智能码垛装车工业机器人控制系统的研究与应用

发布时间：2018-04-12 11:08

本文选题：机器人系统 + 运动控制　；参考：《山东建筑大学》2017年硕士论文

【摘要】：码垛机器人作为物流行业重要的搬运工具,正在被广泛的应用到不同领域的工业现场。码垛机器人向开放式货车车厢直接进行码垛装车作业可以大大简化运输流程,从而提高运输效率,受到人们的青睐。很多自动化装车领域的研究,在智能化开发和应用水平上暴露出很多不足,目前没有一种能够满足装车领域的高效智能的码垛机器人。为了解决自动化设备对货车车厢的定位精度差、效率低下等问题,提出了一种智能化视觉车辆定位码垛装车机器人控制系统。本文根据实际工业现场应用的功能和技术需求,设计了基于PC运动控制器装车码垛机器人控制系统方案。该控制系统方案提出含有车辆定位功能的控制系统总构架,硬件上由工业相机、工控机、运动控制器及其外围设备构成,设计并完成硬件系统电气原理图搭建。以模块化的原则构造软件控制系统构架并以此为总线,以运动控制子系统、装车定位子系统、通讯模块、人机交互界面等展开论文研究脉络。构建和研究码垛机器人运动控制子系统,结合项目研发的四自由度码垛机器人本体,建立基于D-H法的机器人运动模型,研究运动学分析和空间分析。为码垛装车的空间和规划开展进行前期理论铺垫,进行简洁合理的码垛机器人运动学规划,提高码垛机器人控制系统在装车时的柔性和效率。构建基于PC的装车码垛机器人控制系统定位子系统,采用单目视觉的定位方案。通过JAI高性能工业相机采集放置在规定位置的货物图片,在VC++6.0添加HALCON和OPENCV图像库文件进行编程,采用基于模板的图像匹配处理算法,确定货物在图像视觉坐标系下面的位姿。在对视觉图像坐标数据进行数学变换之后求在机器人坐标系下坐标,推导出货车车厢在机器人坐标系下面的位姿。最后,设计装车方案并依据车厢体积设计对角式的启发式装车规划路径,模拟工业现场搭建码垛装车平台。通过码垛装车机器人控制系统进行定位实验和装车规划实验,对装车定位数据和码垛装车的货物目标位置数据进行分析,验证并解决了该装车码垛机器人控制系统的可行性和精确性问题。
[Abstract]:As an important handling tool in logistics industry, palletizing robot is widely used in different fields.The palletizing robot can greatly simplify the transportation flow and improve the transportation efficiency by directly carrying out palletizing and loading operations to the open freight cars, which is favored by people.Many researches in the field of automatic loading have exposed many shortcomings in the level of intelligent development and application. At present, there is not a highly efficient and intelligent palletizing robot that can satisfy the loading field.In order to solve the problems of poor positioning accuracy and low efficiency of automatic equipment to the carriage of freight cars, an intelligent robot control system for positioning and palletizing of visual vehicles is proposed in this paper.According to the function and technical requirement of the practical industrial field application, this paper designs the control system of the loading and palletizing robot based on the PC motion controller.The general frame of the control system with vehicle positioning function is put forward. The hardware is composed of industrial camera, industrial control computer, motion controller and its peripheral equipment. The electrical schematic diagram of the hardware system is designed and completed.Based on the principle of modularization, the framework of the software control system is constructed and used as the bus. The research context of the paper is carried out with the motion control subsystem, the loading positioning subsystem, the communication module, the man-machine interface, and so on.The motion control subsystem of palletizing robot is constructed and studied. Combined with the four-degree-of-freedom palletizing robot ontology developed by the project, the robot motion model based on D-H method is established, and kinematics analysis and spatial analysis are studied.In order to improve the flexibility and efficiency of the palletizing robot control system, the space and planning of palletizing loading can be carried out in the early stage, and the kinematics planning of the palletizing robot can be carried out in a concise and reasonable way to improve the flexibility and efficiency of the palletizing robot control system.The positioning subsystem of the control system of palletizing robot based on PC is constructed, and the positioning scheme of monocular vision is adopted.Through JAI high performance industrial camera to collect the goods picture placed in the specified position, add HALCON and OPENCV image library files in VC 6.0 for programming, adopt the image matching processing algorithm based on template.Determine the position and orientation of the goods under the image visual coordinate system.After the mathematical transformation of the coordinate data of the visual image, the coordinate is obtained in the robot coordinate system, and the position and pose of the truck carriage under the robot coordinate system are deduced.Finally, the loading scheme is designed and the diagonal car planning path is designed according to the volume of the car, and the stacking loading platform is built by simulating the industrial site.The positioning experiment and loading planning experiment are carried out through the control system of palletizing robot, and the loading location data and cargo target position data of palletizing vehicle are analyzed.The feasibility and accuracy of the control system are verified and solved.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【相似文献】