基于OpenCV的物料分拣搬运机器人的设计

针对当今制造业中物料分拣搬运任务的自动化问题,设计出一套新型物料分拣机器人,结合2019年广东省工科大学生实验综合技能竞赛的机器人设计要求,提出了一种基于OpenCV的物料分拣搬运机器人的设计。以结构、控制、识别及通讯四方面对机器人的设计进行介绍。在基于STM32芯片的主控制系统的控制下,以树莓派4B为核心的图像识别系统运行OpenCV对摄像头采集的图像数据进行处理,通过CAMshift跟踪算法对目标进行跟踪,得到目标在图像中的位置,机器人根据该位置对物料进行抓取并搬运至物料投放点,在机器人运动同时通过Wi-Fi和Flask框架可在浏览器网页上对机器人的识别情况进行监视。实验及竞赛结果充分证明机器人在物料分拣搬运任务的完成上具有极大的高效性、准确性及稳定性,对制造业自动化的技术推进具有极大的前景。

Design of Sorting and Handling Robot Based on OpenCV

In order to design a new type of material sorting robot for the automation of material sorting and handling tasks in today’s manufacturing industry,we propose a material based on OpenCV in conjunction with the robot design requirements of the 2019 Guangdong University of Technology Experimental Comprehensive Skill Competition Design of sorting and handling robot.The design of the robot is introduced in four aspects:structure,control,identification and communication.Under the control of the main control system based on the STM32 chip,the image recognition system with the Raspberry Pi 4B as the core runs OpenCV to process the image data collected by the camera,and tracks the target through the CAMshift tracking algorithm to obtain the position of the target in the image.The robot grabs the material according to the position and transports it to the material drop point.During the movement of the robot,the robot’s recognition status can be monitored on the browser webpage through the Wi-Fi and Flask framework.Experiments and competition results fully prove that the robot has great efficiency,accuracy and stability in the completion of the material sorting and transportation task,and has great prospects for the advancement of manufacturing automation technology.