Research On Robot Path Recognition And Tracking Based On Machine Vision

At present, the robot in the industrial production is mainly carried out by the way of manual teaching. When the working environment changes, it is required to teach again, automatic control can not be achieved. Therefore, study on the robot tracking technology based on machine vision can improve the automation degree of the robot.Based on “xinshida” SD500 robot, this paper studies on path recognition and tracking technology of the robot based on machine vision. Firstly, the framework of robot path recognition and tracking system based on machine vision is designed, and the experimental platform is set up, the path image of the workpiece is captured by using HALCON image processing operator, then the collected image is fastly transmitted to the compute, a series of algorithm processing is used in the collected image through MATLAB image processing toolbox, including open window analysis, white balance processing, median filtering, edge detection, area filtering, image thinning, workpiece path edge point extraction and fitting, etc. The position of the center line of the workpiece path is determined and the coordinates of each point in the center line are calculated. Then, the calibration of the camera and the robot coordinate system is carried out, the network port communication between the computer and the robot controller is realized through the EtherCAT network port, and writing the robot path tracking program. Finally, the results of image processing are transmitted to the robot controller, and the feasibility of path recognition and tracking of the robot based on machine vision is verified by the experiments.Through the study on this topic, it has laid a foundation for the study on automatic welding tracking of the robot. Because the experiment is still in the exploratory stage, the accuracy and stability of path recognition and tracking still needs further research and improvement.