基于机器视觉定位的自动鹤管系统设计

针对目前油品装车过程中人工引导鹤管对接存在定位精度低、制约生产效率、安全隐患等问题，提出一种基于机器视觉定位的自动鹤管系统。在传统鹤管基础上对关节进行了自动化改造，并设计了平衡机构以协调外臂和垂管的重力；基于简化的鹤管系统三维模型，进行静力学特性分析；建立自动鹤管运动学模型，并进行工作空间分析及轨迹规划；采用机器视觉技术完成了槽车罐口识别与定位程序设计。图像仿真定位实验结果表明视觉系统定位误差在8 mm以内，能够较好地满足鹤管的定位对接要求。

Design of Automatic Crane Cube System Based on Machine Vision Locating

In view of the current problems such as low positioning accuracy,restricting production efficiency and potential safety in manually guiding crane tube docking during oil loading,an automatic crane tube system based on machine vision and positioning was proposed.Based on the traditional crane tube joints,automation reconstruction was completed and a balancing mechanism was designed to coordinate the weight of the arm and the vertical tube; based on a simplified three-dimensional model,statics analysis was carried out;the kinematics model of automatic crane tube was established,and the workspace analysis and trajectory planning were carried out;the program design of tank mouth identification and location was completed by machine vision technology.The image simulation locating experimental results show that the locating error of the visual system is within 8 mm,it can meet the locating and docking requirements of the crane tube.