基于机器视觉的锯条自动化装盒系统设计

Design of an Automated Band Saw Blade Packing System Based on Machine Vision

摘要:

以VS2010为软件平台,以Staubli TP80机器人,康耐视摄像机和传送带为硬件基础,对锯条进行识别,定位和动态抓取,搭建了一个基于机器视觉的工业机器人智能抓取系统,其中Staubli-TP80机器人为操作手臂,利用康耐视摄像机和工控机搭建视觉检测平台,通过抓取系统的参数化建模实现图像坐标到机器人坐标的转换,利用OpenCV函数库实现锯条的图像处理和模式匹配,最后控制机器人对动态目标进行抓取。

Abstract:

With VS2010 software platform and hardware based on Staubli TP80 robot, Cognex camera and conveyor belt, band saw blades were recognized, located and dynamically grabbed, thereby a machine vision-based industrial robot intelligent grabbing system was built, in which Staubli-TP80 robot is a manipulator and is incorporated with Cognex camera and industrial computer to set up a vision inspection platform, image coordinates were converted to robot coordinates through parametric modeling of the grabbing system, and image processing and pattern matching of band saw blades were achieved by using OpenCV function library, and finally the robot was controlled to grab a dynamic target.