基于机器视觉的阀口袋动态抓取系统设计  

Design of Dynamic Grabbing System for Powder Packaging Valve Pocket Based on Machine Vision

作　　者：李雪梅[1] 李喆 张鑫[1] 郭义华 容北国 LI Xuemei;LI Zhe;ZHANG Xin;GUO Yihua;RONG Beiguo(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China;Guilin Hongcheng Mining Equipment Manufacturing Co.,Ltd.,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004 [2]桂林鸿程矿山设备制造有限责任公司,广西桂林541004

出　　处：《机床与液压》2022年第12期77-82,共6页Machine Tool & Hydraulics

基　　金：广西科技攻关计划项目(2017AA24007);广西研究生教育创新计划资助项目(YCSW2018135)。

摘　　要：在粉体包装领域常使用人工抓取阀口袋完成粉料的装填,自动化程度低且危害人体健康。为了解决这一问题,设计一套基于机器视觉的阀口袋动态抓取系统。首先,通过机器视觉完成相机标定、图像特征信息提取,得到阀口袋在机器人坐标系下的位姿数据。为了提高运动状态下阀口袋的定位精度,采用卡尔曼滤波对特征点位置进行校正。然后使用数据拟合描述阀口袋的位姿变化,进而预测抓取时刻阀口袋的位姿。在PLC控制下,工业机器人实现了对输送带上运动阀口袋的动态抓取,系统运行稳定,抓取误差小于1 mm,为实现自动化粉体包装提供了一种可行方案。In the field of powder packaging,manual grasping valve pocket is often used to complete the loading of powder,which is low in automation and harmful to human health.In order to solve this problem,a dynamic grasping system of valve pocket based on machine vision was designed.The camera calibration and image feature information extraction were completed by machine vision,and the pose data of the valve pocket in the robot coordinate system were obtained.In order to improve the positioning accuracy of the valve pocket in the moving state,Kalman filter was used to correct the position of the feature points.After that the data fitting was used to describe the change of the valve pocket’s pose,then the pose of the valve pocket was predicted at the moment of grasping.Finally,under the control of PLC,the industrial robot realized the dynamic grasping of the moving valve pocket on the conveyor belt.The system runs stably and the grasping error is less than 1 mm,which provides a feasible scheme for automatic powder packaging.

关 键 词：机器视觉 卡尔曼滤波 数据拟合 PLC 工业机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]