基于机器视觉的机器人酒瓶抓取实训系统设计  

Development of the machine vision-based robot with wine bottle grasping training system

作　　者：许超 刘波[1] 赵俊生[1] 孙程鹏 王志鸿 Xu Chao;Liu Bo;Zhao Junsheng;Sun Chengpeng;Wang Zhihong(School of Mechanical Engineering,North University of China,Shanxi Taiyuan,030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械设计与制造工程》2024年第12期53-58,共6页Machine Design and Manufacturing Engineering

基　　金：山西省高等学校教学改革创新项目(J20220627)。

摘　　要：为培养学生解决跨学科复杂工程问题的能力,设计了由机器人、机器视觉、白酒瓶输送和计算机子系统构成的以太网架构实训系统。用五点标定法建立了从图像坐标系到机器人坐标系的变换矩阵;使用Python语言、PLC梯形图和AE机器人编程语言设计了实训系统的软件,实现了机器视觉引导机器人准确抓取滑台上任意放置的白酒瓶并放到处置箱的目的。In order to train students'ability to solve complex interdisciplinary engineering problems,an Ethernet architecture practical training system composed of robot,machine vision,liquor bottle conveying and computer subsystems is designed.The transformation matrix from image coordinate system to robot coordinate system is established by five-point calibration method,Python language,PLC ladder diagram and AE robot programming language are used to design the software of the training system,which realizes the purpose of guiding the robot to accurately grasp the liquor bottle placed arbitrarily on the slide and put it into the disposal box.

关 键 词：机器视觉 实训系统 标定 图像处理 特征提取 

分 类 号：TH124[机械工程—机械设计及理论]