基于OMRON视觉的工业机器人分拣控制系统设计

Design of Industrial Robot Sorting Control System Based on OMRON Vision

摘要:

工业机器人在分拣过程中,目标物体可能存在各种形状、尺寸和外观变化,同时还可能受到遮挡和光照条件的影响,使得目标的检测和识别复杂,导致分拣控制功能和应用性能差。为此,设计了基于OMRON视觉的工业机器人分拣控制系统。采用OMRON视觉传感器、机器人分拣控制器和驱动器,完成分拣控制硬件系统设计。利用OMRON视觉,采集工业机器人分拣目标图像,通过直方图均衡化和滤波去噪,完成初始分拣目标图像的预处理。提取工业机器人分拣目标的轮廓特征,通过特征匹配确定分拣目标类型,得出位置、几何结构等空间参数的检测结果。最终通过控制参数计算、工业机器人位姿识别以及控制量求解等步骤,实现系统的分拣控制功能。通过系统测试实验表明,设计系统的抓取位置控制误差、分拣目标位置控制误差和分拣对象表面磨损量较小,具有较好的分拣控制功能和应用性能。

Abstract:

During the sorting process of industrial robots, the target object may have various shapes, sizes, and appearance changes, and may also be affected by occlusion and lighting conditions, making target detection and recognition complex, resulting in poor sorting control functions and application performance. For this purpose, an industrial robot sorting control system based on OMRON vision was designed. Design the sorting control hardware system using OMRON visual sensors, robot sorting controllers, and drivers. The OMRON vision is used to collect the sorting target image of the industrial robot, complete the preprocessing of the initial sorting target image through Histogram equalization and filtering denoising. Extract the contour features of industrial robot sorting targets, determine the type of sorting target through feature matching, and obtain detection results of spatial parameters such as position and geometric structure. Finally, the sorting control function of the system is achieved through steps such as control parameter calculation, industrial robot pose recognition, and control quantity calculation. Through system testing experiments, it has been shown that the designed system has good sorting control functions and application performance due to its small control errors in grasping position, sorting target position, and surface wear of sorting objects.