Research On The Application Of Workpiece Positioning Vision System In Coordinate Robot System

In recent years, with the rapid development of robot industry, China has become the largest market of robot in the whole world. As the key development industry in the 13 th Five-Year national plan, the importance of robot industry is crystal clear. Continuously supported by the programs of science and technology, the technical R & D and manufacture of robot industry in our country have a certain basis. We independently developed industrial robots, such as arc-welding robot, spot welding robot, palletizing robot, assembling robot, transferring robot, injection molding robot, pressing robot, spraying robot and so on. Among them, the coordinate robot takes up a mass of low-end processing and manufacturing market with the advantages of simple structure, low cost, speedy operation, short delivery cycle and being suitable for mass production in the process of palletizing, assembling and transferring.With the improvement of production efficiency and automation, machine vision system is introduced to robot industry. Its characteristic is to improve the flexibility and automation of production. In some dangerous working places which are unfit for manual operation or some occasions where artificial vision is difficult to meet requirement, artificial vision is often replaced by machine vision. Machine vision is easy to realize the integration of information, and it is the basic technology in realizing the computer integrated manufacture.This study firstly analyzes the structural features of coordinate robot, and then chooses cylindrical coordinate robot as experimental subject to ensure the hardware requirement, overall function and component of its control system and vision system. Secondly, this study makes a systematic research on image processing method. Combined with actual situation of workpiece, it makes a comparison among different algorithms and then chooses an appropriate image processing algorithm. Thirdly, it studies the key technologies of workpiece localization, such as feature extraction and central point extraction, and then put forwards an algorithm of central point extraction in polygon which can improve the precision of feature extraction. By using Visual Studio software and Open CV, this study finishes the development of vision localization software. Lastly, based on the above analysis, this study writes the control software of coordinate robot, finishes the experiment of workpiece localization, verifies the function of its system, analyzes measured data and finds out the error causes.