缺陷药片智能识别与分拣机器人研究  

Research on Intelligent Recognition and Sorting Robot for Defect Tablets

作　　者：张骁哲 刘成清[1] Zhang Xiaozhe;Liu Chengqing(School of Civil Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学土木工程学院

出　　处：《计算机测量与控制》2020年第1期227-231,共5页Computer Measurement &Control

基　　金：国家自然科学基金项目（51778538）;国家留学基金委项目（201707005100）

摘　　要：针对药片表面质量检测主要依靠人工肉眼判断、检测效率低和漏检等问题,开展了缺陷药片智能识别定位与分拣机器人技术研究,进行了机器人系统总体设计和结构设计,采用Halcon机器视觉开发平台编写了图像识别与处理软件对缺陷药片进行识别和定位,对机器人进行了正运动学和逆运动学分析,编写了药片位置信息解算软件,通过指令驱动机器人各关节运动对缺陷药片进行准确抓取,实现了缺陷药片的智能化分拣;通过所设计的缩比机器人系统对药片进行分拣,验证了缺陷药片智能识别定位与分拣的功能,该机器人系统具有成本低、工作范围大、智能识别定位准确、通用性好的优势。Aiming at the problems of the tablets surface quality detection mainly depending on artificial naked eye judgment,low detection efficiency and missing detection,the research on intelligent identification,location and sorting robot technology for defective tablets was carried out,and the overall structure of the robot system was designed.The image recognition and processing software which written by Halcon is used to identify and locate the defective tablets,and the forward and inverse kinematic analysis of the robot is carried out.The software is compiled to calculate the position information of tablets,and the robot joints are driven by instructions to grasp the defective tablets accurately,so as to realize the intelligent sorting of the defective tablets.The function of intelligent identification,location and sorting of defective tablets is validated by apractical scaling robot system.The robot system has the advantages of low cost,wide working range,accurate intelligent identification and location,and good generality.

关 键 词：机器人 视觉 表面缺陷 识别 定位 分拣 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]