Three-axis Mechanical Device Control Based On Visual Servoing

The wide application of automation technology in the manufacturing industry has improved the quality of products,improved the working conditions,and reduced the waste of raw materials and energy.The three axis mechanical device plays an important role.The traditional three-axis mechanical device can only work repeatedly according to planned motion model,which is particularly inconvenient for small batch of multi-species processing methods.In order to make the three-axis mechanical device more adaptable to different environments,the motion control based on visual servoing has become a hot research topic in recent years.In this paper,aiming at the visual inspection of assembly line of electronic consumer products,this paper analyzes the problems existing in the three-axis mechanical device on the market,and designs the motion control scheme of the three-axis mechanical device based on visual servoing.The main contents of this paper include three modules: the overall design of the motion control scheme of the three axis mechanical device,visual positioning and motion control.In the overall design of the motion control scheme of the three axis mechanical device modules,the three axis mechanical device adopts the frame design scheme of Longmen frame,and uses the motion control mode.At the same time,a camera is positioned at the top of the mechanical device,which is used for locating the target to be detected,and the other camera is installed on the Z axis for visual scanning and visual feedback.Through the two cameras,we can realize the precise positioning and scanning recognition of the detection target.In the visual positioning module,the coordinates of the target to be detected in the coordinate system of the moving mechanism are obtained according to the image information.Firstly,the vision system is calibrated,and obtained the transformation relation between the image coordinate system and the moving mechanism coordinate system.Coordinate in the acquisition of the target to be detected in the image,the first to use ORB(oriented FAST and rotated BRIEF)matching algorithm positioning in the global image coordinates of the template image and the rotation angle,and then according to the template image teaching and gain a point to be detected between the relative coordinates calculated coordinates of each point in the global image in.In the motion control module,this paper firstly introduces the configuration of the motion control card and the motor driver,and then introduces the motor speed setting and the motion pulse calculation.Then,the automatic focusing technique based on hill-climbing method and path planning based on genetic algorithm are introduced.Finally,according to the coordinates of the object to be detected in the field of view of the camera as a visual feedback,the motion mechanism is adjusted to ensure that the target to be detected is in the view of the camera.Due to the need to obtain a priori information about the template image and the relative coordinates between the image and the point to be detected,the teaching software is designed.The experimental results show that the three axis mechanical device,which is based on visual servoing can realize the precise positioning of the target with different heights and multi points.