视觉伺服机器人动态目标抓取系统设计与研究

发布时间：2018-04-16 22:12

本文选题：视觉 + 伺服机器人　；参考：《南京理工大学》2017年硕士论文

【摘要】：本文针对现阶段工业生产过程中示教型机器人对环境适应能力有限问题,提出加入视觉传感器,为机器人装上"眼睛和大脑",结合机器人视觉伺服控制研究与应用现状,以视觉伺服机器人抓取连续运动传送带上条烟为研究对象,完成了对条烟的分类识别与定位抓取。为实现这一目的,主要进行了以下研究:(1)动态条烟抓取系统总体方案设计。为满足项目需求,确定系统总体工作流程。根据精度要求和产品性价比,对方案中涉及到的软硬件进行选型,完成实验平台搭建。(2)条烟分类识别与定位研究。通过对条烟图像进行预处理、边缘检测与跟踪、创建模板、寻找模板等研究,获取条烟在图像上的精确位置。通过基于支持向量机的分类方法,实现条烟的准确分类。(3)基于Halcon的系统标定与抓取研究。进行相机标定、手眼标定,并对手眼标定进行校正,实现坐标系统一。对机械手末端进行路径轨迹规划,计算条烟在运动传送带上的抓取位置,实现对条烟的准确抓取。(4)系统外围电路整合设计。运用分层思路实现外围电路系统总体设计,对不同模块完成软硬件设计,并以光纤触发光源频闪为例介绍外围电路工作流程。(5)动态条烟抓取系统设计与开发。以Visual Studio为开发平台,结合Windows的MFC功能与消息映射机制,对系统进行基于对话框的设计。分模块实现上位机与机器人控制器串口通信、相机SDK开发功能,同时增加异常处理机制,最终完成条烟分类检测与定位抓取系统的设计与开发。
[Abstract]:In this paper, aiming at the problem of limited adaptability of teaching robot to environment in the present industrial production process, this paper puts forward adding vision sensor to install "eyes and brain" for robot, combining with the research and application status of robot visual servo control.In this paper, a visual servo robot grabs a cigarette on a continuous moving conveyer belt as the research object, and realizes the classification recognition and location grabbing of the strip smoke.In order to achieve this goal, the following research is mainly carried out: 1) the overall scheme design of dynamic cigarette grab system.To meet the requirements of the project, determine the overall system workflow.According to the requirement of precision and the ratio of product performance to price, the software and hardware involved in the scheme were selected, and the experimental platform was built.In order to obtain the exact position of cigarette on the image, the cigarette image is preprocessed, edge detection and tracking, template creation, template searching and so on.The classification method based on support vector machine (SVM) is used to realize the accurate classification of stripes. (3) the system calibration and grabbing based on Halcon are studied.Camera calibration, hand-eye calibration, and hand-eye calibration are carried out to achieve the unification of coordinate system.The path path planning is carried out at the end of the manipulator, and the grab position of the smoke on the moving conveyor belt is calculated, and the integrated design of the peripheral circuit of the system is realized.The overall design of peripheral circuit system is realized by using delamination, and the hardware and software of different modules are designed. The design and development of dynamic cigarette grab system are introduced with the example of fiber trigger light source stroboscopic.Taking Visual Studio as the development platform, combining the MFC function of Windows and message mapping mechanism, the system is designed based on dialog box.The module realizes the serial communication between the upper computer and the robot controller, the SDK development function of the camera, and the exception handling mechanism. Finally, the design and development of the smoke classification detection and location grab system are completed.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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