手眼伺服作业机器人平台系统的研究

发布时间：2018-08-02 21:30

【摘要】：机器视觉是为智能制造系统服务而出现的一项技术,机器视觉技术涉及计算机图形学、集合建模、图像处理学、工程学和智能学等多门学科,具有自动化程度高、易于集成、精度高等优点。将机器视觉技术应用到工业机器人自动化集成制造系统当中,给机器人的推广和使用带来了新的希望,提高了企业的生产效率,解放了生产力,促进了生产发展,在世界自动化和智能化程度中占有重要作用。本课题在分析了国内外机器视觉识别技术、定位技术和测量技术研究现状基础上,总结了其中存在的问题。以Visual Studio 2010为平台,利用C++做为编程语言,分别针对识别技术、定位技术和测量技术做了软件开发,实现了图像数字识别,特征识别,位置标定和尺寸测量。在图像处理模块中,采用了开源的图像处理库Open CV。本课题设计了一种“视觉系统+机器人+传送带”的动态目标跟踪实验平台,主要实现的功能包括:工件的自动分拣、输送链跟踪、视觉引导定位和机器人码垛四个方面。本课题主要通过摄像机的标定、图像预处理、数学形态学滤波、图像分割、边缘检测等来介绍视觉算法。通过实验平台,用当前市场机器视觉软件和自编算法分别对工件进行了图像识别、图像定位和图像测量三个方面的处理,通过数据的比对,分析了图像处理的结果,并最终通过视觉系统综合试验验证了本文提出的算法和实验系统的正确性。通过实操平台设计,可以对整个系统进行开始、停止与复位的操作,并且每个操作对应着不同信号灯,这样可以使操作人员非常的容易上手和及时的发现故障。
[Abstract]:Machine vision is a technology for intelligent manufacturing system. Machine vision technology involves many subjects such as computer graphics, set modeling, image processing, engineering and intelligence. It has high degree of automation and is easy to integrate. High accuracy and other advantages. The application of machine vision technology to the automatic integrated manufacturing system of industrial robot brings new hope to the popularization and use of the robot, improves the production efficiency of the enterprise, liberates the productivity, and promotes the production development. It plays an important role in the degree of automation and intelligence in the world. On the basis of analyzing the research status of machine vision recognition technology, positioning technology and measurement technology at home and abroad, the existing problems are summarized. Taking Visual Studio 2010 as the platform and C as the programming language, the software is developed for the recognition technology, the positioning technology and the measurement technology, respectively, and the image digital recognition, feature recognition, position calibration and dimension measurement are realized. In the image processing module, the open source image processing library Open is used. In this paper, a dynamic target tracking experimental platform for robot conveyor belt in visual system is designed. The main functions are as follows: automatic sorting of workpiece, tracking of conveying chain, visual guiding positioning and robot palletizing. This paper mainly introduces the visual algorithm by camera calibration, image preprocessing, mathematical morphological filtering, image segmentation, edge detection and so on. Through the experiment platform, using the current market machine vision software and self-made algorithm, the image recognition, image location and image measurement are processed respectively. The results of image processing are analyzed by comparing the data. Finally, the correctness of the proposed algorithm and experimental system is verified by visual system synthesis experiment. Through the design of real operating platform, the whole system can be started, stopped and reset operation, and each operation corresponds to a different signal light, which can make the operator very easy to start and find fault in time.
【学位授予单位】：河北科技师范学院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TP242

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