Design And Development Of Milk Packing Line Based On Monocular Vision

This thesis is about the research and development work of milk packing system with high-speed and light-weight parallel robot based on machine vision for actual production and the project is the National 863 Program “a High Speed Packaging Robot System”.The whole control system integrates the vision system and the motion control system by Lab VIEW and belongs to “PC+Motion Control Card”.The vision module is based on the development of CCD camera with Ethernet and the motion control module is based on “CCD Camera + Image Acquisition Card”.The main tasks completed are summarized as follows:(1)The project ensured the layout scheme and analyzed the functional requirements of the milk packing line according to the actual production and determined to select Delta-4 parallel robot with 4 degrees on the basis of the packing operation analysis.(2)The project selected the key devices and designed the communication modes between the hardware to meet the performance requirements.(3)The project designed the monocular visual recognition system fixed in workspace based on shape matching,which used the outline of the milk.Image compression.Gray scale binary,and gray morphology were used in the template extraction and image acquisition and it promoted the matching speed significantly.(4)We integrated the visual recognition system and the motion control system by Lab VIEW to simplify the control system and the vision servo control based on position was used.The project also solved the key technologies which were needed include positive solution and inverse solution of Delta-4 parallel robot,trajectory planning,packing path planing,dynamic tracing and task assignment.(5)Robot teaching,jog motion and calibration functions were designed and the experimental platform was build to test the stability of the control system.