Research On Visual Sorting System Based On Delta Robot

In the traditional production line,product sorting using artificial methods,the efficiency is low and the probability of error is extremely high.Although,some production lines are sorted by industrial robots,but the movement of these robots and the location of these products are pre-set accurately,robots just complete the point-to-point action,the time of production is fixed,the products for sorting are simple.In order to solve the problem,it is necessary to use the robot which equipped with a visual system.From the actual application needs of packaging box’s sorting,make Delta robot to distinguish between the lid and the bottom,get the location information of them,grasp the lid,the angle adjustment of the lid can be realized,install the lid on the bottom,the Code128 A can be recognitioned.This paper carried out a research into the following four aspects.Firstly,the hardware structure of the visual sorting system is analyzed in detail from the aspects of Delta robot,artificial light source,camera,lens and visual system development platform.The software structure of visual sorting system is designed,so the hardware and software platform of packing box’s visual sorting system based on Delta robot is completed.Secondly,in order to grasp the lid use the end effector of Delta robot with visual data,the camera was calibrated,and the distortion of the image was corrected using the calibrated data.In this paper,the translational rotation between the camera’s coordinate and the Delta robot’s coordinate is obtained by calibrates the visual system.Based on the inverse kinematics,the feasibility of the visual sorting system based on Delta robot is verified.Thirdly,in order to distinction between the lid and the bottom,positioning them,and achieve the recognition of Code128 A,a linear detection tool block is developed based on the Hough transform in the polar coordinates,a circle detection tool block is developed based on shape angle detection and Hough transform,with improved Harris corner detection built a square detection tool block.Use the principle of minimum variance,a method for Code128 A recognition is designed.Fourthly,a method of calculating the angle adjustment of the lid is designed,the data transmission between the visual system and the Delta robot is realized by Modbus protocol.Combined with the above research content,the visual sorting task of packing box based on Delta robot is realized.After a series of tests,the results show that the visual sorting system designed in this paper is stable and reliable,and the success rate of packing box sorting is more than 92%,so it has some practical value.