李雪梅,朱召阳,王剑,陈燕明,李喆.基于机器视觉的阀口袋动态拾取系统设计[J].包装工程,2020,41(1):103-109.
LI Xue-mei,ZHU Zhao-yang,WANG Jian,CHEN Yan-ming,LI Zhe.Design of Dynamic Picking System for Valve Pocket Based on Machine Vision[J].Packaging Engineering,2020,41(1):103-109. |
| 基于机器视觉的阀口袋动态拾取系统设计 |
| Design of Dynamic Picking System for Valve Pocket Based on Machine Vision |
| 投稿时间：2019-06-03 修订日期：2020-01-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.01.016 |
| 中文关键词: 粉体包装 阀口袋 动态拾取 图像处理 卡尔曼算法 |
| 英文关键词: powder packaging valve pocket dynamic pickup image processing Kalman algorithm |
| 基金项目:广西科技攻关计划（2017AA24007）；广西研究生教育创新计划（YCSW2018135）；桂林科技开发项目（20160218-1） |
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| 中文摘要: |
| 目的 为了解决粉体包装领域自动化程度低且工作环境对人体有较大危害的问题，设计一种阀口袋动态拾取系统。方法 首先分析阀口袋动态拾取系统软硬件设计和工作过程；然后，分析相机图像坐标到机器人世界坐标的转换关系、手眼标定过程，以及对采集到的图像进行畸变校正、滤波等图像处理过程；最后，采用基于卡尔曼滤波算法对流水线上运动的阀口袋实现定位和拾取。结果 实验表明，机器人能够对输送机上的阀口袋实现定位和动态拾取，拾取误差小于1 mm，连续运行情况下可实现每分钟5~7袋的上袋速度。结论 该拾取系统运行稳定，具有较高的运行效率和拾取精度。 |
| 英文摘要: |
| The work aims to design a dynamic picking system of valve pocket, so as to solve the problem of low au-tomation in powder packaging field and reduce the great harm to human body caused by working environment. Firstly, the software and hardware design and working process of the valve pocket dynamic picking system were analyzed; secondly, the conversion relationship between camera image coordinates and robot world coordinates, hand-eye calibration process, image processing processes such as distortion correction and filtering were analyzed; finally, the valve pocket moving on the assembly line was positioned and picked up by Kalman filter algorithm. The robot could locate and pick up the valve pockets on the conveyor dynamically, and the pickup error was less than 1 mm. Moreover, the bagging speed of 5-7 bags per minute could be realized under continuous operation condition. The picking system runs stably with high efficiency and accuracy. |
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