基于双目定位的离合器下料系统设计

机械臂在生产线上抓取组装完成的离合器后,需要准确地将离合器放置在自动导引车(AGV)的下料位置.针对AGV入库时位置不确定,机械臂无法准确实现下料问题,设计了一种基于机器视觉技术的离合器下料定位系统,并针对AGV尺寸较大、单相机定位存在精度差、定位不稳定的重要问题,采用双目定位提高精度和稳定性.实际使用结果表明:基于VisionPro视觉软件设计的AGV特征识别视觉定位系统具有很好的定位结果,定位精度为±0.5 mm,运行时间小于2 s;能够引导机械臂快速、准确地完成离合器下料任务,满足工业实际应用的需求.

Design of clutch unloading system based on binocular visual positioning

The robotic arm needs to put clutches in automatic guided vehicle (AGV ) accurately after scraping clutches from the assembling line. As the storage location of AGV is uncertain and the robotic arm can 't accurately realize the blanking,use the technology of machine vision to design a localization system of vision-based clutch unloading. Aiming at problem that the size of AGV is too large and localization of single camera is unstable and precision is low. Use binocular localization to improve the precision and stability. Practical application result show that the designed AGV feature recognition and location system which based on VisionPro vision software,has wonderful locating results,the location precision is ± 0. 5 mm,and the run time is less than 2s,besides,it can guide robotic arm to realize the clutch blanking task precisely,and quickly,meeting the requirements of industrial application.