本文選題：Delta機(jī)器人 + 視覺分選��； 參考：《華僑大學(xué)》2017年碩士論文

【摘要】：在傳統(tǒng)生產(chǎn)線上,產(chǎn)品分選采用人工的方法進(jìn)行,不僅效率低而且出錯的概率極高。即使一些生產(chǎn)線采用工業(yè)機(jī)器人進(jìn)行分選,但機(jī)器人的一系列動作和產(chǎn)品的擺放位置都是預(yù)先精確設(shè)定的,機(jī)器人只是完成點到點的動作,生產(chǎn)節(jié)拍固定,產(chǎn)品種類單一。為了解決生產(chǎn)線上分選作業(yè)高度結(jié)構(gòu)化、柔性差等問題,就需要給機(jī)器人配備視覺系統(tǒng)。本文從包裝盒分選的實際需求出發(fā),以實現(xiàn)Delta機(jī)器人對包裝盒盒蓋與盒底的區(qū)分、定位、盒蓋的抓取、盒蓋的角度調(diào)整、將盒蓋安裝在盒底上及盒蓋上Code128A碼識別等功能作為分選任務(wù),進(jìn)行了以下四個方面的研究。第一、從Delta機(jī)器人、人工光源、相機(jī)、鏡頭及視覺分選系統(tǒng)開發(fā)平臺等五個方面詳細(xì)分析了視覺分選系統(tǒng)的硬件結(jié)構(gòu),設(shè)計了視覺分選系統(tǒng)的軟件結(jié)構(gòu),完成了基于Delta機(jī)器人的包裝盒視覺分選系統(tǒng)的軟硬件平臺的搭建。第二、為了實現(xiàn)基于視覺信息的Delta機(jī)器人末端執(zhí)行器對盒蓋的抓取,對相機(jī)進(jìn)行了標(biāo)定,使用標(biāo)定得到的數(shù)據(jù)對圖像的畸變進(jìn)行了校正。分析了Delta機(jī)器人正逆運動學(xué),對視覺系統(tǒng)進(jìn)行了標(biāo)定,得到了相機(jī)坐標(biāo)系與Delta機(jī)器人坐標(biāo)系之間的平移旋轉(zhuǎn)關(guān)系,通過基于目標(biāo)位置反饋的Delta機(jī)器人抓取實驗驗證了本文設(shè)計的視覺分選系統(tǒng)的可行性。第三、為了實現(xiàn)Delta機(jī)器人對盒蓋與盒底的區(qū)分、定位及Code128A碼識別等功能,開發(fā)了基于極坐標(biāo)霍夫變換的直線檢測工具塊、基于形狀角與霍夫變換的圓檢測工具塊及基于改進(jìn)Harris角點檢測的正方形檢測工具塊。根據(jù)最小方差原理,設(shè)計了一種用于識別Code128A碼的方法。第四、設(shè)計了一種通過參考坐標(biāo)點計算盒蓋角度調(diào)整值的方法。通過Modbus協(xié)議實現(xiàn)了視覺系統(tǒng)和Delta機(jī)器人之間的數(shù)據(jù)傳輸。結(jié)合以上研究,實現(xiàn)了Delta機(jī)器人對包裝盒的視覺分選功能。多次的實驗結(jié)果表明,本文設(shè)計的視覺分選系統(tǒng)運行穩(wěn)定可靠,包裝盒分選成功率達(dá)92%以上,具有一定的實用價值。
[Abstract]:In the traditional production line, product sorting is carried out by artificial method, which is not only inefficient but also has a high probability of error. Even though some production lines are sorted by industrial robots, a series of robot actions and product placement positions are predefined, the robot only completes point-to-point movements, the production beat is fixed, and the product category is single. In order to solve the problems of high structure and poor flexibility in sorting operation on production line, the robot needs to be equipped with visual system. In this paper, according to the actual needs of packing box sorting, the Delta robot can distinguish the box lid from the bottom of the box, locate the box cover, grab the lid, adjust the angle of the box cover. The function of code 128A code recognition on the bottom of the box and on the lid is used as the sorting task, and the following four aspects are studied. First, the hardware structure of visual sorting system is analyzed in detail from five aspects: Delta robot, artificial light source, camera, lens and visual sorting system development platform, and the software structure of visual sorting system is designed. The hardware and software platform of packaging box visual sorting system based on Delta robot is built. Secondly, the camera is calibrated and the distortion of the image is corrected by using the calibrated data in order to realize the Delta robot terminal actuator grabbing the lid based on visual information. The forward and inverse kinematics of Delta robot is analyzed, the vision system is calibrated, and the translation and rotation relationship between camera coordinate system and Delta robot coordinate system is obtained. The feasibility of the visual sorting system designed in this paper is verified by Delta robot grab experiment based on target position feedback. Thirdly, in order to distinguish the cover from the bottom of the box, locate and identify the code of code 128A, a linear detection tool block based on polar coordinate Hough transform is developed. Circle detection tool block based on shape angle and Hough transform and square detection tool block based on improved Harris corner detection. According to the principle of minimum variance, a method for identifying Code128A codes is designed. Fourth, a method for calculating the angle adjustment of the lid by reference coordinate points is designed. The data transmission between vision system and Delta robot is realized by Modbus protocol. Combined with the above research, the visual sorting function of Delta robot to the packing box is realized. The experimental results show that the visual sorting system designed in this paper is stable and reliable, and the packing box sorting success rate is more than 92%, which has certain practical value.
【學(xué)位授予單位】：華僑大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP242

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本文編號：2032619