摘要
为了提高物流行业自动化水平,提高物料分拣的工作效率、减少人工成本,设计基于二维码识别的分拣机械臂控制系统。以树莓派为主控制器,通过OpenCV图像处理、二维码识别、逆运动学求解和六自由度机械臂驱动等环节,实现了根据二维码存储的信息进行物料分拣。为了提高二维码识别的准确率,针对二维码图像的磨损、划痕等问题,利用OpenCV对图像进行灰度化、滤波、二值化和闭运算等图像预处理操作;针对二维码位置的随机性和镜头畸变问题,通过定位算法和透视矫正提取出二维码,再根据QR码结构和编码规则进行二维码译码。为了使机械臂平滑稳定运行,采用简洁的几何法进行逆运动学的计算,并在机械臂驱动中加入多路舵机速度控制。实验结果表明:对于正常和有轻微划痕的二维码,二维码识别率可以达到100%,机械臂能够有效完成自动分拣任务,具有一定的实用价值。
In order to improve the automation level of logistics industry and improve the work efficiency of material sorting and reduce labor costs,the control system for sorting manipulator based on two-dimensional code recognition was designed.Raspberry Pi was selected as the main controller of the system,which could realize the material sorting function based on two-dimensional code by image processing with OpenCV,two-dimensional code recognizing,inverse kinematics solving and driving the six-degree-of-freedom manipulator.In order to improve the accuracy of two-dimensional code recognition,the image was preprocessed by gray-scale,filtering,binarization and closing operation aiming at the wear and scratch problem of two-dimensional code.Aiming at the randomness of two-dimensional code position and lens distortion,the two-dimensional code was extracted by positioning algorithm and perspective correction,and then it was decoded according to the structure and coding rules of QR code.The inverse kinematics was calculated using simple geometric method and the speed control of multi-channel steering gear was added to the drive of manipulator for smooth and stable operation.The experimental results show that the recognition rates of normal and minor scratches two-dimensional code are 100%,and the manipulator can effectively complete the automatic sorting task,thus it has certain practical value.
作者
关静丽
侯明
柏森
GUAN Jingli;HOU Ming;BAI Sen(School of Automation,Beijing Information Science&Technology University,Beijing 100192,China)
出处
《机床与液压》
北大核心
2025年第3期60-65,共6页
Machine Tool & Hydraulics
关键词
分拣机械臂
树莓派
二维码
OPENCV
sorting manipulator
Raspberry Pi
two-dimensional code
OpenCV
