包装生产线视觉上料控制系统研究

目的 为提高包装生产线中上料、送料过程的自动化程度，基于机器视觉设计一种视觉上料系统。方法 介绍摄像机成像原理。在此基础上，详细论述视觉标定过程，包括刚体变换、透视投影、图像离散化等。论述视觉上料控制系统结构，主要由工控机、软件平台、人机交互界面组成。工控机可实现视觉采集模块、机器人控制模块、传感器信号采集模块的分布控制和集中管理。通过实验验证所述控制系统的有效性。结果 实验结果表明，最大定位误差只有0.7 mm，定位精度较高;填料成功率可以达到99.5%以上，基本不会出现误抓、漏抓等情况;系统响应速度快。结论 包装生产线视觉上料控制系统具有响应速度快、定位精度高、填料成功率高等优点，可满足包装过程高速、高精度要求。

Visual Feeding Control System of Packaging Production Line

The work aims to design a visual feeding system based on machine vision to improve the automation of the feeding and delivery process in the packaging production line. Firstly, the principle of camera imaging was introduced. On this basis, the visual calibration process, including rigid body transformation, perspective projection, image discretization, etc., was discussed in detail. The structure of visual feeding control system which was mainly composed of Ipc, software platform and human-computer interaction interface was discussed. Ipc could realize the distributed control and centralized management of vision acquisition module, robot control module and sensor signal acquisition module. The effectiveness of the control system was verified by experiment. The experiment result showed that the maximum positioning error was only 0.7 mm and the positioning accuracy was relatively high. The success rate of packing could reach 99.5% or above, and there would be no mis-grasping or missing grasping. The system responded quickly. The visual feeding control system of packaging production line has the advantages of fast response, high positioning accuracy and high success rate of packing. It meets the requirements of high speed and high precision in packaging process.