Development Of An ETH System For Accurate Stalloy Stacking Of The Electricity Transformer

With the widely application of Eye-to-hand system combined with computer vision and robot in automatic industrial manufacturing lines, both product qualities and labor conditions have been improved. However, in the production process of the electricity transformer nowadays, the stacking of the stalloy are basically finished by hand, which leaves room for improvement at its precision and efficiency. Therefore, this paper studies the application of ETH system for the accurate stacking of transformer stalloy.Consisting of manipulator, camera, two computers and other hardware equipment, this system is developed under the Windows VC++ programming environment. The system is divided into three subsystems: visual inspection system, control system of the manipulator and communication module.In the visual inspection system, the main method involved is to complete the camera calibration by means of some algorithms of image processing and computer vision. And we should find the relations between the camera coordinate and the mechanical coordinate. With the camera’s real-time detection of transformer stalloy’s location, visual inspection system computes the edges of stalloy by using Canny algorithm after the image has been preprocessed, and works out the offset data of the stalloy’s location, and then, stores the information for the control system of the manipulator. The control system of the manipulator disposes the data getting from communication port by applying its data processing module. It calculates the location and the orientation of the to-be-grabbed stalloy in Cartesian coordinate, and transfers the array of the spatial data to the matrix of pose. Based on the kinematics analysis of the robots and the path planning algorithm, the path of robot is planned, and the dynamic link library functions interface of the rock-bottom are invoked to the functions of the motion controller to stacking stalloy. The communication module is responsible for the data interaction between visual inspection system and control system of the manipulator.This system is the preliminary stage of producing electricity transformer. It’s creative points include:technical innovation in precision detection and recognition technology of stalloy’s edge image, accurate control of manipulator moving and positioning. By using those technologies, the requirement of quick accurate stacking can be realized. The final aim is to guarantee the stalloy to be stacked in vertical-align while the random placed stalloy is moved to the standard location in the camera vision.