机器人与机器视觉的垃圾分拣系统设计  

Design of Robot Garbage Sorting System for Robot and Machine Vision

作　　者：梅志敏[1,3] 陈艳 胡杭 张融 MEI Zhi-min;CHEN Yan;HU Hang;ZHANG Rong(School of Mechanical Engineering Wuchang Institute of Technology,Hubei Wuhan 430065,China;School of Mechanical Engineering,Wuhan Polytechnic University,Hubei Wuhan 430023,China;Green Fan Manufacturing Collaborative Innovation Center in Hubei Province,Hubei Wuhan 430065,China)

机构地区：[1]武昌工学院机械工程学院,湖北武汉430065 [2]武汉轻工大学机械工程学院,湖北武汉430023 [3]绿色风机制造湖北省协同创新中心,湖北武汉430065

出　　处：《机械设计与制造》2022年第4期275-278,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51905387);武昌工学院校级科学研究基金项目(2020SL02)。

摘　　要：随着人工智能和机器人在自动化生产线广泛应用,无人化、智能化为其提供了有力技术支撑。垃圾分类和再利用是当今亟待解决的社会问题,本研究结合机器视觉和机器人优势,基于Halcon的图像处理平台和IRB1410机器人的运控载体,对固体流通商品按国家分类标准进行分拣。重点研究机器人逆运动学算法、垃圾外包装条码实时采集、数字图像处理、数据传输及机器人分拣等内容。试验结果表明:(1)随机商品条码识别与数据库匹配平均时间0.002s;(2)可回收垃圾和有害垃圾分拣率100%、干垃圾分拣率达97.0%。With the wide application of artificial intelligence and intelligent manufacturing in automatic production line,unmanned and intelligent provide strong technical support for it.Garbage sorting and reuse is an urgent social problem,This study combines the advantages of machine vision and robot,based on the Halcon image processing platform and the IRB1410 robot operation control carrier,the solid circulation goods are sorted according to the national classification standard.This paper focuses on the robot inverse kinematics algorithm,garbage packaging bar code real-time acquisition,digital image processing,data transmission and robot sorting.The results show that:(1)Random commodity barcode identification and database matching average time is 0.002s;(2)Recyclable garbage and hazardous waste sorting rates at 100%、And dry sorting rate reached at 97.0%.

关 键 词：机器视觉 机器人 垃圾分类 

分 类 号：TH16[机械工程—机械制造及自动化]