Delta煤矸分拣机器人实验平台设计

Design of Experimental Platform for Coal Gangue Sorting Delta Robot

煤矸智能分选对提高原煤分选效率,降低工人劳动强度具有重要意义,也是实现煤矿智能化建设中重要环节之一。设计了基于机器视觉的煤矸分拣机器人教学科研实验平台,该实验平台由Delta并联机器人、图像采集设备、抓取机构和传送带组成。通过工业相机获取煤矸图像进行预处理,并提取煤矸图像的灰度与纹理特征信息,采用支持向量机(SVM)进行煤矸数据集训练与分类检测识别。最终,利用该实验平台进行了机器人标定和煤矸图像识别分拣实验,验证了该实验平台的可行性。

The intelligent sorting of coal gangue is of great significance to improve the sorting efficiency of raw coal and reduce the labor intensity of workers.It is also one of the important links in the intelligent construction of coal mines.An experimental platform of coal gangue sorting robot based on machine vision is designed.The experimental platform is composed of Delta parallel robot,image acquisition equipment,grasping mechanism and conveyor belt.The image of coal gangue is obtained by industrial camera for preprocessing,and the gray and texture feature information of the image is extracted.Support vector machine(SVM) is used for training and classification detection and recognition of coal gangue dataset.Finally,the robot calibration and coal gangue image recognition and sorting experiments are carried out using the experimental platform,which can verify the feasibility of the experimental platform.