Research Of Waste Paper Impurity Recognition Tracking Based On Machine Vision And Parallel Robot

During the recycling and pulping of waste paper,a large number of abandoned impurities will be produced,the domestic paper-making enterprises always use manual sorting out plastic,metal and other valuable materials to deal with waste paper impurity.This method not only is low efficiency,but also has a great harm to human body,because of the bad working environment.In order to solve the above problems,this paper studys the recognizing and sorting of valuable material from the waste impurities deeply,and put forward waste paper impurity sorting system based on machine vision and parallel robot.Firstly,this paper analyzes the domestic and foreign waste paper impurity processing.The waste paper impurity sorting technological process is completed,which based on the existing technology,and the waste paper impurities classification pretreatment is achieved,and the workload of automated sorting system is reduced,which merged machine vision technology and robot control technology as a whole;Secondly,this paper illustrates the application of machine vision technology in the system.According to the working requirements of the recognition tracking system,this paper analysis and type choice of hardware device for machine vision.Machine vision inspection procedure is designed,the industrial camera is used to shoot impurities form which on the convey or belt,the image processing algorithm recognizes material types online,and gets the location and position on the same time;Thirdly,this paper analyzes the application of parallel robot in the system.According to the structure of parallel robot,its kinematics relation is defined.After the system transforms the coordinate from eye to hand,the impurity position information of the target which in the coordinate system of image is transformed to the coordinate system of robot,the inverse kinematics and trajectory planning of the target are carried out for the purpose of grasping,then the robot gets operating information;In the end,the motion parameter is transferred through IPC,and the robot is controled to moved to the appropriate location for fetching.The recognition tracking system combines machine vision technology and parallel robot control technology,efficient identification and accurate sorting of the waste paper impurities is achieved.According to the concept of Intelligent Manufacturing in China,the efficiency and automation degree of the sorting of waste paper can be improved,and the development level of social economy can be improved.