基于工业机器人系统的杏果分拣产线  

Apricot Fruit Sorting Production Line Based on Industrial Robot System

作　　者：党淼[1] 王娜[1] Dang Miao;Wang Na(Department of Electromechanical Automation,Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院机电自动化学院,河南南阳473000

出　　处：《兵工自动化》2021年第4期38-44,74,共8页Ordnance Industry Automation

基　　金：河南省高等学校重点科研项目(20B470003)。

摘　　要：为解决杏果分拣过程中因果实体积小而拾取难度大的问题,提出一种基于工业机器人的分拣系统。根据单目视觉的固定视觉系统工作原理,建立视觉采集平台,结合相机的内部和外部参数变换公式,通过标定算法优化,分别对相机安装误差和相机成像畸变进行修正,在原有步进电机的基础上加入专家PID控制系统,并通过机器人轨迹规划实验进行验证。验证结果表明:该系统杏果拾取率达到99.1%,满足产线需要。A sorting system based on industrial robot is proposed for the small size and difficulty in picking during apricot fruit sorting.According to the fixed vision system working principle of monocular vision,establish vision collection platform,combine interior and exterior parameter transformation formula,correct camera installation error and camera imaging distortion by calibration algorithm optimization.The expert PID control system is added on the basis of the original conveyor belt stepper motor.Verify it by robot trajectory planning test.The verification results show that the picking rate of apricots in this system reached 99.1%,meeting the needs of the production line.

关 键 词：工业机器人 视觉标定 专家PID控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]