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棒料零件自動(dòng)化加工線(xiàn)3d視覺(jué)抓取系統

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棒料零件自動(dòng)化加工線(xiàn)3d視覺(jué)抓取系統

視覺(jué)識別系統通過(guò)識別圓柱零件的三維坐標來(lái)獲得零件的實(shí)際位置，視覺(jué)識別系統將零件的實(shí)際位置坐標發(fā)送給抓取系統，抓取系統完成抓取零件的工作。在抓取系統每次抓取零件之前，均需對零件進(jìn)行拍照，拍照方式為3d雙目拍照，3d相機內內置3d結構光打在工件表面，3d相機拍照獲得工件的二維圖像和深度圖像，通過(guò)3d圖像處理軟件和算法將獲取到的圖像轉換為3d點(diǎn)云，通過(guò)標定等方式獲得3d點(diǎn)云對應的實(shí)際物理坐標，最后將工件的實(shí)際坐標傳送給抓取系統。

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