Robot Based On Binocular Vision Technology Research On Flexible Sorting System

Under the background of the industry-oriented industry 4.0 and China manufacturing 2025 planning,the intelligent industrial robot industry market has experienced explosive growth.As the most important means of sensing industrial robots,machine vision technology has also ushered in the spring of technological development.At present,the visual sensing system of most industrial robots is a monocular camera,which can only provide two-dimensional information of the surrounding environment for the robot.With the continuous advancement of China's industrial technology revolution,the manufacturing industry is increasingly demanding the intelligence of industrial robots.It is equipped with a binocular vision system for industrial robots,and it has become a three-dimensional sensory capability for surrounding objects.An effective technical means of upgrading.This paper first introduces the development status of industrial robot industry in China and the development status of binocular vision technology at home and abroad,and analyzes the current production line status of manufacturing SMEs in China and the practical demand for intelligent sorting system.For the combination of binocular vision technology and industrial robot,the basic principle and key technology of binocular vision positioning system are discussed firstly.The detailed design scheme of the system is introduced.The four reference coordinate systems involved in the imaging process and each other are discussed.In the conversion relationship,the basic principle of Zhang Zhengyou's calibration method is studied and the internal parameters of the camera are calibrated using the calibration method.The application of the binocular camera image processing method and the stereo matching algorithm based on the RANSAC-based polar constraint stereo matching algorithm is introduced.The results were analyzed.For the 3-axis Delta robot used in this paper,the basic parameters are introduced firstly,then the robot degree of freedom,inverse kinematics,forward kinematics,motion space,trajectory planning,robot motion control system composition and control method are introduced.A flexible platform for robotic sorting based on binocular vision technology was built.The composition and experimental conditions of the platform were introduced.The calculation and improvement of the two-dimensional and three-dimensional parameters ensured that the experimental platform can meet the precision requirements of flexible sorting.Further,through single target sorting and mixed sorting of two kinds of objects,flexible adaptive sorting of canned tomato samples of different specifications can be realized,which can effectively improve the intelligence level of the packaging production line of small and medium-sized manufacturing enterprises,and assist the industry.4.0 and China Manufacturing 2025 plan to take root in China's SMEs.