Research On Dynamic Sorting Of Industrial Robot Based On Vision

With the development of manufacture in China,intelligent manufacturing equipment has been paid more attention,among which,the industrial robots application is an important part.Because the robot vision has the advantages of noncontact,flexible function,and high accuracy,industrial robot system based on vision has been widely used in welding,assembly,AGV,measurement,sorting,etc.The researches of industrial robot vision-sorting system,especially sorting for the moving objects,has a certain positive on significance intelligent manufacturing.On the basis of visual sorting system from GSK's GR-C industrial robot with six degrees of freedom,adding position feedback system to improve the hardware;the algorithm of camera calibration and image process are researched as follows: beginning with pinhole camera model and the simplify of parameters in this vision system,Hough transform of circle and image region segmentation,a method of fast camera calibration is established,and the accuracy of the method is confirmed by a test.With Qt and OpenCV,an upper software which can make camera calibration and coordinate hardware to sorting is created.By use of the teaching programming,upper computer and lower computer sorting program in robot has been designed.With the MDK IDE(integrated development environment),FreeRTOS embedded lower computer is created through software programming on industry control board with a core named STM32.At last,the strategy of sorting control in lower computer is improved,and the result has been proved by experiment.With the final results,the system's feasibility is proved,which can satisfies the need for automated sorting on conveyor belt.Researches of dynamic vision-sorting on industrial robot has a certain significance both in theoretical research and application.