Automatic sorting and boxing equipment of component assembly line based on vision

Abstract

The invention discloses automatic sorting and boxing equipment of a component assembly line based on vision, and belongs to the technical field of robot vision recognizing and positioning. The equipment using process is divided into offline demonstration and online recognizing, positioning and sorting. According to offline demonstration, components are manually placed in a camera view field range,a camera collects images and extracts features, a mechanical arm is manually controlled to suck the components, and inputting component information is the purpose. According to online recognizing, positioning and sorting, the image information of the components on a conveying line is collected in real time, an industrial personal computer is used for extracting the features of the components, thefeatures are compared with the features extracted offline, recognition of the current component type and relative horizontal movement rotation amount calculation are achieved, the horizontal movementrotation amount is sent to a robot controller, and the mechanical arm is controlled to conduct sucking and boxing work on the components. By adoption of the equipment, any conveying belt and the components at any placing position and with any placing posture can be recognized and positioned, adding and calibrating of the new types of components are simple, and the practicability and expandabilityof the automatic sorting and boxing equipment are improved.

Description

technical field [0001] The invention belongs to the technical field of robot visual identification and positioning, in particular to a vision-based automatic sorting and packing equipment for component assembly lines. Background technique [0002] With the application and development of robotics and computer vision technology, as well as the continuous improvement of factory automation, robots have been widely used in actual production. How to improve the autonomy of robots, adapt to more complex environments and improve their application flexibility has become an inevitable requirement for robots on automated production lines. Contents of the invention [0003] In order to solve the defect of the existing technology that products cannot be automatically sorted and packaged according to the model in the process of factory assembly line operation, the present invention provides a vision-based automatic sorting and packing equipment for parts assembly line, which uses indust...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the defect of the existing technology that products cannot be automatically sorted and packaged according to the model in the process of factory assembly line operation, the present invention provides a vision-based automatic sorting and packing equipment for parts assembly line, which uses industrial cameras and LED light sources to analyze parts images Information is collected, and image processing algorithms are used to extract the edge contour information of parts, and the high-dimensional vector formed by the polar coordinates of the contour data is used as a feature to perform part model recognition and position and attitude calculation, and the calculation results are transferred to the robot controller to control the machine. The suction cup at the end of the arm picks up the component and places it in the corresponding bin

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