基于智能机器人视觉清理系统研究

针对铸造类零件人工清理效率低、劳动强度大、成本高等问题,论文提出一种基于机器视觉的智能机器人清理系统。设计了由CCD摄像机、图像采集卡、输入输出单元、控制装置构成的机器人硬件系统,搭建了图像采集、处理分析、学习识别软件系统。通过对金属型铸造的盖板、导体类零件浇口、冒口等清理部位机械化自动化清理工作的多次实验验证,零件残留小于1mm,清理准确率达到97.6%,该系统所有指标达到设计要求,满足了工厂对于零部件毛刺智能化清理的要求。

Design and Research on Intelligent Cleaning Robot Based on Machine Vision Technology

Aiming at the problems of low efficiency,high labor intensity and high cost in the cleaning process with the manual ways,an intelligent cleaning robot system based on machine vision technology is researched. The hardware structure including CCD camera,image collecting card,input and output unit and a control circuit is designed. The software platform involving image collection,processing,analysis,learning and recognition is set up. Through a number of experiments on metal casting cover plate,conductor parts gate,and riser,it is concluded that the cleaning tasks are executed automatically and finished successfully,the residual part is less than 1 mm,cleaning accuracy reaches 97.6%,every index matches with the design and meets the smart management requirements.