全自动打孔机孔形轮廓识别及上下料技术研究

发布时间：2018-05-08 17:48

本文选题：皮革 + 打孔机　；参考：《浙江理工大学》2017年硕士论文

【摘要】：本文以孔形轮廓识别及上下料技术为研究对象,采用机器视觉、运动控制和工业机器人技术对整机设备进行开发。依据机器视觉系统硬件选型原理,搭建机器视觉系统硬件平台,针对皮革孔型模板图像,采用平滑滤波器减弱或消除傅里叶空间的高频分量,平滑图像,使用模板匹配算法实现孔型轮廓自动识别。基于对打孔工艺流程和整机功能需求分析,设计工业机器人拾放料系统;基于VC++6.0开发环境,实现打孔机孔形轮廓的图像识别等功能界面的开发。首先,选取相机、镜头和光源,搭建机器视觉系统实验平台。依据皮革材料的特征,采用中值滤波算法对皮革模板图像进行平滑处理,不仅消除了噪声,而且很好的保留了图像细节,采用双峰法对图像进行阈值分割,以及Canny边缘检测器实现对冲孔皮革边缘轮廓的检测,采用归一化互相关算法实现皮革孔型模板匹配,完成对冲孔皮革模板图像的孔型轮廓识别,并生成加工文件。然后,在分析全自动皮革打孔机功能模块的基础上,确定打孔机的工艺流程,完成整机系统集成。基于史陶比尔TX90工业机器人,设计拾放料系统,实现皮料的自动拾取,并基于SRS软件完成了工业机器人运动轨迹执行代码的编写。最后,基于VC++6.0开发环境,利用模块化程序设计方法,完成了全自动打孔机孔形轮廓的图像识别等功能界面的设计,包括图像识别、刀具管理、基本参数设置、单打调试等功能模块。经过调试和试加工,设备运行良好,提高了加工效率,实现了皮革花样冲孔的自动化生产。
[Abstract]:In this paper, machine vision, motion control and industrial robot technology are used to develop the whole machine equipment. According to the principle of hardware selection of machine vision system, the hardware platform of machine vision system is built. For the pattern image of leather pass, smoothing filter is used to attenuate or eliminate the high-frequency component of Fourier space and smooth image. The template matching algorithm is used to realize the automatic recognition of pass profile. Based on the analysis of the punching process and the function requirement of the whole machine, the picking and discharging system of the industrial robot is designed, and the function interface of the hole contour image recognition is realized based on the development environment of VC 6.0. First, the camera, lens and light source are selected to build the experimental platform of machine vision system. According to the characteristics of leather material, the median filter algorithm is used to smooth the leather template image, which not only eliminates the noise, but also preserves the image details well, and uses the bimodal method to segment the image by threshold. The Canny edge detector is used to detect the edge profile of punched leather, and the normalized cross-correlation algorithm is used to realize the pattern matching of the perforated leather template. The recognition of the hole profile of the punched leather template image is completed, and the machining files are generated. Then, on the basis of analyzing the function module of the automatic leather punching machine, the technological process of the punching machine is determined and the integration of the whole machine system is completed. Based on Stauber TX90 industrial robot, the picking and discharging system is designed to realize the automatic pick-up of leather material. Based on SRS software, the code of motion trajectory execution of industrial robot is written. Finally, based on the development environment of VC 6.0 and using the modular programming method, the design of the image recognition interface of the hole profile of the automatic punching machine is completed, including image recognition, tool management, basic parameter setting, etc. Single debugging and other functional modules. After debugging and trial processing, the equipment runs well, improves the processing efficiency and realizes the automatic production of leather pattern punching.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

【参考文献】