基于视觉定位的机器人智能茶台设计开发  

Design and development of robot intelligent tea table based on vision positioning

作　　者：张文婧 祝健 杨瑞 ZHANG Wenjing;ZHU Jian;YANG Rui(Xi’an Jiaotong University City College,Xi’an 710018,China;Yalong Intelligent Equipment Group Co.,Ltd.,Wenzhou,Zhejiang 325100,China)

机构地区：[1]西安交通大学城市学院,西安710018 [2]亚龙智能装备集团股份有限公司,温州325100

出　　处：《自动化与仪器仪表》2025年第2期185-188,共4页Automation & Instrumentation

摘　　要：将关节式机器人应用于智能家居产品,研制了一款基于视觉定位的机器人智能茶台。首先介绍了设备总体设计方案,提出并采用视觉定位系统自动识别茶具位置,S7 1200主控器根据操作者指令选择泡茶、原味咖啡和加糖咖啡操作指令,机器人根据视觉系统坐标信息以及主控器指令,自动生成不同功能相应的轨迹与动作,自主完成取杯、接水(接咖啡)、取茶包、泡茶、加糖、搅拌等一系列动作。测试结果表明:通过灵活修改机器人程序来满足不同的动作流程,设备运行稳定,性能良好。In order to realize the application of articulated robots in the development of smart home products,this paper devel-oped a robot intelligent tea table based on visual positioning.First,the overall design scheme of the equipment is introduced.The vis-ual positioning system is proposed and used to automatically identify the position of the tea set.The S7-226 master controller selects the operation instructions for brewing tea,plain coffee,and sweetened coffee according to the operator's instructions.The robot auto-matically generates the tracks and actions corresponding to different functions according to the coordinated information of the visual system and the master controller's instructions,and independently completes cup taking,water receiving(coffee receiving),tea bag taking,tea brewing,sugar adding A series of actions such as stirring.The test results show that the robot program can be flexibly modified to meet different action processes,and the equipment runs stably and performs well.

关 键 词：工业机器人 机器视觉 智能茶台 示教编程 

分 类 号：TN98[电子电信—信息与通信工程] TP29[自动化与计算机技术—检测技术与自动化装置]