The Research Quick Sorting Food Packaging System Based On Machine Vision

To respond to the call of the government “Machine Replace Artificial”, in recent years, the domestic robot industry develops rapidly, which made the robot application become more and more popular in the industry. The booming of the computer-vision technology that gives more charm to hand-eye system enhances the intelligent level of robot greatly. Nowadays, the problem of food safety has drawn more public’s attention. The machine vision instead of manual operation used in food packaging production line not only greatly improves the production efficiency, but also guarantees the health security products. Therefore, the application of machine vision packaging system is of great significance.The project on how to renovate the packaging production line of Fuling Wujiang Pickle Company is studied in this thesis. And combined with the new high-speed manipulator of STAUBLI Company, a fast sorting packaging system based on visual servo is designed. This system includes manipulator, CS8 C controller, visual system, other equipment, and so on. The main work and results are as follows:Firstly, the whole process of the pickle packaging production line are described, the layout of the system and lighting system solution are elaborated. The main hardware parts and software platform are introduced.Secondly, some calibration algorithms of vision system are researched and Zhang Dingyou camera calibration method is tested. The step of calibration for the whole production line is planned which makes preparations for visual detection and tracking.Thirdly, the key technology of robots’ picking and placing is analyzed in detail, including the fetching strategy of the manipulator, automatic conveyor belt speed adjustment, the key technology of data transmission, and fault handling mechanism.Fourthly, the software of control system is designed based on the CS8 C controller. A PC man-machine interface that meets the basic requirements of the operator is designed on C# language. Finally, the system is debugged and verified the effectiveness.Fifthly, the work of this thesis is summarized, and some contents need to be improved are put forward.