Research On Vision Measurement System Of Sampling Robot Based On Embedded System

Dimension measurement is an important method to obtain dimension data,and is also an important technical means of object location.The traditional dimension measurement method is manual measurement,which is time-consuming and laborious,and the precision is not high.With the development of technology,the accuracy and efficiency of manual measurement has not been adapted to the industrial automation,especially the large scale can not directly contact with the measurement of goods,manual measurement is not convenient.In this paper,the machine vision measurement technology is used to test the size of coal freight train,which brings a more simple and effective target recognition system and method.First of all,through the research of laser ranging and machine vision,a new method is proposed,which is different from structured light and binocular size measurement by combining laser range sensor and visual sensor.It is simple and effective to realize the visual measurement.Then through the study of the performance parameters of the hardware,the paper chose the SENSOR model MT9M001 camera,Seiko digital optical lens,the ZDSP02 model of the United Kingdom is also the group of laser phase ranging sensor.With Philips company,LED cast light lamps as lighting and other hardware,and the embedded system as a processing center,build a machine vision measurement system hardware platform.In this paper,the Linux embedded operating system and Qt development environment are transplanted,and the machine vision is used to process the OpenCV function library.The development and design of Linux serial communication is also presented.Then the image processing algorithm of the measurement system is studiedand designed,and the image filtering algorithm is analyzed.Through laser ranging,sensor ranging and monocular vision sensors,the edge is detected accurately.The laser ranging sensor realizes the rapid ranging and location of the sampling target car,and calculates the relative position relationship between the sampling manipulator and the target vehicle.The laser spot is extracted by the vision sensor,and the center position of the spot is recognized.The vision measurement system accurately identifies the size and location of the car,which provides the basis for the automatic sampling of the coal sampling manipulator.The experimental data are obtained by the experimental verification of the measurement system,and the reasons for the error of the measurement results are analyzed.Finally,the research results show that the non-contact dimension measurement method of machine vision can achieve satisfactory results,and also meet the requirements of high accuracy and high efficiency of product size measurement in industrial production.