基于機器視覺(jué)的鋸條自動(dòng)化裝盒系統設計

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基于機器視覺(jué)的鋸條自動(dòng)化裝盒系統設計
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作者單位:浙江工業(yè)大學(xué),史陶比爾杭州精密機械電子有限公司,浙江工業(yè)大學(xué),浙江工業(yè)大學(xué),浙江工業(yè)大學(xué)
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中圖分類(lèi)號:TP2
基金項目:國家自然基金(No.51275477)

Design of an Automated Band Saw Blade Packing System Based on Machine Vision

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Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,Zhejiang University of Technology,Hangzhou,zhejiang,StaubliHangzhou Mechatronic Co,Ltd,Hangzhou,zhejiang,Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,Zhejiang University of Technology,Hangzhou,zhejiang,Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,Zhejiang University of Technology,Hangzhou,zhejiang,,Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,Zhejiang University of Technology,Hangzhou,zhejiang

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摘要:

以VS2010為軟件平臺,以Staubli TP80機器人,康耐視攝像機和傳送帶為硬件基礎,對鋸條進(jìn)行識別,定位和動(dòng)態(tài)抓取,搭建了一個(gè)基于機器視覺(jué)的工業(yè)機器人智能抓取系統,其中Staubli-TP80機器人為操作手臂,利用康耐視攝像機和工控機搭建視覺(jué)檢測平臺,通過(guò)抓取系統的參數化建模實(shí)現圖像坐標到機器人坐標的轉換,利用OpenCV函數庫實(shí)現鋸條的圖像處理和模式匹配,最后控制機器人對動(dòng)態(tài)目標進(jìn)行抓取。

Abstract:

With VS2010 software platform and hardware based on Staubli TP80 robot, Cognex camera and conveyor belt, band saw blades were recognized, located and dynamically grabbed, thereby a machine vision-based industrial robot intelligent grabbing system was built, in which Staubli-TP80 robot is a manipulator and is incorporated with Cognex camera and industrial computer to set up a vision inspection platform, image coordinates were converted to robot coordinates through parametric modeling of the grabbing system, and image processing and pattern matching of band saw blades were achieved by using OpenCV function library, and finally the robot was controlled to grab a dynamic target.

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壽開(kāi)榮,鐘鵬飛,陳琨,冷龍龍,趙燕偉.基于機器視覺(jué)的鋸條自動(dòng)化裝盒系統設計計算機測量與控制[J].,2015,23(12):44.

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收稿日期:2015-06-10
最后修改日期:2015-07-06
錄用日期:2015-07-07
在線(xiàn)發(fā)布日期: 2016-01-08
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