The Control Of Visually Guided Robot Under Complex Scene

In the field of heavy industry in China, the development of the shipbuilding has been in a leading position in the world. It’s significant for not only Chinese military,but also for Chinese maritime power,so it is very significant for scientific and technological investment in the shipbuilding industry. The basic automation in shipbuilding equipments has been achieved in China, but only the hull plate automatic processing is still in manual processing. This makes us facing low efficiency and high rework rate. Only the efficient processing to achieve the overall ship hull plate manufacturing automation processing chain can be quickly implemented.So the key state science and technology projects set up this corpus of "Large ship three-dimensional structure forming and welding equipment",including the hull plate of automation equipment and processing prototype development.This article is based on the research of draft program to achieve the automatic processing of line heating plate. The industrial camera and the industrial robot are the core device in the overall plan.The camera is to realize the visual guide system to obtain the hull data of hot working. Then the laser rangefinder can be used to help controlling the robot’s motion as a vertical profile.It can be realized by the visual guide and vertical attitude to the coordinates of the robot controller that the basic automation welding. We can constantly corrected new flame position offset due to the angle of the steel plate heat deformation with the visual system. In the visual system the industrial camera calibration and distortion correction is mainly to obtain accurate information of images.Then we can get the flame logo location coordinates through edge detection for. ABB robot uses laser rangefinde adjusting for vertical posture Then we built the six axis robot research model to research attitude middle path which based on the attitude of the quaternion expression method and interpolation calculation for shaft configuration by the establishment of DH coordinates. By combining the above three main jobs, we can realize precise automatic processing of motion control system.