Development Of Object Grabbing System Based On Binocular Vision

The traditional vision system can only perform simple two-dimensional coordinates detection and positioning,which makes the traditional vision system not competent in many complicated scenes,especially in the material sorting production operations on some assembly lines.In the case of superimposed and tilted objects,the traditional twodimensional vision system can't do anything.At this time,in order to meet the industrial demand for three-dimensional information measurement,the three-dimensional information of the feature points can be obtained by the binocular camera parallax principle.Measurement of three-dimensional information.Under such demand,this paper uses binocular camera with robot system to develop the object grabbing system based on binocular vision.The following is the main content of this article:According to the accuracy and the requirements of the site environment,this paper selects the appropriate camera?light source?lens?machine hand,and then calculates the internal and external parameters of the camera of the binocular vision system through the dual target.According to the obtained internal and external parameter values of the camera,combined with the feature point matching.The Sift algorithm performs the matching of the same feature points in the two cameras.According to the position of the feature points under different cameras,the parallax of the two cameras is obtained by the trigonometric principle,and the three-dimensional information of the feature points is calculated.According to the obtained three-dimensional information,the information is transmitted to the robot system through the network port communication between the robot and the vision system,and then the coordinate coordinate matrix between the robot and the camera obtained by the hand-eye calibration on the hand eye is used to perform the robot coordinate and the camera coordinate.The conversion between the three-dimensional information obtained from the parallax results between the feature points is called the coordinate system of the robot,and finally the converted robot coordinates are used to guide the robot to grasp the target object and put it at the specified position.According to the results of the obtained three-dimensional information,the analysis and testing can be carried out,and the test accuracy can meet the requirements of this project.In the end,this article uses vs2010 as the development tool and relies on the opencv open source algorithm library to complete the design and development of this object capture system based on binocular vision.