[1]陈志鹏,徐广涞,陈显扬,等.基于 OpenCV 的物料分拣搬运机器人的设计[J].计算机技术与发展,2021,31(03):196-200.[doi:10. 3969 / j. issn. 1673-629X. 2021. 03. 034]
　CHEN Zhi-peng,XU Guang-lai,CHEN Xian-yang,et al.Design of Sorting and Handling Robot Based on OpenCV[J].,2021,31(03):196-200.[doi:10. 3969 / j. issn. 1673-629X. 2021. 03. 034]
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基于 OpenCV 的物料分拣搬运机器人的设计()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
31
期数:
2021年03期
页码:
196-200
栏目:
应用前沿与综合
出版日期:
2021-03-10

文章信息/Info

Title:
Design of Sorting and Handling Robot Based on OpenCV
文章编号:
1673-629X(2021)03-0196-05
作者:
陈志鹏1; 徐广涞1; 陈显扬2; 陈韵律2; 陈西明2; 李德荣2*
1. 广东海洋大学 电子与信息工程学院,广东 湛江 524088
2. 广东海洋大学 机械与动力工程学院,广东 湛江 524088
Author(s):
CHEN Zhi-peng1; XU Guang-lai1; CHEN Xian-yang2; CHEN Yun-lyu2; CHEN Xi-ming2; LI De-rong2*
1. School of Electronic and Information Engineering,Guangdong Ocean University,Zhanjiang 524088,China;
2. School of Mechanical and Power Engineering,Guangdong Ocean University,Zhanjiang 524088,China
关键词:
OpenCV; 物料分拣; 机器人; 图像识别; CAMshift 算法
Keywords:
OpenCV; material sorting; robot; image recognition; CAMshift algorithm
分类号:
TP242
DOI:
10. 3969 / j. issn. 1673-629X. 2021. 03. 034
摘要:
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。
Abstract:
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.

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更新日期/Last Update: 2020-03-10