| The rise of the logistics industry is bound to bring about the hunger for animal sorting systems.The traditional material sorting is controlled by a simple PLC and cannot intelligently sort the materials;or using manual sorting,the efficiency is not high and the cost increases.With the continuous development of the visual industry,two-dimensional vision systems cannot meet people's needs for three-dimensional space measurement.This article selects the three-dimensional geometric information of the binocular product,which is used to pick up and sort the workpiece and achieve the three-dimensional object material sorting.This article first introduces the machine vision technology and development status at home and abroad,as well as the application of robots.Through binocular stereo vision guide manipulators to achieve material sorting,get rid of the traditional use of manpower or PLC simple operation.Second,the principle of binocular stereo vision is introduced.Calibration module is used to collect images at different positions in the camera's common field of view for calibration,thereby obtaining the camera's internal and external parameters.By establishing a baseline,the robot coordinate system and the camera coordinate system are unified;the HDR technology is adopted to solve the problem of natural light collecting images on the camera.Impact.Makes the quality of the image better and improves the robustness of the system.Through the introduction and analysis of the template positioning,the search region ROI is set,and the position of the product sub-pixel precision is obtained by using the contour matching method.With its own algorithm,it can accurately match the corresponding template in a pile of materials,so as to obtain the corresponding parallax of each product,so as to obtain the three-dimensional information of the product.The secondary development of the Chinese robot JRC-50 was studied.The binocular stereo vision software was used to complete the corresponding workpiece grabbing and put it into the designated position.The precision was up to 0.01mm.Through the principle of parallax,combined with template matching,the three-dimensional pose of the center point of the material surface is obtained.Through a series of formulas,the calculation of three-dimensional poses is introduced.Through the software development and on-site debugging of binocular vision-guided manipulator material sorting system,through the TCP/IP network port communication,the three-dimensional coordinates of the product are visually acquired,and finally the binocular stereo vision-guided manipulator grabs the workpiece.For many experiments in this system,the robotic gripper was used to test the accuracy of the workpiece by 1000%and the efficiency was 1/min.It has good adaptability and robustness and provides technical guidance for the subsequent material sorting system. |
