| In recent years, many air conditioner manufacturers want to implement the automation of air conditioning production.Improve the automation level of air conditioning production,not only can improve the efficiency of the air conditioning production, also can greatly reduce the labor intensity and improve the quality of products,thus reducing the production cost of enterprises.But, in the way of realizing the full automatic at producting the air conditioning, there is a big obstacle which is the assembly problem of air conditioning compressor and backplane.Due to the irregular shape and the heavier weight of air conditioning compressor, air conditioning backplane positioning difficult, the general assembly of the compressor and the bottom is done by manual.In order to solve the automatic assembly problem of the air conditioning compressor and the bottom, for the first time,this paper applied the visual orientation method at the automatic assembly of air conditioning.This paper designed a robot visual recognition system which use industrial robots,visual positioning and software recognition method implements completed the automatic assembly of the air conditioning compressor and the bottom.This system is mainly developed in Microsoft Visual Studio2010platform, using Visual Basic as a development language and using the Visionscape Visual development software of Microscan companies as a development software. Visionscape visual development software has more extensive application in industrial vision research, is mainly used in automobile assembly line of’ automated visual inspection and parts back, tag identification in the process of production of industrial products, industrial products in the production of product defect recognition, etc.This paper introduced design principle and process of robot visual recognition system in detail,also explained the key problems and techniques involved in the system.The main work has the following several aspects. (1) Robot visual recognition system of the overall layout design.This part mainly discussed the system construction, system working process and the selection of main hardware,also completed the construction of the robot visual recognition system and selected the appropriate hardware.(2) The calibration of the camera.The basic principle and method of camera calibration is studied in this paper.This article introduces the transformation of the relationship between all kinds of coordinate system in camera calibration, also puts forward the suitable camera calibration method and principle in this system. Through the application of Visonscape visual software and calibration software, this paper completed the camera calibration work and got the relevant camera calibration file.(3) The design of the system software.This paper discussed the system software which is the heart part of the visual recognition system. According to analysis robot operation, this paper completed the robot trajectory planning and the design of the robot running program.This article focuses on the identification method of the compressor and the baseplate,also designed the identification program of the compressor and baseplate,through the application of Visionscape visual software.With the application of identification algorithm and Visionscape visual software for secondary development,this article completed the position matching program of the compressor and the baseplate.After described the secondary development function of the robot, this paper completed the robot and computer communications procedures(4) System running test. The running of the system test are introduced. System was introduced in detail in the actual operation process, system function realization of specific process. Positioning error was tested in the process of system operation. Get the actual positioning error value of the system. |
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