基于机器视觉的机器人自动酒醅出缸策略

Robot s automatic strategy for fermented grains scooping based on machine vision

目的:解决地缸固态发酵工艺酒醅出缸环节自动化水平低、工人劳动强度大等问题。方法:提出一种酒醅取料复合机器人自动酒醅出缸策略,在地缸图像预处理和缸口内点云重建等前期工作基础上,采用点云求异分割算法提取酒醅点云,构建取料平面,并求解取料安全作业距离,设计预设取料点;之后采用像素面元体素法评估预设取料点挖取量,选择最优取料点。结果:基于安全作业距离的取料点规划方法合理,可确保挖斗在不同深度取料平面对缸壁酒醅取料的同时,不与缸壁发生碰撞;自动酒醅出缸策略可以有效减少机器人作业时的取料次数,提高酒醅出缸效率。结论:自动酒醅出缸策略可以有效指导酒醅取料复合机器人实现自动化、智能化的地缸出醅作业。

Objective:To solve the problems of low level of automation and high labor intensity of workers in the fermented grains discharging process of solid-state fermentation in the ground-pot.Methods:An automatic fermented grains scooping strategy for the compound robot for fermented grains scooping was proposed.Based on the pre-processing of the ground-pot image and the reconstruction of the point cloud inside the inner edge,the point cloud segmentation algorithm was used to extract the point cloud of fermented grains.The scooping plane was constructed.The safe working distance for scooping was solved.Preset scooping points were set.Afterwards,the scooping amount of the preset scooping point was evaluated by the pixel surface element voxel algorithm,to select the optimal scooping point.Results:The method of planning the scooping point based on the safe working distance is reasonable,which ensures that the bucket does not collide with the ground-pot wall while scooping fermented grains from the wall at different depths of the scooping plane.The strategy can effectively reduce the number of robot scooping,thereby improving the efficiency of fermented grains scooping.Conclusion:The strategy can effectively guide the compound robot to realize the automatic and intelligent fermented grains discharging.