Design And Research Based On Machine Vision For Industrial Robot

People obtain outside information80%by visual， visual access toinformation is a strong powerful and effective way, so that the industrial robotvision is people dream for many years. The appearance of computer vision, therobot has a vision has become possible. The robot vision uses the principle ofmachine vision for rapid image processing from the image information, andfeedbacks information within a short period of time, so that the computer canquickly given control signal. Robot with vision not only enables it to make theappropriate adjustments for changes in the external environment, but alsoimproves the flexibility and adaptability of the robot, which enhances the robot’sability to adapt to changes in the external environment.This topic increases a visual system on the basis of three coordinate robotin independent laboratory study,to make it become a industrial robot with vision.Through study the industrial robot vision system, industrial robots achieve thefunction of positioning operation. This work is as follows:（1）Studies robot vision system and camera calibration. Through theanalysis of the location of the camera, the number of cameras and control modeobtains the structure of the robot vision system. Then analyzes thePAP-MVC810A0Z camera and MV-200image acquisition card performancecharacteristics. Depicts the relative relationship between the three types ofcoordinate system and obtains a conversion formula between the imagecoordinate system with the world coordinate system. Obtains through theanalysis of the linear and nonlinear models of a single camera binocular cameracalibration method.（2）Studies the three-coordinate robot control system. By analysis of theworking environment and the robot’s mechanical structure of robots, obtainssome of the technical parameters of the robot. Through the analysis of the robotcontrol system, obtains the open-loop control of robotic systems PC+Euro205X motion controller. PC works as a host computer, Euro205X as the next machine.（3）Research on image processing process. Introduces several methods ofimage processing, image pretreatment, image grayscale processing, image noisereduction, image enhancement and edge detection. Re-image features, utilizingMATLAB programming extracts the characteristics of a circle.（4）Study of visual algorithm. Through the analysis of the principle ofparallax, put forward a new visual algorithm, and experiments to determine thevisual correctness of the algorithm. Thus we can calculate the value of thethree-dimensional coordinates of the point in space relative to the robotactuators.（5）Program design. Introduce the Trio program design. Through thecalculation of three-dimensional coordinates of the object, then programmes tocontrol the robot to complete the clamping operation on the object.This design research not only greatly increases the scope of application ofindustrial robots, but also adds intelligent and adaptability of industrial robots.This can lay the foundation for other operations of the robot...