基于视觉识别的智能分拣机械臂设计与实现

Design and Implementation of Intelligent Sorting Robot Arm Based on Visual Recognition

该文提出了基于视觉识别物料机械臂完成智能分拣的设计思路,具体实现方式为首先由工业相机采集待分拣物料图像,HALCON软件处理;其次通过标定、滤波去噪、特征提取、坐标变换分类识别物料;然后由主控制器PLC接收上位机发送的信号,在上位机Visual Studio 2019环境中进行Winform窗体开发;最后结合PLC编程软件TIA Portal V15.1,精准控制机械臂完成物料分拣作业。实验结果表明,基于视觉识别的智能分拣机械臂系统运行可靠,稳定性好,控制精度高。

It was proposed that the design idea of intelligent sorting based on visual recognition material manipulator.The specific implementation method was to use industrial cameras to collect images of materials to be sorted firstly and HALCON software processed images.Secondly,performed calibration,filtered denoising,featured extraction,coordinated transformation and classified and identified materials.Then the main controller PLC received the signal which send by the host computer,Winform form development in the host computer by Visual Studio 2019.Finally,combined with PLC programming software TIA Portal V15.1,the idea of precise controlling the robotic arm to complete the material sorting operation were realized.The results show that material sorting control system based on visual recognition are reliable operation,high stability and high controller accuracy.