Research On Flexible Grasp Key Technology Of Robot Based On Vision Guiding

Since the beginning of the 1960s,the research,development and application of Industrial robot have been concerned of the entrepreneurs and scientists.It have been widely used in chemical production,equipment installation,road construction,machinery manufacturing,mining and other fields. From the research status and developing trend in the future, more and more attention to the visual system that have been applied to the industrial robot,To improve the industrial robot production efficiency and reduce operation cost.Based on computer vision technology that is applied to the visual guide.After the image processing,to determine the location of the target object,to guide the direction of industrial robot to complete specific action. Therefore,the positioning accuracy of the vision system plays an important role in guiding effection.In this paper, the visual guiding industrial robots is based on automation workshop production line,machine robot unit is comstitute of robos and CNC.Considering aply the visual recognition system.The purpose of this study is through the vision guided robot intelligent grab mould parts,precise positioning of image processing in the image segmentation. The main contents includes the following aspects:First,the target Logo parts features was analyzed. In view of the shape of moderate size, mutation characteristic of boundary contour gradient, area and perimeter, was described. On the characteristics of the shape and quality of translation, the hand aligned for grap planning, determine the conversion relationship between robot and target position between.Second, for image processing. First,research on camera calibration method based on the traditional,combining with the system distortion factors proposed new calibration method.The two value segmentation, for the follow-up work to calculate the centroid and the angle. Because of the workpiece and the background of this experiment, the common threshold value of the two processing results are not very satisfied, so combined with the specific circumstances and to optimize the algorithm, using black and white 6 colors method.Finally, analysis for positioning the workpiece and solve the workpiece angle.Combined with the research results in this paper, through the robot production line of Guangdong a enterprise development,developedthe system on the original platform, and give further expectationabout robot production line intelligent prospects.