基于视觉定位的机器人上下料系统集成技术  

Integration technology of pick and place robot system based on vision location

作　　者：郑魁敬[1,2] 周鑫[1,2] 程晓金[1,2] 

机构地区：[1]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《制造技术与机床》2013年第6期69-72,共4页Manufacturing Technology & Machine Tool

基　　金：国家科技重大专项资助项目(2010ZX04004-112);河北省自然科学基金资助项目(E2012203130)

摘　　要：机器人上下料系统通过视觉系统确定板料位置信息,实时引导机器人准确抓料和落料。该系统集成了机器人网络通讯、工业摄像机控制、图像处理以及RTX实时扩展等技术,并针对系统实时性问题提出了行之有效的解决方法。试验结果表明该系统可以灵活准确快速实现上下料,能满足工业现场要求的实时性及可靠性。The robot system determines the location information of the sheet metal by vision system and sends an online message to guide the robot in picking and placing accurately. The system integrates robot network communication, control of industrial camera, image processing and Real Time eXtension technique into a whole. The real-time performance of the system is analyzed in detail and some effective methods are suggested to improve the real-time performance. The experimental result proves that the agile system can pick and place the sheet metal accurately and fast and meet the demand of real-time performance and reliability in the industrial circumstance.

关 键 词：系统集成 上下料 视觉定位 图像处理 实时性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]