工业机器人分拣技术的实现.pdfVIP

: 1001- 2265( 2010) 01- 0084- 04 工业机器人分拣技术的实现 焦恩璋,杜荣 (南京林业大学机电学院, 南京 210037) :以 OTO AN-UP6机器人为基础, 构建了一个基于机器视觉的机器人分拣实验系统该分拣实验 系统由机器人PC机相机图 采集卡传送带和自开发的分拣控制软件组成系统的工作原理和工作 过程为:当目标对象源源不断地进入分拣作业区时, 通过相机连续自动地获取作业对象图 , 然后由软 件对采集到的图 进行运算分析变换目标对象坐标识别目标对象分类信息维护分拣目标的运动踪 迹, 最终控制机器人实现分拣动作单目标跟踪 抓取 搬运实验和多目标跟踪 抓取 搬运实验证明了该技术的意义和实用价值 : 工业机器人; 分拣;坐标系;目标识别; 机器视觉 : TP242. 2 : A R ealization of Sorting T echnology on Industrial Robot JIAO En-zhang, DU Rong (College of echanicaland ElectronicEngineering, Nanjing ForestryUniversity, Nanjing 210037, China) Abs tract: B as ed on MOTOMAN-UP6 robot a sorting experimental sy stem founded on robot vision is bu ilt. This experimental sys tem is composed of robot PC camera image acqu isition card convey er belt and s elf-developed sorting con tro l softw are. The operational princ iple and process are that targets images are acquired au tomatically and continuously by the camera when targets en ter the sorting operation area and thes e images are dealt by sorting con trol softw are w ith mathematical analy sis tran sforming the targets co- ord inates identify ing the targets classification and maintain ing their traces and finally control the robo t to imp lemen t the sorting action. The experimen ts of single target tracking- snatch ing- transitand mu lti- tar- get tracking snatch ing- transitprove the sign ificance and practical value of this technology. K ey w ord s: indus trial robo t; sorting; coord inate sy stem; target recogn ition; robot vision 0