Design And Implementation Of Small Parts Grasping System Based On Computer Vision

With the continuous development of industrialization and informatization,and the continuous increase of labor costs caused by the aging population,it is particularly important to improve the level of informatization and intelligence of industrial production.Based on the consideration of promoting enterprise upgrading and promoting the development of social productivity,this paper designs a self-grabbing and extensible small parts grabbing system based on computer vision for the sorting problem of disordered placement and small stacking of small parts on the production line of building block robot.The overall research work and results are described below:1.In combination with the actual characteristics of parts,feature combination is adopted to fuse color histogram features and SIFT features,and the model is trained based on the SVM,and the model is used to predict the types of parts.The experimental results show that this method can basically realize the classification of parts.2.Edge detection and ellipse fitting are used to detect the grasping points of parts,and a scoring mechanism is proposed for the physical parameters of the fitting ellipse where the grasping point is located and the actual parameters of its corresponding parts.Through this scoring mechanism,the better grasping points can be selected,thus greatly improving the system's automatic detection accuracy.3.The basic motion control of UR10 cooperative industrial robot is realized,and automatic classification function,automatic detection function and automatic grasping function of parts are completed in combination with the visual algorithm,preliminarily reaching the research goal of the system.Through the comprehensive test of the system,the results show that the system is feasible,scientific and stable,and the system provides a set of scientific and reasonable solutions for the sorting problem in actual production.This design is not only helpful to promote the application of industrial robots with visual functions in the production line of building block robot,but also enlightening and promoting the relevant enterprises to accelerate the introduction of industrial robots with visual functions.