摘要
机器视觉是机器人应用的一个重要方向,码垛机器人已经越来越多的应用在物流生产线的各个方面,但是普通的码垛机器人无法适应现代物流仓储种类多、位置偏差大的特点。介绍了一种应用机器视觉实现柔性生产的码垛机器人系统,该系统主要由机器人系统、机器视觉系统、夹手工具、传输线、工控机系统、位置传感器等组成,关键技术包括码垛机器人码垛算法和机器视觉系统标定算法的实现,并编写了相应的算法程序和控制程序,经过严格测试可适应传输线上不同种类、不同位置的货物类型,并实现对这些货物的自动判断,适应货物位置自动调整并实现自动抓取货物。目前该系统已经在学校的物流实训室得到了应用,满足了学校教学的要求,对工业生产有一定的指导作用。
Machine vision is one of the key technologies of the robot applications.The palletizing robot has applied to every place of the logistics product line,but normal palletizing robot can＇t accommodate to all kinds of goods of modern logistics.According to this,this paper introduces a kind of palletizing robot system based on machine vision used to flexible production.It consists of robot system, machine vision system,hand tool,transmission line,industrial personal computer,and position sensor.The core technology includes the implements of the palletizing robot＇s stacking algorithm and the machine vision system＇s calibration algorithm,and programs of algorithm and control codes.It can fit various goods with different place and measure these goods automatically and convey goods automatically according to the place of goods by strict test.This system has applied to some school logistics experiment and training,it meets the requests of the school teaching and can guide industrial production.
出处
《沈阳师范大学学报（自然科学版）》
CAS
2011年第2期221-225,共5页
Journal of Shenyang Normal University:Natural Science Edition
基金
辽宁省科技厅科学技术项目(2010220012)
关键词
机器视觉
离线编程
码垛机器人
上位计算机
machine vision
off-line programming
palletizing robot
host computer
