Visual Guidance And Motion Control Of Movable Palletizing Robot

Handling and unloading of bagged materials(woven bags)in warehouse is traditionally by human shoulder or by trolleys in our country,not only large labor intensity and low efficiency,but also working in a dusty environment,harm the stevedores' physical and mental health.Palletizing robot currently widely used in the field of modern production and logistics,most of funtions involve machine loading and unloading,automatic production line of punching machine,automatic assembly lines and other fixed intelligent palletizing robot,limiting the occasion use of robots.But different end actuators be installed in palletizing robot to carry objects with different shapes and states,greatly reducing the human heavy manual labor.Especially in the era of rising labor costs,declining robot costs,to develop a mobile palletizing robot,to meet the needs of multiple situations have their relevance.Executive body of removable palletizing robot of this paper is mainly composed of mobile platforms,manipulators,cameras,for accomplish visual guide and motion control of palletizing robot need to construct a palletizing system based on machine vision.The main system architecture consists of machine vision guidance systems,motion control systems,emote control and simulation systems.Wherein vision guidance systems use the binocular cameras to acquisition scene image,after image processing and analysis,calculate the position of material stack,provide relevant displacement data for the mobile platform closer to the heap material,then collect images of each layer of material bags,execute image segmentation and three-dimensional positioning,identification and location of each material bag,to prepare for the implementation of palletizing.Motion control system includes control of mobile platform,position and orientation of the cameras,multi-DOF manipulator,with cooperation of mobile platforms,cameras,manipulator to executive stacking,unstacking and other prescribed actions.Wireless transmission and control module includes a remote control and interactive of mobile palletizing robot.Whole work is summarized as follows:For achieving visual guidance and movement control of the movable palletizing robot,its functions and purpose is analyzed,and based on it,the overall system implementation is designed,including selected hardware platforms and designed software work.Image processing and stereo vision technology is used to identify and locate the four kinds of different material bags.Research motion control of body module and robotic arm module.Three-axis camera mount based on DSP is applied to achieve binocular cameras motion control to the specified pose.Through coordinatetransformation,the material bags are positioned at the arm coordinate system.The manipulator model is established and inverse kinematics are derived.Simulated annealing algorithm to generate a fast palletizing solution is introduced for palletizing routing Plan.Finally,the theoretical results of palletizing robot is substituted by the form of code expression,and combined hardware platform executed movable stacking.