钩托板螺栓拆装机器人的视觉定位系统设计与研究  

Design and Research on the Vision Positioning System of the Robot for Hook Pallet Bolt Disassembly

作　　者：石建刚 任帅 SHI Jiangang;REN Shuai(Baotou Vehicle Maintenance Branch of Guoneng Railway Equipment Co.,Ltd.,Baotou Inner Mongolia 014000,China)

机构地区：[1]国能铁路装备有限责任公司包头车辆维修分公司,内蒙古包头014000

出　　处：《机床与液压》2022年第21期69-74,共6页Machine Tool & Hydraulics

基　　金：北京市基金-教委联合资助项目编号(KZ202010009015);北京市自然科学基金-海淀原始创新联合基金(L172001);国家重点研发计划前沿科技创新专项资助项目(2019QY(Y)0402)。

摘　　要：目前,铁路货车钩托板螺栓拆装均采用人工作业方式,存在作业强度大、安全隐患高、效率低以及拧紧扭矩难以控制等问题,迫切需要自动化和智能化装备。基于钩托板螺栓的拆装场景与工艺需求,研发一款移动式智能拆装机器人,替代人工实现螺栓的自动拆卸与紧固。设计螺栓的机器视觉定位系统,完成钩托板所有螺栓的自动定位。采用YOLOv5网络作为螺栓检测定位的模型,在自制的数据集上对网络进行训练,利用训练好的目标检测模型对钩托板螺栓进行实时定位,实现对机器人的伺服控制。在钩托板螺栓模拟实物平台上进行了螺栓的定位试验,试验结果表明:该方法能够高效、可靠实现螺栓的自动定位,对于不同表面状态的螺栓具有较强的鲁棒性。At present,the disassembly and assembly of the bolts of the rail freight car hook pallet are carried out manually.There are problems such as high work intensity,high safety hazards,low efficiency,and difficulty in controlling the tightening torque.There is an urgent need for automation and intelligent equipment.Based on the disassembly and assembly scenes and process requirements of the hook pallet bolts,a mobile intelligent disassembly and assembly robot was developed to replace manual for bolts automatic disassembly and tightening.A machine vision positioning system for bolts was designed to complete the automatic positioning of all bolts on the hook pallet.The YOLOv5 network was used as the bolt detection and positioning model,and the network was trained on a self-made data set.The trained target detection model was used to locate the bolts of the hook plate in real time to realize the servo control of the robot.The bolt positioning test was carried out on the hook plate bolt simulation physical platform.The test results show that by the method,the automatic bolt positioning can be realized efficiently and reliably,and it has strong robustness to bolts with different surface conditions.

关 键 词：钩托板螺栓 拆装机器人 视觉定位系统 YOLOv5 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TH17[自动化与计算机技术—控制科学与工程]