中文摘要：

砖厂在卸砖环节中一直无法实现自动化的主要原因是砖块在烧制过程中位姿会发生改变,导致传统自动化装备无法对砖块进行准确夹取,工业机器人与机器视觉技术的结合能很好地解决自动化卸砖问题。在研制智能、自动化卸砖机器人的过程中,根据实际生产需求,采用基于目标特征点的单目测距方法进行图像特征点坐标转换,并结合数字图像处理技术,实现了砖垛的识别和位姿获取。实验结果表明：该方法能够准确快速地识别砖垛,并获得砖垛的位姿信息,从而引导卸砖机器人对砖垛进行智能抓取。

英文摘要：

The main reason for brick factory has been unable to achieve the automation in the unloading brick link,It is due to the fact that the bricks will change the position in the firing process,resulting in the fact that traditional automation equipment can not accurately grasp the bricks.The problem of automatic unloading bricks can be solved by industrial robot combining with machine vision technology.In the process of developing intelligent and automated unloading brick robot,according to the actual production needs,the distance measurement method with the target feature point was used to carry out the feature point coordinate transformation,and combining with digital image processing technology.This method achieves target object recognition and poses acquisition.The results showed that the method can recognize the brick stack accurately and quickly,and acquire the pose of the brick stack,so as to lead the unloading brick robot to grasp the brick stack.