论文标题

自动零件馈线设计的灵活而强大的视觉陷阱

A Flexible and Robust Vision Trap for Automated Part Feeder Design

论文作者

Haugaard, Rasmus Laurvig, Iversen, Thorbjørn Mosekjær, Buch, Anders Glent, Kramberger, Aljaz, Mathiesen, Simon Faarvang

论文摘要

快速,健壮和柔性零件喂养对于实现低音量,高方差组装任务的自动化至关重要。在这里称为视觉陷阱的传统振动馈线上的基于视觉的解决方案,原则上应该能够满足这些对各种零件的要求。但是,实际上,这种陷阱的灵活性受到限制,因为需要专家来确定可管理的任务和配置视觉系统。我们提出了一种新颖的视觉陷阱设计方法,其中可管理任务的识别是自动的,并且可以将这些任务的配置委派给自动馈线设计系统。我们表明,可以将陷阱的功能无缝地集成到自动化馈线设计的生态系统中。我们在六个规范零件上的结果对馈线系统的自主配置显示出巨大的希望。

Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in principle be able to meet these demands for a wide range of parts. However, in practice, the flexibility of such a trap is limited as an expert is needed to both identify manageable tasks and to configure the vision system. We propose a novel approach to vision trap design in which the identification of manageable tasks is automatic and the configuration of these tasks can be delegated to an automated feeder design system. We show that the trap's capabilities can be formalized in such a way that it integrates seamlessly into the ecosystem of automated feeder design. Our results on six canonical parts show great promise for autonomous configuration of feeder systems.

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