Research For The Spatial Position Recognition Of Steel Roll Based On Image Processing

Stereovision,an active brunch of robotic technology,is one important attribute of intelligent robot,since 1980s,the research of the stereovision had been developed from lab to practice application.The image processing gained a large developed from simple binary image to high resolution and multi gray image processing,also from 2-D information processing to the research of 3D vision mechanism,model and algorithm.The Robot Visual System is to achieve people's visual function with computer,that is,realize the recognition of 3D world with computer.And binocular stereovision can be defined as the process of tri-dimensional reconstruction through the abstraction,identification matching and interpretation of twain images gathered from identical objective.The project is the former of the system of manipulator grasps the steel roll,that is,the space position recognition of steel roll,and it is the precondition of the whole system.At present,in the system of grasping steel roll,it needs a operator to control the manipulator that ask for high requirement,but this hand control will lead to bruise the steel roll,so it makes the productive efficiency decline.In order to improve the precision of grasping the steel roll,the paper deeply researched the technology of steel roll space position recognition based on image processing,and designed a automatic,exact and fast system of steel roll space position recognition.It is important in the practical production.A whole binocular stereo vision system usually includes image acquisition, camera calibration,feature extraction,stereo matching,target location and depth image building.Firstly,the paper simply introduced the principle of recognition system of steel roll space position and basic conception of digital image processing technique,include its content,traits,current situation and merits.Then the paper introduced the structure of the whole system and the hardware devices of the image collection system.The paper discussed the key technology of binocular stereo vision in detail,which mainly is camera calibration.Finally,the paper stressed the digital image processing technique used in recognition system of steel roll space position and used this technology to process and analyze the steel roll images.Including, de-noising with median filtering and mean filtering,image edge detecting,image binary with threshold method and getting the available 3D coordination with the stereo match technology.In the course of using digital image processing technique and binary stereo vision technology,the system was developed by Visual C++ 6.0 and modularized programming method.The code has good readability and revisability, software interface is friendly,the system can run stably and efficiently.