Automatic Sorting System For Six Axis Manipulator Based On Machine Vision

Automatic sorting system is able to accelerate the sorting process,simultaneously guarantee the sorting quality and realize the monitoring of the entire system.It is of great practical significance for improving the efficiency in the process of sorting materials with obvious features repeatedly.This article is based on the machine vision and the mechanical arm technique,taking the canning target location and automatic sorting in the essential oil canning process as the research object,using the Halcon machine vision software of the German company MVTec and the RV-4FL-D machine arm as the research platform,image processing,system modeling,trajectory planning,intelligent controlling and system experimenting in the process of canning positioning and automatic sorting,the concrete content as follow:(1)By utilizing the vision software Halcon,conducting picture processing,segmenting,and eigenvalue extraction to the cans,then analyzing and comparing the algorithms amidst the picture processing,the treatment scheme of this article is determined.Finally realizes the object recognition and location through the monocular camera calibration.(2)Modeling the mechanical arm through the D-H method,establishing connecting rod coordinate systems on each axis and connecting rod matrix,conducting kinematics analysis and figuring out the direct and inverse solution of the kinematical equation.(3)Designing a trajectory planning device for the mechanic arm,on the basis of the point to point motion and the motion of a series of points,building a continuous and derivable motion trail in the joint space.(4)Designing a motion controlling segment for the mechanic arm,raising model approximation based RBF network adaptive sliding mode control and RBF network minimal-parameter learning based adaptive control,comparing the results of the two scheme,to make sure the mechanic arm conduct high-precision capture.(5)Clarifying the system functions,by learning the structure of machine vision system and mechanic arm system,choosing the internal components reasonably,and ensure the precise and steady operation of the system.The application of this system in cans sorting,is of great significance for the manufacturing industry,it could not only save the manpower and material resource,but also ensure the quality of canning.Meanwhile,this system has promotional value for other canned products,and it's an important reference for logistics and other industry.