基于机器视觉的机器人分拣系统的设计与实现

发布时间：2018-05-01 07:02

本文选题：并联机器人 + 机器视觉　；参考：《组合机床与自动化加工技术》2017年03期

【摘要】：传统的分拣作业一般采用示教或离线编程方式,当工作环境发生改变时系统无法即时的作出相应的调整,针对传统分拣方式中存在的不足,以并联型机器人和康奈视In-Sight7000型工业智能相机为基础,搭建一个基于机器视觉的工业机器人分拣系统。该分拣系统结合了并联型机器人和机器视觉两方面的技术优势,对经典的Canny边缘提取算子做出了相应的改进,通过提取图象边缘信息作为匹配的特征,克服了光照变化对视觉系统造成的影响,实现了当分拣对象由传送带运送进入相机视野时,系统可以高速的对分拣对象进行识别和分拣工作。该系统显著提升了机器人对工作环境的适应能力,提高了生产效率和系统柔性。同时,实验结果证明了该系统软硬件设计正确,分拣成功率高。
[Abstract]:The traditional sorting operations generally use teaching or offline programming, when the working environment changes, the system can not make the corresponding adjustment immediately, aiming at the shortcomings of the traditional sorting methods, Based on parallel robot and In-Sight7000 industrial intelligent camera, a sorting system of industrial robot based on machine vision is built. This sorting system combines the advantages of parallel robot and machine vision, and improves the classical Canny edge detection operator, by extracting the image edge information as the matching feature. It overcomes the influence of the illumination change on the visual system, and realizes that when the sorting object is transported from the conveyor belt into the camera field of vision, the system can identify and sort the sorting object at high speed. The system improves the adaptability of the robot to the working environment, improves the production efficiency and system flexibility. At the same time, the experimental results show that the software and hardware design of the system is correct and the sorting success rate is high.
【作者单位】：中国科学院大学;高档数控国家工程研究中心;沈阳高精数控智能技术股份有限公司;
【基金】：“高档数控机床与基础制造装备”国家科技重大专项航空发动机微孔冷加工超快激光数控机床(2014ZX04001041)
【分类号】：TP391.41;TP242

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