The Research On Trajectory Planning Of Robot For Steamed Bread Sorting Based On Machine Vision

In China,flour making food such as steamed bread,biscuits and bread play an i mportant role in traditional Chinese diet.Food sorting is a key step in the robot pack aging process.The traditional food production line has problems such as high Pre-proc ess productivity,small post-process packaging power,and low efficiency of manual sor ting.More importantly,it causes secondary pollution to food and it is difficult to mee t people's daily living needs.Therefore,in order to further improve the sorting strengt h of the steamed bread production line combined with the technologies of machine vis ion and sorting robots,not only the sorting efficiency of the steamed bread is signific antly improved,but also the secondary pollution of food is avoided.This subject is a business cooperation project,which mainly cooperates with the actual production conditions of the Zhengzhou Duofuoduo steamed bread production li ne to realize the sorting work of the sorting robot on the production line in a stable,safe and fast manner.Therefore,this subject takes the self-designed sorting robot as th e research object,mainly from the aspects of the reachable working space,the end tra jectory planning,the key technology of machine vision and the control system.Firstly,according to the structural characteristics of the sorting robot,completed o n the mechanism kinematics,Jacobian matrix analysis,singular configuration analysis a nd workspace analysis,and determined the size parameters of the robot mechanism ac cording to the constraints.Using the limit boundary search method to solve the end r eachable workspace and MATLAB software to drawn three-dimensional images for the requirements of robot sorting range.Secondly,due to the distortion of the camera image,use the non-linear Zhang Zh engyou calibration to complete the calibration of the camera and plan the calibration p rocess the robot-production line-vision system.For providing information on the produ ction line for the robot control system,according to target processing and recognition to completed image preprocessing,edge detection and target feature extraction,position ing process;The actual working conditions of the steamed bread production line,insta ll photoelectric switches and bezels in the shooting area and sorting area to avoid the occurrence of the situation target repeat tracking,missing picking in actual work,ther eby achieving position tracking of the target.Again:In order to ensure the safety,stability and high efficiency of the sorting robot operation process,researched the path planning of high-speed sorting operations and propose an improved elliptical motion trajectory,which can adjust the asymmetry parameterA_f and the uniform period parameter a_f to change the trajectory and verif y it.To improve the sorting efficiency,using A*search algorithm to search the shorte st path to get the best sorting order.Experiments show that the optimization of classif ication based on A*search algorithm combined with improved elliptical motion traject ory guarantees the requirements of classification tasks.Finally:Through the analysis of the demand for sorting tasks,complete the constr uction of the entire sorting system platform,and determine the selection of Advantech IPC 610+PMAC control card and related hardware.Through the analysis of the funct ional requirements of the entire control system,the upper computer software to realize the control design of the whole system,and completed the communication connection of the PMAC motion control,the camera,the computer and the PMAC motion contr ol card,the drive system,the photoelectric switch.In order to facilitate manual interac tion control,complete the interface design for the entire control system with C++.