Robot sorting experiment system based on 3D vision

• Published in: Nanjing Xinxi Gongcheng Daxue Xuebao Vol. 15; no. 5; pp. 604 - 611
• Main Authors: Lan, Zhao, Guoyin, Tang, Xiulan, Wen, Tengfei, Zhang, Yuan, She
• Format: Journal Article
• Language: Chinese
• Published: Nanjing Nanjing University of Information Science & Technology 01.10.2023
• Subjects: Algorithms; End effectors; Experiments; Hardware; Hough transformation; Image processing; Industrial robots; Intelligent manufacturing systems; Interpolation; Machine learning; Manufacturing engineering; Object recognition; Robots; Support vector machines
• ISSN: 1674-7070
• DOI: 10.3878/j.cnki.jnuist.20230212001

In view of the multi-diseiplinary integration of intelligent manufaeturing engineering, a robot sorting experiment system based on 3D vision are designed. The hardware experiment platform is built using Kinect camera, industrial robot, PC, and end-effector, while a Support Vector Machine (SVM) algorithm is designed to recognize target objects. Additionally, a method of cavity burr repair is proposed which combines median filter preprocessing with nearest neighbor interpolation. To check whether the target objects overlap or block each other, a strategy based on Hough transform is designed to ealeulate the object's center position and another strategy based on point eloud registration to estimate the object's pose. Then a series of robot sorting experiments are carried out under the guidance of upper computer interactive interface. The experiment results show that the system can accurately identify and stably sort the target objects of specific shape and color. The designed experiments involve knowledges and t