Research On The Application Of Visual System In Profiled Smoke Palletizing Robot System

The visual system is a very important direction for the application of robots,and palletizing robots are gradually applied to all aspects of the logistics industry.With the major tobacco companies to the development of special-shaped cigarettes,the sales of special-shaped cigarettes show a great growth trend every year,in view of the stacking efficiency,quality of work,labor costs,etc.,the traditional manual pallet has been gradually unable to meet the needs of its automated production,palletizing robots have been widely used.In industrial production,most of the palletizing robots used for automated production are ordinary handling robots,which generally use manual teaching methods,set up points of grasping and putting in advance,and perform its task.This method can’t be real-time informed of the location of cigarette,and can’t realize free pallet,etc.In this paper,the visual system and palletizing robots combined,and according to the layout problem to solve the stacking algorithm,so that the whole system has the liking human eye’s ability to identify and free palletizing function,which is very important to improve the Flexibility and automation of production,to ensure quality and improve efficiency,cost reduction,optimization of palletizing layout and so on,and visual system and palletizing algorithm play a key role in the process of palletizing.Firstly,the research status at home and abroad of palletizing robot,visual system and layout problem is introduced,and the purpose and significance of the research are clarified.According to the system requirements and the overall functions,the design of the overall scheme is determined,including palletizing robot,visual-controlling system,camera fixation,crawling scheme,palletizing scheme and so on.Secondly,the hardware design of robot’s system,which palletizes special-shaped cigarettes,based on vision is summarized.The selection and design of hardware such as palletizing robot,camera and lens are introduced,and the key technologies that include coordinate transformation,image processing and free stacking algorithm are also introduced.Then,the purpose and significance of coordinate transformation are introduced,and the relationship of coordinate transformation is determined.The method of image processing is studied,and according to the actual situation of different types of smoke,the different image processing algorithms are compared and the appropriate algorithm is selected to complete the positioning of cigarette packets.The spatial-putting location of cigarette boxes are planned out through the free stacking algorithm based on the idea of layout problems.Finally,the design of the software of the machine vision and free palletizing system was completed by using VS2010 and OpenCV computer visual library.The stacking effect was simulated by the software called MATLAB,and the experiment of positioning and the free palletization was realized,the feasibility of the algorithm is verified,the measurement data are analyzed and the cause of the error is obtained.