袁群明, 陈锦江. 抓取传送带上运动工件的机器人视觉系统[J]. 机器人, 1991, 13(2): 29-32..
YUAN Qunming, CHEN Jinjiang. A ROBOT VISION SYSTEM DEVELOPED FOR RECOGNITION AND GRIP OF MOVING WORKPIECES ON A CONVEYOR BELT. ROBOT, 1991, 13(2): 29-32..
Abstract：The system presented here is based on a CCD image processing system and a single-board computer for data processing. In the design of interface circuit of the CCD image system with Z80Ⅱ SBC, FIFO registers are used, which proves to be fast and reliable. In the design of software. both methods of the line code and edge coordinates are used to seach for or calculate features of a workpiece, which turns out to be efficient.
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