Research And Application Of Robot Destacking System Based On 3D Vision

At present,teaching and playback robot is often used to realize automatic destacking in warehouse logistics,use the method of teaching and reproducing robot path.This method is suitable for the destacking with known stack type.For the application scenarios where the stack type of the system is unknown or the stack type is known but the stack type is loose after transportation,this method can not complete the automatic destacking.In this paper,aiming at the demand of unstacking of unknown stack type,a scheme of carton unstacking based on 3D vision technology is designed to solve the problem of automatic unstacking of unknown stack type.In this paper,a 3D vision destacking system model is established based on the project of carton destacking,and the system composition is introduced,including robot and its end actuator,conveying device and 3D camera used.Through the study of camera calibration,hand eye calibration and rgb-d camera to obtain three-dimensional information principle,the camera internal and external parameter matrix is calibrated,and the relationship between camera and robot coordinate system is established.For the corrugated box stack in the project,an image processing method based on the slot segmentation technology to extract the minimum external rectangle of the target is adopted.In this method,the improved binary processing method is used to preprocess the image,the gap segmentation method based on morphological closing operation is used to segment each target area,and the shape matching method based on area screening is used to realize the multiple cartons in RGB image The minimum external rectangle is used to get the surface centroid coordinates and rotation angles of each carton.The result of image processing shows that the visual processing algorithm can accurately identify the cartons and obtain the position and orientation of each target carton.Finally,according to the image processing workflow,this paper uses HALCON machine vision software to complete the visual programming,including image acquisition,hand eye calibration,image processing,pose calculation and communication with robot socket.According to the operation process of the destacking system,this paper also completed the PLC control program and robot control program design of the conveyor and the system debugging application.The field application results verify the correctness of the 3D visual destacking system model,the designed visual processing algorithm and the destacking system program.