基于机器视觉的传送带分拣技术研究

Research on Sorting Conveyor Technology Based on Machine Vision

将机器视觉应用于传送带分拣系统,使得分拣系统具有更高的适应性,能够适应各种任务下的分拣需求。对机器视觉在分拣平台应用上存在的标定问题进行了研究,完成了基于机器视觉的传送带分拣系统搭建。首先分析了视觉系统的标定方法,然后提出了一种传送带与机器人的位姿关系的标定方法,最后在摄像机标定和传送带标定的基础上实现了机器人与摄像机的位姿标定。实验证明:工件的定位识别精度能够满足识别分拣的要求,能够完成机器人的分类抓取任务。

The application of machine vision to a conveyor sorting system enables the system to adapt to the sorting requirements under various tasks.This paper studies the calibration problem of machine vision in the sorting platform application,and completes the machine vision-based conveyor sorting system.Firstly,the calibration method of the vision system was analyzed.Then a calibration method of the pose relationship between the conveyor belt and the robot was proposed.Finally,based on the calibration of the camera and the calibration of the conveyor belt,the pose of the robot and the camera was calibrated.The experiment proves the recognition accuracy of the positioned workpiece can meet the requirements of sorting identification,and the sorting task can be completed.