目的 为了提高码垛机器人对码放物品的自我分辨能力，提高码放效率，提出一种基于机器视觉检测的包装码垛机器人控制系统。方法 首先分析机器视觉码垛机器人工作过程，基于工业控制计算机和图像采集卡设计码垛机器人控制系统，提出控制系统的硬件设计和软件设计。同时对机器视觉采集到的图像进行滤波、分割等图像处理，以提高机器人的视觉检测效率。结果 实验结果表明，机器视觉码垛机器人的漏抓率为0，误抓率小于0.5%。结论 该控制系统有效解决了规则物品的分类码放，实现了高效的物品码放。

The work aims to propose a control system of the packaging palletizing robot based on machine vision detection to improve the self-distinguishing ability of palletizing robot and the efficiency of palletizing. Firstly, the working process of machine vision palletizing robot was analyzed, and the control system of palletizing robot was designed based on industrial control computer and image acquisition card, and the hardware design and software design of the control system were expounded. At the same time, the image processed by the machine vision was filtered and segmented to improve the visual detection efficiency of the robot. The experimental results showed that the leakage rate of the machine vision palletizing robot was 0, and the error rate was less than 0.5%. The control system can effectively solve the classification and stacking of the regular items, and realize the high efficient item stacking.