基于视觉标定的包装搬运机器人定位方法

Positioning Method of Package Handing Robot Based on Visual Calibration

目的为了提高包装搬运机器人的定位精度,提出一种基于机器视觉的末端执行器定位方法。方法基于OpenCV设计一种视觉标定算法,该算法包括摄像机标定和位姿标定,可实现待码放物体图像坐标和机械手坐标之间的变换。结合工控机和运动控制卡设计其控制系统,同时给出硬件设计和软件设计方法。最后进行实验研究,包括原点定位和重复定位。结果实验结果表明,所述控制方法能够提高搬运机器人的定位精度,原点定位误差约为0.14 mm,重复定位误差约为0.6 mm。结论该搬运机器人定位方法能够满足包装码垛要求。

The work aims to propose an end-effector positioning method based on machine vision,so as to improve the positioning accuracy of the package handling robot.Based on OpenCV,a visual calibration algorithm was designed,which included camera calibration and pose calibration.The transformation between image coordinate of the object to be stacked and manipulator coordinate was realized.The control system was designed based on the IPC and the motion control card.In the meantime,design methods of hardware and software were given.Finally,experimental studies were carried out,including origin positioning and repeated positioning.The experimental results showed that,the proposed control method could improve the positioning accuracy of the handling robot,with the origin positioning error of about 0.14 mm and the repeated positioning error of about 0.6 mm.The positioning method of the handling robot can meet the requirements of packaging and palletizing.