Research And Application On Control System Of Intelligent Loading Palletizing Industrial Robot

Palletizing robot,as an important handling tool for the logistics industry,is being widely applied to the different industrial fields.Palletizing robot can palletize loading operation to the open boxcars directly and thus the transport efficiency is greatly improved.Some automated loading researches have exposed a lot of deficiencies in the level of intelligent exploitation and application,Therefor,there is no intelligent palletizing robot that can meet the loading field.In order to solve the poor positioning accuracy and inefficiency of the automation equipment to the van,an intelligent visual vehicle positioning pallet loading robot control system is proposed.Based on the function and technical requirements of the application in practical industrial field,the palletizing robot control system which is based on the PC motion controller is designed.This control system has proposed a general framework of vehicle positioning function.The hardware is composed of industrial camera,industrial computer,motion controller and its peripheral equipment.The electrical schematic diagram of hardware system is designed and completed.This paper focuses on the software control system with the principle of modularization.Meanwhile,the motion control subsystem,loading subsystem,communication module and human-computer interaction interface are also discussed in this paper.The kinematic and spatial analysis of the robot movement model based on D-H method is established by constructing and studying the motion control subsystem of palletizing robot,combined with the four-degree-of-freedom palletizing robot developed by the project.It offers the pre-theory foreshadowing for carrying out the space and plan of the pallet loading,the kinematic plan of a simple and reasonable palletizing robot.It also improves the flexibility and efficiency of the palletizing robot control system on loading.This paper constructs the positioning subsystem of PC-based control system,and adopts the positioning scheme of monocular vision.The poses of goods under visual image coordinate system are determined by JAI high-performance industrial camera,programmed by VC++ 6.0 adding the HALCON and OPENCV image library files,and a template-based image matching algorithm is adopted.The robot coordination is obtained after the mathematical transformation of the visual image coordinate data,and the pose of boxcar is deduced under the robot coordinate system.In the end,this paper designs the loading program and the diagonal heuristic loading path planning according to the volume of the car design,simulating the pallet loading platform in the industrial site.Through the pallet loading robot control system,the positioning and loading planning experiments are carried out to analyze the data of loading positioning and cargo target location,and then verify and solve the feasibility and accuracy problems of the palletizing robot control system.