pre-processed workpiece contour was recognized and positioned with contour characteristic parameters as identification conditions． Finally，the real pose of the workpiece was sent to the industrial robot control system to guide grasping after coordinate conversion． Experimental results showed that the system could realize effective and accurate positioning of target workpieces．

Key words:embedded system;machine vision;monocular vision;industrial robot;image processing

 基于嵌入式的单目视觉工业机器人定位系统设计_王少锋.pdf