Application And Study Of The Robot-vision System For Tobacco Boxes Palletizing

As the research object, the robot-vision system is mainly applied to tobacco boxes palletizing in the civil tobacco logistics enterprises, and it's the first time that the robotic palletized system equipped machine-vision function applied in the civil tobacco logistics enterprises. It means the significance of landmark not only in theoretical aspect but also in practical activities. By the thorough analysis and the summary of this system, we can provide precious experience to extend the application of robot system.The robot-vision system for tobacco boxes palletizing is based on the smart camera, and it's integrated with the two technical payoffs successfully, which are the most advanced all over the world in each field of technology. The system can accomplish the image collection, the manipulation and the location of the bobbin paper timely and accurately during tobacco boxes palletizing, and it can calculate the side-play amount of plane to guide the robot to grasp bobbin paper accurately. Therefore the difficult problem that how to develop the tobacco logistics enterprises from palletizing the bobbin paper all by manpower to robot automated palletizing has been solved successfully.Firstly, the two important components of the robot-vision system in palletizing the bobbin paper have been introduced in this thesis. They are the robot ABB IRB 6400/2.5-150 M2000 and the smart camera SONY XC-HR70.Secondly, this thesis has performed the theoretical studies on the methods of the application of the robot-vision system in palletizing the bobbin paper separately: the high-speed calibration method for the relationship of the "hand-eye" of the camera and the robot, the method of the edge-extraction of image using Sobel operator and the method of bobbin paper feature extraction.In the end, this thesis has carried out some experiments to prove our methods of the application which were put forward in the article, and it has made some initial studies of the robot-vision system programming for tobacco boxes palletizing, which make the system results used.