Research On The Positioning Fetching Based On Binocular Visual Of The Manipulator

The level of industrial development in a country not only plays an important role in the national economy, it is also an important symbol to measure a country's comprehensive national strength and the level of science and technology development.With continuous expansion of industrial development and the application of the robot, the robot plays an important role in the industrial development, it is an essential part of intelligent manufacturing. However, traditional robot has been unable to meet the modern factory for the industrial production needing of more higher requirements, people hope that the robot has more higher intelligence and more stronger environment adaptability in the industrial production, in order to meet these requirements, the robot vision system with application technology is an important part of the robot. A robot with vision is an important expression of intelligent robot, in order to ensure the quality and the efficiency of the production, machine vision technology has become an important technology in the modern industrial manufacture, it is also a hot research topic for scientific workers at home and abroad. In this paper, an in-depth research and experimental design of the positioning fetching system on binocular visual of the manipulator is carried out.Firstly, this paper briefly introduced the research status and significance of binocular vision robot, and a detailed description of the classification of robot vision system is given,also analysis some problems existing in the research and application of robot vision system. Then, the mechanical structure and the spatial coordinate transformation and the basis of kinematics of industrial robot are briefly described. The optical geometric imaging model of camera is deduced in detail, including single eye structure model and binocular structure model, and two kinds of distortion models are presented.Secondly, this paper is based on the pinhole imaging principle of monocular camera imaging model, respectively, there are two monocular camera calibration methods based on Open CV and Halcon carried out. and find out the internal and external parameters of the camera, further, the calibration results were compared and evaluated between the two methods. Then, according to the structure model of binocular vision camera, thecalibration method and system realization of binocular vision system are given, and the structure parameters of binocular vision system are obtained. These calibration systems have very high accuracy and enable meet the requirements of industrial applications, they are good solutions to the practical problems of theoretical application.Finally, the hand-eye configuration structure model of the manipulator is elaborated,and the global hand-eye calibration of the manipulator system being studied, moreover,the system implementation is given. Then, the experiment and system design of positioning fetching system of the binocular hand eye robot are carried out. Experimental results show that the binocular visual positioning fetching system of the manipulator has the advantages of fast positioning, high precision, flexibility and has a strong applicability to the environment, what's more,the system has good practicability to meet the requirements of most industrial scene.