【摘要】 针对现场工程人员使用基于PC平台或嵌入式模块等机器视觉系统开发机器人视觉程序比较困难的状况，对机器人与内置视觉识别软件之间联系进行研究。以FANUC机器人集成内置视觉识别功能软件为研究对象，介绍工业相机与机器人物理连接；分析相机标定原理和标定过程；以2D形状和条形码工件为例，详细介绍了视觉识别程序处理过程和机器人视觉程序关键指令以及搬运程序流程。把多个模型混合放置，内置视觉系统都能准确识别，机器人都能精准分拣和搬运。机器人集成内置机器视觉系统硬件连接简单，识别工具丰富，使用方便，机器人程序与视觉数据交互便捷，拓展了机器人工艺应用范围。机器人集成内置视觉识别功能是自动化领域和机器视觉系统发展趋势。更多还原

【Abstract】 Aiming at the situation that it is difficult for field engineers to develop robot vision program using machine vision system based on PC platform or embedded module, the relationship between robot and built-in visual recognition software was studied.Taking the integrated built-in visual recognition function software of FANUC robot as the research object, the physical connection between industrial camera and robot was introduced.Meanwhile, the principle and process of camera calibration were analyzed.Taking 2D shape and bar code workpieces as example, the processing process of visual recognition program, the key instructions of robot visual program and the flow of handling program were introduced in detail.By mixing and placing multiple models, the built-in vision system can accurately identified, the robot could make accurate sorting and carrying.The integrated built-in machine vision system of robot has simple hardware connection, abundant recognition tools, convenient application, as well as convenient interaction between robot program and visual data.Based on this, it has expanded the application scope of robot technology.Integrated built-in visual recognition function of robotis the development trend of automation field and machine vision system.更多还原