Research And Design On Robot Vision System

With the rapid development of Computer Science, Image Process, Pattern Recognition, people are paying more and more attention on the robot vision's research and application which has resulted in excellent results in many fields, In this paper, we study and design a set of robot bi-eye vision system using robot PUMA 560 and its control system in National Laboratory of Industry Control Technology, This system include two parts: (1) CCD calibration of vision system, (2) function realization by programming the software of vision system .In the first chapter, we introduce briefly the computer vision, robot vision, and describe the key technologies of the robot vision system . Some calibration methods are recommend in the second chapter . On the basis of these methods, an easy method for camera calibration and correction are studied by the mathematical model of camera on the basis of projective theory, In the third chapter, we introduce the hardware design and software design of vision system . The software has the functions including collecting and digitalizing image, detecting edge, matching dot and 3-D reconstruction . At the end of this chapter, each function is demonstrated . In the fourth chapter, we sum up the previous work and view the future research work.