Abstract
With the development of industrial automation, location measurement of 3D objects is becoming more and more important, especially as it can provide necessary positional parameters for the manipulator to grasp the object accurately. In view of the disabled object which is in widespread use currently, its image is captured to obtain positional parameters and transmitted to manipulators in industry. The above process is delayed, affecting the work efficiency of the manipulator. A method for calculating the position information of target object in motion is proposed. This method uses monocular vision technology to track 3D moving objects，then uses contour sorting method to extract the minimum constrained contour rectangle, and combines the video alignment technology to realize the tracking. Thus, the measurement error is reduced. The experimental results and analysis show that the adopted measurement method is effective.
Highlights
Automatic robotic systems have more and more been desirable for many real-world applications such as automatic surveillance, vehicle control and industrial robot
Machine vision [1] is widely used in manipulator control, defect detection and so on
There are some studies on the collection, calculation and manipulator control of the target moving objects [7], but they are often not targeted for regular objects
Summary
Automatic robotic systems have more and more been desirable for many real-world applications such as automatic surveillance, vehicle control and industrial robot. There are many studies on manipulators, which use machine vision to obtain and analyse images, and control the trajectory of the robot by the obtained position parameters [3,4,5,6,7]. At present, many robots use the target object in the stationary state to sense the position information of the object [3]. This method is simple, it is unfavourable to the work efficiency of the robot and is lagged behind the operation of the manipulator. Aimed at above existing problems, this study focus on position of motion 3D target object, taking the target object of the geometrical shape on the conveyer belt as a research scene
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