基于双目视觉的UVW定位平台关键技术研究

发布时间：2018-05-07 19:46

本文选题：双目视觉 + UVW平台　；参考：《北方工业大学》2017年硕士论文

【摘要】：在智能制造和精密加工的要求下,高精度的零件定位对准系统已成为行业内的关键技术和重要组成部分。在电子工业、PCB、LCD等行业内,产品制造要求的定位精度往往达到微米级。这种平面内三自由度(X、Y、θ)精密运动,通常使用UVW运动平台现。UVW平台不仅定位精度高,而且具有应用范围广、需求数量巨大的特点。随着机器视觉技术的的快速发展,采用视觉检测系统进行位置信息提取和反馈的UVW定位平台成为研究热点。然而,UVW平台结合视觉系统的国内外研究现状表明,国内的定位对准技术较国外还有一定差距。基于此,本文提出一种基于双目视觉的UVW定位系统。本课题主要研究开发了一套基于双目视觉的UVW定位系统,并在运动学分析求解、视觉系统定位及应用软件开发等关键技术上开展深入研究,完成了控制系统开发、视觉定位系统开发,并基于开发的UVW平台样机,以PCB板作为待定位零件进行了定位对准实验。论文的工作内容有以下几个方面:(1)进行了 UVW平台的运动分析,完成了运动学逆解推导,实现了世界坐标系X、Y、θ到平台坐标系U、V、W的精确求解。(2)提出了一种基于UVW平台位置反馈信息的视觉系统自标定方法,并在该标定方法基础上提出了系统定位对准算法。(3)设计了 "PC+运动控制卡+双目工业相机"的UVW视觉定位平台的控制系统,开发了运动控制与视觉定位软件。(4)基于开发的软硬件平台,完成了系统标定与视觉定位控制实验,实验结果表明,UVW视觉定位平台可以达到3微米的定位精度,验证了本文视觉检测方案的正确性,可以满足工业应用要求。
[Abstract]:With the requirements of intelligent manufacturing and precision machining, high precision part positioning and alignment system has become a key technology and an important component in the industry. In the electronics industry, PCB, LCD and other industries, the positioning precision of the product manufacturing requirements often reaches the micron level. The three self (X, Y, theta) precision movement in the plane usually uses UVW movement flat. The platform.UVW platform not only has high positioning accuracy, but also has a wide range of applications and huge demand. With the rapid development of machine vision technology, UVW positioning platform using visual detection system for location information extraction and feedback has become a hot topic. However, the domestic and foreign research status of the UVW platform combined with the visual system shows that the national and foreign countries have shown that, In this paper, a UVW positioning system based on binocular vision is proposed in this paper. A set of UVW positioning system based on binocular vision is developed in this paper, and the key technologies such as kinematics analysis, visual system positioning and application software development are thoroughly studied. With the development of the control system, the development of the visual positioning system, and based on the developed UVW platform prototype, the PCB board is used as the positioning and alignment experiment. The work contents of the paper are as follows: (1) the motion analysis of the UVW platform is carried out, the inverse kinematics of the kinematics is derived, and the world coordinate system X, Y, theta and the platform coordinates are realized. The precise solution of U, V and W. (2) a self calibration method of visual system based on the position feedback information of UVW platform is proposed. Based on the calibration method, the system positioning alignment algorithm is proposed. (3) the control system of the UVW visual positioning platform of "PC+ motion control card + binocular industrial camera" is designed, and the motion control and visual positioning are developed. (4) (4) based on the development of hardware and software platform, the system calibration and visual positioning control experiments have been completed. The experimental results show that the UVW vision positioning platform can reach 3 micron positioning accuracy, verifies the correctness of the vision detection scheme in this paper and can meet the requirements of industrial application.

【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

【参考文献】