Sorting Robot Based On Vision Guidance

With the wide application of intelligent equipment in industrial production,how to better use machine vision technology to add a pair of "eyes" to intelligent equipment,has become a hot research direction,with great prospects for development,but also one of the important directions of the national high-tech strategy.In this paper,a stable and reliable and efficient visual recognition and crawling algorithm is studied,which successfully solves the identification and crawling of automatic sorting on the conveyor assembly line,and carries out the following work:In view of Delta robot,a method of Delta robot kinematics based on geometry is studied to solve the problem of the only solution of Delta robot's forward kinematics.The trajectory planning of Delta robot is realized according to the kinematic reverse solution of this method.Complete the pyramid-based search-based intercept ingress to Delta robot,and study the synchronous tracking crawl based on PID algorithm.Based on the image shape characteristic,image grayscale and edge curve-based template matching algorithm,the template matching algorithm based on the faster processing speed and more applicable image shape characteristics is selected by comparing the advantages and disadvantages of the three algorithms,and the algorithm matching speed is successfully improved.Finally,the experimental simulation platform of Delta robot visual sorting system is set up,and the kinematic model and trajectory planning algorithm are verified.NI Vision vision software using Lab VIEW platform has written a template matching program to achieve the rapid identification and positioning of assembly line artifacts.