智能相机在机器人定位和分拣中的应用研究  

Smart Camera Application Research in Localization and Sorting Process

作　　者：王建华[1] 徐鲲鹏[1] 丁信刚 WANG Jian-hua;XU Kun-peng;DING Xin-gang(School of Electromechanical Engineering,Xuzhou College of Industrial Technology,Xuzhou 221140,China;Xuzhou Zhixin Building Material Machinery Co.,Ltd.,Xuzhou 221000,China)

机构地区：[1]徐州工业职业技术学院机电工程学院,江苏徐州221140 [2]徐州至信建材机械有限公司,江苏徐州221000

出　　处：《机械工程与自动化》2018年第2期159-161,共3页Mechanical Engineering & Automation

基　　金：徐州工业职业技术学院院级课题(XGY201416)

摘　　要：针对自动化生产线中工件位置获取和形状判别,提出了基于智能相机的设计方案。首先,机器人记录工件托盘中心为原始位置,并存入机器人变量中;然后,将所有不同形状的工件依次放置在工件托盘中间,智能相机逐一学习并记录工件的位置和形状;最后,在自动运行时,智能相机对工件拍照,并与预先学习的工件位置和形状进行比较,从而获得工件相对于托盘中心的偏移量和工件类型,通过Modbus/TCP传输给PLC,经数据处理获得机器人坐标系中工件的位置和类型,从而为机器人工件吸取和分拣奠定基础。In order to implement the position obtaining and shape identification of workpiece in automatic production line,this paper proposed a design method based on smart cameras.Firstly,the robot would record the center of a workpiece tray as an original position and memory the position into robot variable group.Then,placing all workpieces with different shapes in the center of the trays respectively,smart cameras would scan and record the positions and shapes of the workpieces one by one.Finally,when the system is operating,smart cameras would take photos for workpieces and compare new positions and shapes with the original ones,so that the offset deviation and type of the workpieces would be obtained.Furthermore,transmitting the obtained data to PLC based on Modbus/TCP,the data would be processed to obtain the position and type of the workpieces within the robot coordinate system,which lays the foundation for robot workpiece grabbing and sorting.

关 键 词：智能相机 机器人 定位 分拣 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]