机电工程技术2026，Vol.55Issue(17)：62-66,5.DOI:10.3969/j.issn.1009-9492.2026.00061
基于3D视觉技术的棉签包装生产线智能分拣系统
Intelligent Sorting System for Cotton Swab Packaging Production Line Based on 3D Vision Technology
摘要
Abstract
To address the long-standing challenges in the sorting process of cotton swab packaging lines,such as low efficiency,high counting errors,labor-intensive operations,and hygiene risks,an intelligent robotic sorting system based on 3D vision inspection and deep learning technologies is designed and implemented.The system utilizes an ABB IRB 2600-12/1.85 industrial robot as the operational component,combined with an Intel RealSense D435i RGB-D camera for visual perception in an eye-in-hand setup,enabling adaptable viewing angles.By leveraging an enhanced YOLOv7 algorithm,the system achieves swift recognition and classification of cotton swab packages.By merging instance segmentation masks for foreground point cloud extraction and then integrating FPFH-based initial registration with point-to-plane ICP fine registration methods,real-time estimation and accurate localization of the six-degree-of-freedom pose of packages are successfully achieved.The experimental results show that the system maintains a consistent sorting speed of 82～92 box/min,with a sorting accuracy surpassing 99.3%.Additionally,it achieves positioning accuracies of 1.1 mm and 0.8°.All performance metrics show a significant improvement over traditional manual sorting and 2D vision-based systems.This study offers an integrated solution that is efficient,reliable,and technically feasible for addressing the intelligent sorting challenges encountered in cotton swab packaging lines.关键词
工业机器人/棉签分拣/3D视觉/深度学习/姿态估计Key words
industrial robot/cotton swab sorting/3D vision/deep learning/pose estimation分类
信息技术与安全科学引用本文复制引用
潘典旺,韩宇,孙文涛,陈少龙..基于3D视觉技术的棉签包装生产线智能分拣系统[J].机电工程技术,2026,55(17):62-66,5.基金项目
2025年度广东省普通高校青年创新人才类项目(2025KQNCX237) （2025KQNCX237）
深圳城市职业学院校级科研项目(2412018,2511016) （2412018,2511016）
