基于机器视觉的工作分拣控制系统 摘要：工件分拣是工业生产环节中不可缺少的部分。目的是将不同类型的物料或工件分类摆放到相应的位置。本文引人视觉系统对工件进行位置和类型的判断是必要的。与传统的机械分拣作业相比，使用基于机器视觉的工业机器人进行分拣，不但高效准确而且稳定持久,具有较大的优势。本课题研究的是基于机器视觉的机器人分拣系统，并针对整个控制系统方案的设计、机器人数学建模、运动学分析、对工业摄像机的标定、图像处理、运动目标的跟踪以及机器人分拣策略等关键技术展开深入研究分析。首先整个分拣系统进行总体方案设计。其中包括视觉控制方案，运动控制方案以及所需硬件设备选型工作；然后对机器人进行数学建模和运动学分析；最后针对机器视觉系统进行详细理论研究与设计，同时对视觉系统的标定、目标识别定位、坐标系间转换、重复目标的剔除以及动态追踪等关键技术进行详细分析。关键词：分拣、设计、分析、视觉Work sorting control system based on machine vision Abstract: Workpiece sorting is an indispensable part of industrial production. The goal is to categorize different types of items or artifacts into the appropriate locations. This paper makes it necessary for the visual system to judge the position and type of the workpiece. Compared with the traditional mechanical sorting operation, the use of industrial robot based on machine vision for sorting, not only efficient and accurate and stable and lasting, has a greater advantage. This research is based on machine vision robot sorting system, and for the whole control system design, Robot mathematical modeling, kinematics analysis, industrial camera calibration, image processing, moving target tracking and robot sorting strategy and other key technologies to carry out in-depth research and analysis. First of all, the whole sorting system for the overall design. These include the visual control scheme, the motion control scheme and the required hardware equipment selection work, then the robot ...
