Research On Intelligent Sorting System Of Delta Robot Based On Machine Vision

Sorting is an important part of industrial production.In the traditional sorting method,manual sorting efficiency is low.The robot with machine vision can work on the workpiece online sorting,real-time analysis and control,with high efficiency,accuracy,stability and other advantages.According to the demand of the industrial market,it is of great value and practical significance to study the workpiece sorting system with machine vision.In this paper,the development of machine vision system and Delta robot based on the completion of the conveyor belt,messy sorting,the main research results are as follows:Firstly,this paper puts forward the design scheme of the control scheme of the visual system and motion control system,completed the main parts of the hardware type selection,and introduced a Labview graphical programming software development platform.Secondly,positive operation and reverse operation of Delta robot,the robot kinematics and trajectory planning in joint space.Provides the basic guarantee for the motion control of the whole separation system;Thirdly,introduced a simple and convenient method of calibration system.The shape matching for pixel equivalent basis based on pixel equivalent calibration interval for value and solid circular template to calibrate the camera,introduces the image acquisition,processing,target recognition and positioning,coordinate transformation,the same workpiece deleting visual content considering the problem of robot system;Fourthly,strategy grasping influence on the separation efficiency of the production line,put forward according to the specific sequence of workpiece sorting production line to the efficient operation of grasping strategies to ensure the separation,and use the genetic algorithm to the same workpiece grasping sequence is optimized,improve the efficiency of sorting workpiece.Finally,through the joint test of the vision system and the robot,it shows that the design of the high speed sorting system is stable and accurate to the workpiece.