Study On Engine Tile Feeding And Detection System

The industrial robot has been widely used in advanced manufacturing and production with its high precision and high flexibility. However mainstream applications or in a stationary environment complete handling work, the realization of the identified sites crawl or placing the workpiece, unable to obtain environmental information, for open work environment more and more need intelligent robot percept the environment. With the rapid development of machine vision technology, the machine vision technology is applied to the industry, to improve the environmental awareness of industrial robots, and make it more intelligent to solve practical problems. Visual information for the input, to achieve the positioning of the workpiece and intelligent detection, and ultimately guide the robot to complete the intelligent grab.This paper according to the automobile engine factory tile feeding installation process, based on the machine vision with industrial robot as the research object,combined with a study of the machine vision and motion control technology, from the application point of view, a comprehensive analysis of the visually guided the working principle of the system, the base to try to teach industrial robots to crawl fixed with the perception of environment, to realize the detection and location of the target state of a workpiece, workpiece accurately grasping and installation is completed. The full text of the work is as follows:Firstly puts forward to the enterprise automation retrofit scheme of research,analysis of the engine tile feeding robot to achieve the function, this is based on the design the system overall scheme. According to the requirement of system function,the mechanical structure and electrical structure of the robot were studied in detail,and the hardware selection of the platform was completed, including the selection of key components such as industrial robot, light source and camera. For the opening scene of the lighting environment, programming second polish on the special position of the workpiece are two shots, and designs an effective polishing mechanism, to grasp the workpiece and a tray of demand, design the stability of the composite type of end actuator mechanism.Secondly, according to the mathematical model of the camera, this paper expounds the camera calibration principle and the calibration principle of the industrial robot workpiece coordinate system, and completes the whole calibration work of the robot. Analyzing the film image of the workpiece, GDOH descriptionbased on combination of operator and the traditional sift matching algorithm were introduced, and a detailed study based on geometric features of the template matching algorithm, proposed an improved speed of the matching strategy of geometric feature matching algorithm to locate the workpiece eventually programming matching algorithm. The experimental results demonstrate the effectiveness of the algorithm in the positioning of the workpiece.Then the tiles placed state of online detection, detection and analysis of requirements, according to the prior knowledge of the tile proposed a using tile ink lines and circular hole center distance to detect tile placement and abnormal algorithm.Firstly, the principle of the algorithm is analyzed, and the problem is converted to the detection and location of the circular hole and ink line. A simple and fast algorithm for ink line detection is studied, and a fast and robust circle location algorithm is proposed, and the feasibility of the online detection algorithm is verified by experiments.At last, the system is tested and the operation parameters are satisfied.Programming to achieve the robot to grab the program, the completion of the visual system of the host computer software.Is described in detail in this paper the system vision localization and detection of related technology and application, and complete the feeding installation system work flow and finally every module with visual guide industrial robot material as the center and cooperates to complete the automobile engine tile feeding installation.