Abstract:During the sorting process of industrial robots, the target object may have various shapes, sizes, and appearance changes, and may also be affected by occlusion and lighting conditions, making target detection and recognition complex, resulting in poor sorting control functions and application performance. For this purpose, an industrial robot sorting control system based on OMRON vision was designed. Design the sorting control hardware system using OMRON visual sensors, robot sorting controllers, and drivers. The OMRON vision is used to collect the sorting target image of the industrial robot, complete the preprocessing of the initial sorting target image through Histogram equalization and filtering denoising. Extract the contour features of industrial robot sorting targets, determine the type of sorting target through feature matching, and obtain detection results of spatial parameters such as position and geometric structure. Finally, the sorting control function of the system is achieved through steps such as control parameter calculation, industrial robot pose recognition, and control quantity calculation. Through system testing experiments, it has been shown that the designed system has good sorting control functions and application performance due to its small control errors in grasping position, sorting target position, and surface wear of sorting objects.
