Design And Research Of Dynamic Target Grabbing System For Visual Servo Robot

Aimed at the problem that the teach-repeat model robot is of limited capacity for adapting to the environment at the present stage of industrial production,the paper puts out vision sensors which can function as the eye and brain of robot.Combining with the research and application of robot visual servo control,it takes the visual servo robot for grabbing the cigarettes on the continuously moving belt as research project,accomplishing cigarettes classification,identification and grasping.Therefore,the following research were carried out:Firstly,design of the overall scheme of dynamic strip cigarette grasping system.According to project requirements and product cost performance,it determined the overall workflow of the system,and also,selected the software and hardware devices involved in the project.At the terminal of chapter,the experimental platform was build.Secondly,research on cigarette identification and localization.The precise position of cigarette in the image could be achieved through image processing of cigarette,including preprocessing,edge detection and tracking,creating and finding the template and so on.To classify the cigarettes,it come up with a method on account of support vector machine.The third is research on system calibration and grasping based on Halcon.With camera calibration,hand eye calibration and renovation conducted,the coordinate systems was unified for cigarette grabbing precisely.Besides of these,it is necessary to calculate the grabbing position of cigarettes on the moving belt and path trajectory planning of manipulator end for precisely grabbing.Fourthly,integrated design of the peripheral circuit of the system.Based on layered design idea,the chapter was to complete the peripheral circuit design with the software and hardware design of several modules.It introduced the workflow of the peripheral circuit,taking optical fiber trigger stroboscopic light source as the example.Lastly,software design of dynamic cigarette grabbing system.Combined with MFC's Windows function and message mapping mechanism,it designed the system dialog box with Visual Studio as the development platform,implementing the serial communication between PC and robot controller,the development of SDK camera,and the exception handling mechanism.The ultimate was to complete the design and development of cigarette classification detection and positioning system.