Design Of Express Enterprise Sorting System Based On ARM With Visual Recognition

With the development of industrial technology and robot applications continue to expand,Robots have gradually replaced many traditional manual labor.Among them,the identification of objects,crawling and handling operations is an important application of robotics needs.In the current rapidly developing express delivery industry,items such as sorting and handling are highly repetitive and labor-intensive tasks are suitable for the application of robotics.However,the more advanced robotic sorting systems still work in a "teach-in",preprogrammed or two-dimensional visual guidance mode,with strict limits on the initial pose of the workpiece.In order to enhance robot's autonomy and intelligence,this paper combines stereo vision with robot technology,and focuses on the mobile gripping and handling platform based on binocular vision recognition,which is used for sorting operation of express enterprises.The main work is as follows:1.Design the system's mechanical structure and kinematics model.The three-wheel omni-directional mechanism is adopted as the system platform.The robot structure with three degrees of freedom is adopted.The kinematics model of the platform and the robot is analyzed respectively.Motion platform and arm combination,complete the accurate grasp of goods.2.The relationship between the four coordinate systems in the camera imaging model is deduced.The principle of binocular camera measurement and imaging is analyzed.The calibration of the camera is accomplished by Open CV calibration and the camera's internal and external parameters are solved.3.Through the camera on the conveyor belt into the work areafor image acquisition,and then image preprocessing analysis,random corner detection,edge detection,then use the moment of objects for rapid identification,using Hough-chain Code recognition algorithm to extract the contour of the object,and finally calculate the spatial location of the object through algorithms such as three-dimensional reconstruction and guide the machine to sort,sort and handle the pieces.4.Experimental research.Combined with the development of the prototype,conducted an experimental study,completed the target identification,grasping and handling sorting work.The experimental results show that the sorting system can effectively solve the sorting problem of articles and reach the period effect.