R&D Of Vision Control System For A High Speed Packaging Robot

This thesis is about the research and development work of a vision control system, which is the National 863 Program"a High Speed Packaging Robot System". In this thesis, the hardware platform and the software flow of the control system have been designed and some key technical problems have been solved. The whole control system is composed of vision module and motion control module. The vision module is based on"CCD Camera + Image Acquisition Card", the motion control module is based on"Motion controller + Servo Driver + Servo Motor"and the software is based on LabView. The main research contents and contributions made by this thesis are summarized as follows:Analyzing the functional requirements of the vision control system about the High Speed Packaging Robot, developing the hardware platform and planning the overall arrangement of the system. In addition, select the model of the key parts through calculation according to the capability of the system and design the interface of the system.Design the image processing flow and the recognition track process of the moving objects. The accurate position of every object can be obtained from the image through the flow, which concludes image pretreatment, image segmentation and image after treatment. A decision-making algorithm of avoid multi-objects repeat recognition has been proposed in the recognition track process of the moving objects.Design the software structure of the control system and write the program code. It is convenient to update and maintain the control software due to the modularity of the system. Some key technical problems in the software have been solved, so the flexibility and reliability of the control system are improved. These key technical problems include adjust the velocity of the conveyer belt, calculate the pick position of the object, optimize the sorting route and the implementation process of the software.Build the experimental platform and set the key parameters of the vision control system through experiments. It is proved that the chosen scheme of this subject is feasible. The experiment provides the basis for improving the whole control system.