Development Of An Autonomous Wall Polishing Robot Based On 3D Vision

With the continuous evolution of 2D vision to 3D vision technology,3D vision inspection has gradually become a more professional industry.At the same time,3D vision has extended many application scenarios through cooperation with various industries.Based on the idea of combining 3D vision and robots,this thesis proposes an application scenario of a high-precision autonomous wall polishing robot.Compared with traditional manual wall polishing,robot polishing has higher precision and is more environmentally friendly to labor.It frees up workers' labor and reduces company production costs.In this thesis,based on 3D vision and robots as the research object,relevant analysis and research are carried out on the positioning and polishing of the raised position of the wall,the design of the control system,and the planning of the robot's movement path.At the same time,the entire wall polishing system is completed.The design and implementation of.The main research contents are as follows:1)First,after introducing the principle of the 3D line laser sensor,the acquisition of wall height data is completed.By preprocessing the wall height data,the impact of environmental noise on the wall data is reduced,and finally by using RANSAC The method of plane fitting and area segmentation locates the pixel coordinates of the raised position of the wall to prepare for the next wall polishing of the robot.2)In the wall polishing system,a control system is designed to control the vision module and the polishing module.In the control system,PLC is used as the control core to realize the manual/automatic control,speed control and up and down movement control of the 3D line laser sensor in the vision module;at the same time,in the polishing module,through the design of the polishing tool,a design is designed.A polishing head that meets the requirements of wall polishing accuracy.Finally,the polishing module realizes the opening and closing control of the polishing end and the control of the pressure between the wall and the polishing head during the polishing process.3)Through the analysis of the robot's forward and inverse kinematics,the rationality of its motion trajectory is verified,and the eye-to-hand calibration method is combined to establish the relationship between the pixel coordinates of the 3D line laser sensor and the robot's basic coordinate system.The corresponding relationship finally realized the application scenario of a 1mm high-precision autonomous wall surface polishing robot,which verified the feasibility of autonomous wall surface polishing.