Research On Industrial Robot Crawling System Based On Machine Vision

Now science and technology has a rapid development,robotics,automatic control and intelligent technology continues to develop mature,the popularity of industrial robots not only liberate the labor force,but also speed up the production speed and improve the quality of production.But there are some work can not be achieved only by simple industrial robots,in order to further realize the factory's automated production,machine vision is quickly integrated into industrial production.This paper studies the crawling system of vision-based industrial robots based on machine vision and industrial robots,.Firstly,introducing the research status of industrial robot technology,machine vision technology and industrial robot intelligent crawling,and expounding the research significance and background of this topic.There are two control targets according to the requirements of the project in the whole visual crawling system including target object location and robot control,selecting the hardware of monocular visual crawling system,determine the overall program of the crawl system.based on monocular visionSecondly,realizing the object shape recognition,positioning and object extraction.Identify round objects by using Hough circle transformations,and using Hough-chain code to identify rectangular and triangular objects.The final shape and position information of the target object are obtained by position with the center of mass of the object,and extract the target object according to the position of the object center of mass,.Thirdly,composing the rectangular coordinate system robot based on Delta AH500 series PLC and three servo systems.designing the hardware circuit and control cabinet,analysis crawling process and design software operation program.Finally,designing the host computer user interface,in order to verify the correctness of the image processing algorithm and the robot control method proposed in this paper,we first select the three images obtained by the camera to perform the static crawling experiment.Then,in order to prove that the feasibility and accuracy of the system based on visual industrial robot,this paper selects six images obtained from the camera after the operation of the transmission line and carry out the dynamic experiment,obtaining a good experimental results.