融合双级机器视觉与纠偏机构的输送线烟箱位姿校正系统

Pose correction system of conveyor box based on two-stage machine vision and deviation correction mechanism

摘要:

针对传统输送线烟箱位姿偏差导致的卡滞、碰撞及效率低下等问题，提出一种融合双级机器视觉与纠偏机构的烟箱位姿校正系统，并研制出一套工程化样机；烟箱在输送线上传输时，该系统一级视觉单元实时检测其尺寸规格、位置及姿态等信息，PLC据此驱动气动推杆完成位姿粗调；二级视觉单元联合光电传感器，精准感知烟箱位置与期望姿态偏差，触发由顶升气缸与旋转托盘协同执行的细微补偿机制，精细补偿烟箱与期望角度的小幅偏差；算例分析与实测结果表明：该系统可实现多种规格、角度烟箱的位姿校正，校正精度达97.6 %，输送成功率达到100 %；在适应性、实时性及校正精度方面表现突出，显著优于现有常用技术，为自动化输送线的稳定运行提供了高效解决方案。

Abstract:

Aiming at the problems of jamming, collision and low efficiency caused by the pose deviation of the traditional conveyor line smoke box, a smoke box pose correction system integrating two-stage machine vision and correction mechanism is proposed, and an engineering prototype is developed. When the smoke box is transmitted on the conveyor line, the first-level visual unit of the system detects its size, position and attitude in real time, and the PLC drives the pneumatic push rod to complete the coarse adjustment of the position and attitude. The secondary visual unit combines the photoelectric sensor to accurately sense the deviation between the position of the smoke box and the expected attitude, and triggers the fine compensation mechanism coordinated by the lifting cylinder and the rotating tray to finely compensate the small deviation between the smoke box and the expected angle. The results of example analysis and measurement show that the system can realize the pose correction of various specifications and angles of smoke boxes, the correction accuracy is 97.6 %, and the success rate of transportation is 100 %. It has outstanding performance in adaptability, real-time performance and correction accuracy, which is significantly better than the existing common technologies, and provides an efficient solution for the stable operation of automated conveyor lines.