•  
  •  
 

Abstract

Objective:Solve the problems of poor positioning accuracy and low grasping success rate of the Delta robot in food sorting, and improve the robot's flexible grasping ability.Methods:Based on the existing binocular vision and delta robot technology, a flexible grasping method of delta robot based on binocular vision was proposed. Zhang Zhengyou calibration method was used to calibrate the camera, the target was identified and located by Hough transform at the chord midpoint, and the delta robot was controlled to grasp the dynamic target according to PID tracking and grasping. The feasibility of this method was verified by analyzing the performance of single target sorting and multi-target sorting.Results:This method can accurately, quickly and stably grab the target dynamically (success rate was above 94.0%).Conclusion:The combination of binocular vision and delta robot can effectively improve the positioning accuracy of the robot and the success rate of sorting and grasping.

Publication Date

9-4-2022

First Page

109

Last Page

113

DOI

10.13652/j.spjx.1003.5788.2022.90185

References

[1] 卢荣胜,史艳琼,胡海兵.机器人视觉三维成像技术综述[J].激光与光电子学进展,2020,57(4):9-27.LU Rong-sheng,SHI Yan-qiong,HU Hai-bing.Review of three-dimensional technology for robot vision[J].Laser & Optoelectronics Progress,2020,57(4):9-27.
[2] 张铮,熊盛辉,王孙强,等.基于机器视觉的香蕉果肉缺陷预测方法[J].食品与机械,2020,36(7):150-154.ZHANG Zheng,XIONG Sheng-hui,WANG Sun-qiang,et al.Prediction method of banana pulp defects based on machine vision[J].Food & Machinery,2020,36(7):150-154.
[3] 刘海龙,张蕾,吴海波.基于双视觉引导的工业机器人立体定位技术的研究[J].电气自动化,2021,43(1):116-118.LIU Hai-long,ZHANG Lei,WU Hai-bo.Research on stereo positioning technology of industrial robot based on dual visionguidance[J].Electrical Automation,2021,43(1):116-118.
[4] 曾劲松,薛文凯,徐博凡,等.双目视觉引导机器人定位抓取技术的研究[J].组合机床与自动化加工技术,2019,12(1):131-137.ZENG Jin-song,XUE Wen-kai,XU Bo-fan,et al.Research on positioning and grasping technology of binocular vision guided robot[J].Modular Machine Tool & Automatic Manufacturing Technique,2019,12(1):131-137.
[5] 林义忠,陈旭.基于机器视觉的机器人定位抓取的研究进展[J].自动化与仪器仪表,2021,11(3):9-12.LIN Yi-zhong,CHEN Xu.Research progress of robot positioning and grasping based on machine vision[J].Automation & Instrumentation,2021,11(3):9-12.
[6] 倪鹤鹏,刘亚男,张承瑞,等.基于机器视觉的Delta机器人分拣系统算法[J].机器人,2016,38(1):49-55.NI He-peng,LIU Ya-nan,ZHANG Cheng-rui,et al.Algorithm of delta robot sorting system based on machine vision[J].Robot,2016,38(1):49-55.
[7] 赵小霞,李志强.基于PLC和机器视觉的水果自动分级系统研究[J].农机化研究,2021,12(8):75-79.ZHAO Xiao-xia,LI Zhi-qiang.Research on automatic fruit grading system based on PLC and machine vision[J].Journal of Agricultural Mechanization Research,2021,12(8):75-79.
[8] 李雅倩.并联机器人夹持机构串类水果夹取控制研究[D].镇江:江苏大学,2020:27-29.LI Ya-qian.Research on the control of parallel robot clamping mechanism for serial fruit clamping[D].Zhenjiang:Jiangsu University,2020:27-29.
[9] JIA Zhi-wei,WANG Li-jun,ZHANG Jin-chuan,et al.High efficiency,low power-consumption DFB quantum cascade lasers without lateral regrowth[J].Nanoscale Research Letters,2017,12(1):88-95.
[10] 郝琳,张坤平.基于并联机器人的食品分拣控制系统设计[J].食品工业,2020,41(4):209-212.HAO Lin,ZHANG Kun-ping.Design of food sorting control system based on parallel robot[J].The Food Industry,2020,41(4):209-212.
[11] 郝大孝,舒志兵,孙学.基于机器视觉的Delta机器人分拣与跟踪系统设计[J].机床与液压,2019,47(17):36-42.HAO Da-xiao,SHU Zhi-bing,SUN Xue.Design of delta robot sorting and tracking system based on machine vision[J].Machine Tool & Hydraulics,2019,47(17):36-42.
[12] 刘芳,刘玉坤,林森,等.基于改进型YOLO的复杂环境下番茄果实快速识别方法[J].农业机械学报,2020,51(6):229-237.LIU Fang,LIU Yu-kun,LIN Sen,et al.Rapid identification method of tomato fruit in complex environment based on improved YOLO[J].Transactions of the Chinese Society for Agricultural Machinery,2020,51(6):229-237.
[13] 赵利平,吴德刚.融合GA的三点定位夜间苹果目标的识别算法研究[J].中国农机化学报,2020,41(5):134-138.ZHAO Li-ping,WU De-gang.Research on recognition algorithm of three-point positioning night apple target based on GA[J].Journal of Chinese Agricultural Mechanization,2020,41(5):134-138.
[14] 朱建宝,许志龙,孙玉玮,等.基于OpenPose人体姿态识别的变电站危险行为检测[J].自动化与仪表,2020,35(2):47-51.ZHU Jian-bao,XU Zhi-long,SUN Yu-wei,et al.Detection of dangerous behaviors in substations based on OpenPose human posture recognition[J].Automation & Instrumentation,2020,35(2):47-51.
[15] 于文妍,杨坤林.四旋翼无人机串级模糊自适应PID控制系统设计[J].机械设计与制造,2019,12(1):227-231.YU Wen-yan,YANG Kun-lin.Design of cascade fuzzy adaptive PID control system for four rotorunmanned aerial vehicle[J].Mechanical Design & Manufacturing,2019,12(1):227-231.
[16] 陶浩,李笑,陈敏.基于改进ORB特征的遥操作工程机器人双目视觉定位[J].测控技术,2019,38(7):19-23.TAO Hao,LI Xiao,CHEN Min.Binocular vision localization of teleoperation engineering robot based on improved ORB feature[J].Measurement & Control Technology,2019,38(7):19-23.
[17] 宋海涛,何文浩,原魁.一种基于SIFT特征的机器人环境感知双目立体视觉系统[J].控制与决策,2019,34(7):1 545-1 552.SONG Hai-tao,HE Wen-hao,YUAN Kui.A robot environment perception binocular stereo vision system based on SIFT feature[J].Control and Decision,2019,34(7):1 545-1 552.
[18] 马伟苹,李文新,孙晋川,等.基于粗—精立体匹配的双目视觉目标定位方法[J].计算机应用,2020,40(1):227-232.MA Wei-ping,LI Wen-xin,SUN Jin-chuan,et al.Binocular vision target location method based on coarse fine stereo matching[J].Journal of Computer Applications,2020,40(1):227-232.
[19] 罗久飞,邱广,张毅,等.基于自适应双阈值的SURF双目视觉匹配算法研究[J].仪器仪表学报,2020,41(3):240-247.LUO Jiu-fei,QIU Guang,ZHANG Yi,et al.Research on SURF binocular vision matching algorithm based on adaptive double threshold[J].Chinese Journal of Scientific Instrument,2020,41(3):240-247.
[20] 程禹,王晓华,王文杰,等.基于改进AKAZE算法的图像特征匹配方法[J].西安工程大学学报,2020,34(8):51-56.CHENG Yu,WANG Xiao-hua,WANG Wen-jie,et al.Image feature matching method based on improved AKAZE algorithm[J].Journal of Xiʼan Polytechnic University,2020,34(8):51-56.
[21] 苏婷婷,张好剑,王云宽,等.基于费拉里法的Delta机器人动态目标抓取算法[J].华中科技大学学报(自然科学版),2018,46(6):128-132.SU Ting-ting,ZHANG Hao-jian,WANG yun-kuan,et al.Dynamic target grasping algorithm of delta robot based on Ferrari method[J].Journal of Huazhong University of Science and Technology(Natural Science Edition),2018,46(6):128-132.

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.