摘要
为满足食品安全需求,将机器视觉技术、工业机器人及工业网络等技术结合,以带有木质手柄的巧克力生产线进行自动化改造为例,完成了基于机器视觉引导机械臂实现动态目标抓取自动生产线软硬件系统搭建;针对相机视野与机械臂工作空间无交集而无法直接标定出手眼关系的情况,提出了一种工业相机、传送带和机械臂三者联合标定方法。结果表明,系统摆放准确度达到94%以上,实现了由机械手抓取动态目标并自动填装到位进而代替人工,极大提高了生产效率和食品安全。
In order to meet the needs of food safety, it combines machine vision technology, industrial robots and industrial network technologies, takes the automatic transformation of a chocolate production line with wooden handles as an example, and completes the automatic production line soft Hardware system construction. Aiming at the situation that there is no intersection between the camera field of view and the working space of the robotic arm and the hand-eye relationship cannot be directly calibrated, a joint calibration method of industrial camera, conveyor belt and robotic arm is proposed. The experimental results show that the accuracy of the system placement reaches more than 94%, and the robot grasps the dynamic target and automatically fills it in place to replace manual labor, which greatly improves production efficiency and food safety.
作者
孙科
李亚
毕德学
谷林峰
郑晨旭
SUN Ke;LI Ya;BI Dexue;GU Linfeng;ZHENG Chenxu(College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry and Food Machinery and Equipment,Tianjin 300222)
出处
《食品工业》
CAS
2021年第6期319-322,共4页
The Food Industry
基金
天津市科技计划项目(18ZXRHGX0020)。
关键词
机器视觉
机械臂
手眼标定
machine vision
Robotic arm
hand-eye calibration
