基于OMRON视觉的工业机器人分拣控制系统设计  

Design of Industrial Robot Sorting Control System Based on OMRON Vision

作　　者：梁倍源 陈路 Liang Beiyuan;Chen Lu(Guangxi Vocational&Technical Institute of Industry,Nanning 530001,China;Hebei University of Architecture,Nanyang 075000,China)

机构地区：[1]广西工业职业技术学院,南宁530001 [2]河北建筑工程学院,河南南阳075000

出　　处：《计算机测量与控制》2024年第7期105-111,共7页Computer Measurement &Control

基　　金：2020年度广西高校中青年教师科研基础能力提升项目(2020KY39012)。

摘　　要：工业机器人在分拣过程中,目标物体可能存在各种形状、尺寸和外观变化,同时还可能受到遮挡和光照条件的影响,使得目标的检测和识别复杂,导致分拣控制功能和应用性能差;为此,设计了基于OMRON视觉的工业机器人分拣控制系统;采用OMRON视觉传感器、机器人分拣控制器和驱动器,完成分拣控制硬件系统设计;利用OMRON视觉,采集工业机器人分拣目标图像,通过直方图均衡化和滤波去噪,完成初始分拣目标图像的预处理;提取工业机器人分拣目标的轮廓特征,通过特征匹配确定分拣目标类型,得出位置、几何结构等空间参数的检测结果;最终通过控制参数计算、工业机器人位姿识别以及控制量求解等步骤,实现系统的分拣控制功能;通过系统测试实验表明,设计系统的抓取位置控制误差和分拣目标位置控制误差分别为0.8 mm和0,7 mm,分拣对象表面磨损量较小,具有较好的分拣控制功能和应用性能。During the sorting process of industrial robots,target objects perhaps have various shapes,sizes,and appearance changes,which are affected by occlusion and lighting conditions,making target detection and recognition complex,and resulting in poor sorting control functions and application performance.For this purpose,an industrial robot sorting control system based on OMRON vision was designed.The sorting control hardware system was achieved by using the OMRON visual sensors,robotic sorting controllers,and drivers.The OMRON vision was used to collect the sorting target images of the industrial robot,the sorting target images were preprocessed through the histogram equalization and filtering denoising.The contour features of the industrial robot s sorting targets were extracted,and the type of sorting target was determined through the feature matching,the detection results of spatial parameters such as position and geometric structure were obtained.Finally,the sorting control function of the system was achieved through the steps such as control parameter calculation,recognition of the industrial robot s pose,and calculation of control quantities.The testing experimental results show that the grab position control error and sorting target position control error of the designed system are 0.8mm and 0.7mm,respectively.The surface wear of sorting objects is relatively small,and it has good sorting control function and application performance.

关 键 词：OMRON视觉 工业机器人 分拣控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]