基于机器视觉检测的码垛机器人控制系统设计
|
摘要
目的为了提高码垛机器人对码放物品的自我分辨能力,提高码放效率,提出一种基于机器视觉检测的包装码垛机器人控制系统。方法首先分析机器视觉码垛机器人工作过程,基于工业控制计算机和图像采集卡设计码垛机器人控制系统,提出控制系统的硬件设计和软件设计。同时对机器视觉采集到的图像进行滤波、分割等图像处理,以提高机器人的视觉检测效率。结果实验结果表明,机器视觉码垛机器人的漏抓率为0,误抓率小于0.5%。结论该控制系统有效解决了规则物品的分类码放,实现了高效的物品码放。
The work aims to propose a control system of the packaging palletizing robot based on machine vision detection to improve the self-distinguishing ability of palletizing robot and the efficiency of palletizing. Firstly, the working process of machine vision palletizing robot was analyzed, and the control system of palletizing robot was designed based on industrial control computer and image acquisition card, and the hardware design and software design of the control system were expounded. At the same time, the image processed by the machine vision was filtered and segmented to improve the visual detection efficiency of the robot. The experimental results showed that the leakage rate of the machine vision palletizing robot was 0, and the error rate was less than 0.5%. The control system can effectively solve the classification and stacking of the regular items, and realize the high efficient item stacking.
The work aims to propose a control system of the packaging palletizing robot based on machine vision detection to improve the self-distinguishing ability of palletizing robot and the efficiency of palletizing. Firstly, the working process of machine vision palletizing robot was analyzed, and the control system of palletizing robot was designed based on industrial control computer and image acquisition card, and the hardware design and software design of the control system were expounded. At the same time, the image processed by the machine vision was filtered and segmented to improve the visual detection efficiency of the robot. The experimental results showed that the leakage rate of the machine vision palletizing robot was 0, and the error rate was less than 0.5%. The control system can effectively solve the classification and stacking of the regular items, and realize the high efficient item stacking.
引文
[1]王田苗,陶永.我国工业机器人技术现状与产业化发展战略[J].机械工程学报,2014,50(9):1-13.WANG Tian-miao,TAO Yong.Research Status and Industrialization Development Strategy of Chinese Industrial Robot[J].Journal of Mechanical Engineering,2014,50(9):1-13.
[2]赵伟,李响,郭爱华,等.工业机器人码垛线的设计[J].制造业自动化,2011,33(10):117-120.ZHAO Wei,LI Xiang,GUO Ai-hua,et al.The Design of Industrial Robot Palletizing System[J].Manufacturing Automation,2011,33(10):117-120.
[3]赵臣,王刚.我国工业机器人产业发展的现状调研报告[J].机器人技术与应用,2009(2):9-13.ZHAO Chen,WANG Gang.The Development Research Report of Chinese Industrial Robot[J].Robot Technique and Applicationg,2009(2):9-13.
[4]柳鹏.我国工业机器人发展及趋势[J].机器人技术与应用,2012(5):20-22.LIU Peng.The Development and Trend of Chinese Industrial Robot[J].Robot Technique and Applicationg,2012(5):20-22.
[5]赵杰.我国工业机器人发展现状与面临的挑战[J].航空制造技术,2012(12):26-29.ZHAO Jie.Development and Challenge of Chinese Industrial Robot[J].Aeronautical Manufacturing Gechnology,2012(12):26-29.
[6]王耀南,陈铁健.智能制造装备视觉检测控制方法综述[J].控制理论与应用,2015,32(3):273-286.WANG Yao-nan,CHEN Tie-jian.Control Methods of Intelligent Manufacturing Equipment Visual Inspection[J].Control Theory&Applications,2015,32(3):273-286.
[7]范鲁一,王冬青,李芳,等.基于STM32的码垛机器人控制系统的设计[J].工业控制计算机,2014,27(11):69-71.FAN Lu-yi,WANG Dong-qing,LI Fang,et al.Design of Palletizing Robot Control System Based on STM32[J].Industrial Control Computer,2014,27(11):69-71.
[8]郭亚奎,陈富林,汤永俊.码垛机器人控制系统的设计与实现[J].机电一体化,2014(1):55-58.GUO Ya-kui,CHEN Fu-lin,TANG Yong-jun.Stacking Robot Control System Design and Implementation[J].Mechatronics,2014(1):55-58.
[9]李坤全,邵凤翔.全自动包装码垛机器人控制系统设计[J].机械设计与制造,2017(4):259-262.LI Kun-quan,SHAO Feng-xiang.Design of Fully Automatic Packaging Palletizing Robot Control System[J].Machinery Design&Manufacture,2017(4):259-262.
[10]YU D.Parallel Robots Pose Accuracy Compensation Using Back Propagation Network[J].International Journal of Physical Science,2011,6(21):5005-5011.
[11]李晓娜,刘宝顺,刘瑞昌.基于PLC和触摸屏技术的制袋设备控制系统及界面设计[J].包装工程,2014,35(5):50-53.LI Xiao-na,LIU Bao-shun,LIU Rui-chang.Design of Bag-making Equipment Control System and Interface Based on PLC and Touch Screen Technique[J].Packaging Engineering,2014,35(5):50-53.
[12]李成伟,朱秀丽,贠超.码垛机器人机构设计与控制系统研究[J].机电工程,2008,25(12):81-99.LI Cheng-wei,ZHU Xiu-li,YUN Chao.Design and Research of Stacking Robot Kinematics[J].Mechanical&Electrical Engineering Magazine,2008,25(12):81-99.
[13]吴成中,王耀南,冯明涛,等.基于神经网络的医药微弱异物视觉检测机器人[J].电子测量与仪器学报,2015,29(12):1746-1756.WU Cheng-zhong,WANG Yao-nan,FENG Ming-tao,et al.Neural Network Based Pharmaceutical Weak Foreign Body Visual Inspection Robot[J].Electronic Measurement and Instrumentation,2015,29(12):1746-1756.
[14]张文娟,康家银.一种用于图像降噪的自适应均值滤波算法[J].小型微型计算机系统,2011,32(12):2496-2498.ZHANG Wen-juan,KANG Jia-yin.Adaptive Mean Filtering Algorithm for Image Denoising[J].Journal of Chinese Computer Systems,2011,32(12):2496-2498.
[15]楚广生.基于图像处理的自动调光系统[J].国外电子测量技术,2015,34(12):69-72.CHU Guang-sheng.Auto Exposure System Based on Image Processing[J].Foreign Electronic Measurement Technology,2015,34(12):69-72.
[2]赵伟,李响,郭爱华,等.工业机器人码垛线的设计[J].制造业自动化,2011,33(10):117-120.ZHAO Wei,LI Xiang,GUO Ai-hua,et al.The Design of Industrial Robot Palletizing System[J].Manufacturing Automation,2011,33(10):117-120.
[3]赵臣,王刚.我国工业机器人产业发展的现状调研报告[J].机器人技术与应用,2009(2):9-13.ZHAO Chen,WANG Gang.The Development Research Report of Chinese Industrial Robot[J].Robot Technique and Applicationg,2009(2):9-13.
[4]柳鹏.我国工业机器人发展及趋势[J].机器人技术与应用,2012(5):20-22.LIU Peng.The Development and Trend of Chinese Industrial Robot[J].Robot Technique and Applicationg,2012(5):20-22.
[5]赵杰.我国工业机器人发展现状与面临的挑战[J].航空制造技术,2012(12):26-29.ZHAO Jie.Development and Challenge of Chinese Industrial Robot[J].Aeronautical Manufacturing Gechnology,2012(12):26-29.
[6]王耀南,陈铁健.智能制造装备视觉检测控制方法综述[J].控制理论与应用,2015,32(3):273-286.WANG Yao-nan,CHEN Tie-jian.Control Methods of Intelligent Manufacturing Equipment Visual Inspection[J].Control Theory&Applications,2015,32(3):273-286.
[7]范鲁一,王冬青,李芳,等.基于STM32的码垛机器人控制系统的设计[J].工业控制计算机,2014,27(11):69-71.FAN Lu-yi,WANG Dong-qing,LI Fang,et al.Design of Palletizing Robot Control System Based on STM32[J].Industrial Control Computer,2014,27(11):69-71.
[8]郭亚奎,陈富林,汤永俊.码垛机器人控制系统的设计与实现[J].机电一体化,2014(1):55-58.GUO Ya-kui,CHEN Fu-lin,TANG Yong-jun.Stacking Robot Control System Design and Implementation[J].Mechatronics,2014(1):55-58.
[9]李坤全,邵凤翔.全自动包装码垛机器人控制系统设计[J].机械设计与制造,2017(4):259-262.LI Kun-quan,SHAO Feng-xiang.Design of Fully Automatic Packaging Palletizing Robot Control System[J].Machinery Design&Manufacture,2017(4):259-262.
[10]YU D.Parallel Robots Pose Accuracy Compensation Using Back Propagation Network[J].International Journal of Physical Science,2011,6(21):5005-5011.
[11]李晓娜,刘宝顺,刘瑞昌.基于PLC和触摸屏技术的制袋设备控制系统及界面设计[J].包装工程,2014,35(5):50-53.LI Xiao-na,LIU Bao-shun,LIU Rui-chang.Design of Bag-making Equipment Control System and Interface Based on PLC and Touch Screen Technique[J].Packaging Engineering,2014,35(5):50-53.
[12]李成伟,朱秀丽,贠超.码垛机器人机构设计与控制系统研究[J].机电工程,2008,25(12):81-99.LI Cheng-wei,ZHU Xiu-li,YUN Chao.Design and Research of Stacking Robot Kinematics[J].Mechanical&Electrical Engineering Magazine,2008,25(12):81-99.
[13]吴成中,王耀南,冯明涛,等.基于神经网络的医药微弱异物视觉检测机器人[J].电子测量与仪器学报,2015,29(12):1746-1756.WU Cheng-zhong,WANG Yao-nan,FENG Ming-tao,et al.Neural Network Based Pharmaceutical Weak Foreign Body Visual Inspection Robot[J].Electronic Measurement and Instrumentation,2015,29(12):1746-1756.
[14]张文娟,康家银.一种用于图像降噪的自适应均值滤波算法[J].小型微型计算机系统,2011,32(12):2496-2498.ZHANG Wen-juan,KANG Jia-yin.Adaptive Mean Filtering Algorithm for Image Denoising[J].Journal of Chinese Computer Systems,2011,32(12):2496-2498.
[15]楚广生.基于图像处理的自动调光系统[J].国外电子测量技术,2015,34(12):69-72.CHU Guang-sheng.Auto Exposure System Based on Image Processing[J].Foreign Electronic Measurement Technology,2015,34(12):69-72.