基于视觉和输送链跟踪的机器人分拣系统设计  

Design of Robot Sorting System Based on Machine Vision and Conveyor Tracking

作　　者：陈芳[1] CHEN Fang(School of Mechanical and Electrical Engineering,Shenzhen Polytechnic,Shenzhen,Guangdong 518055,China)

机构地区：[1]深圳职业技术学院机电工程学院,广东深圳518055

出　　处：《深圳职业技术学院学报》2023年第4期95-102,共8页Journal of Shenzhen Polytechnic

基　　金：深圳职业技术学院(2022年度)自然科学项目“多轴伺服系统位姿轮廓误差耦合特性与解耦控制机理研究”(6022310021K)。

摘　　要：在工业物流领域,机器人视觉分拣已得到广泛应用。为提升对位置和颜色随机的物料的自动化分拣效率,设计了一套融合机器视觉技术和输送链跟踪技术的机器人分拣系统。在该系统中,康耐视智能相机负责捕获物料图像、识别颜色并计算位置,通过socket通讯协议,将颜色和静态位置数据发送给IRB360并联机器人。DSQC377专用输送链跟踪板负责采集实时位移数据。机器人通过将接收到的静态位置数据和输送链跟踪板采集到的实时位移叠加,计算出物料的实时坐标,完成对物料的抓取,并依据颜色信息对物料进行分类,放置在出料带上。研究中详细的程序流程图展示了机器人和智能相机的操作流程,同时对系统的整体调试步骤进行了深入描述,实际应用案例的测试结果证实了工业机器人视觉引导技术与输送链跟踪技术结合的有效性。In industrial logistics,robot vision sorting has been widely used.In order to improve the automation level and efficiency of robots sorting materials with random positions and colors,a robot sorting system integrating machine vision technology and conveyor tracking technology is designed.The system uses a Cognex smart camera to complete image acquisition,color recognition and position calculation.It uses Socket Communication to transmit color and static position data to the IRB360 robot,and uses a DSQC377 conveyor tracking board to collect real-time displacement data.By overlaying the static position data transmitted by the camera with the real-time displacement data collected by the conveyor tracking board,the robot calculates the real-time coordinates of the material,then classifies the material according to color information and places it on the discharge belt.The article provides program flowcharts of robot and intelligent camera,and explains the overall debugging steps of the system.The test results of the application case indicate that the combination of industrial robot visual guidance technology and conveyor tracking technology can achieve dynamic tracking on the material sorting conveyor belt and improve sorting efficiency.

关 键 词：机器视觉 输送链跟踪 工业机器人 分拣系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]