Vision Servo Control Based On Target Positioning

With the development of the society,the bathroom industry has become more and more demanding on the surface finish of the faucet tube.At present,most industries use manual polishing,which has the defects of poor polishing quality,low efficiency and high cost.At the same time,Polishing dust severely damages the health of workers,so there is an urgent need to use automated equipment instead of manual polishing.Unfortunately,there is no related pipe polishing equipment on the market.The main difficulty is that the curvature radius of the tube bend caused by the forming rebound is poorly consistent.In response to this problem,this paper uses the machine vision method and online programming to achieve the tube's feature.Finally achieved the design of automatic pipe polishing equipment.The main work of this paper is as follows:1.Designed a visual acquisition system.Based on the environment of the image acquisition of the bathroom tube polishing,combined with the overall mechanical structure design parameters,the visual acquisition system of tube has designed.Completed the visual acquisition system components selection,parameter calibration and platform set up,providing the basis for the robot servo visual servo polishing.2.Completed the tube visual identification.Using the vision acquisition system to collect the image of tube.Analyzing the image characteristics of tube,and the method of image segmentation,morphological processing,edge detection and other image processing methods are used to extract the information of tube centerline position.Then using the least square method and Bezier curve to fit the centerline.In addition,completed the preparation of the relevant procedures.3.Achieved tube high-finish polished based on visual servo control.Based on the information of tube centerline position and the related information of polishing equipment,the motion model of master and vice manipulator are established.With the model,counting the relevant kinematic parameters,guiding the primary and secondary manipulators to move synchronously in PVT mode,finally,complete the high-finish polishing successfully.The above research has been successfully applied to a variety of pipe polishing equipment in the actual production.