| With the continuous deepening of Made-in-China 2025,Chinese steel industry is bound to usher in rapid development,and machine substitution has become the trend of the times.However,at present,the traditional round steel end face painting work in most Chinese steel companies is carried out by hand,which it is not only leads to high labor costs,but also the environmental pollution of people is very serious,various coating preparations The spray is flying all over the sky,which leads to people's physical condition getting worse and worse,which is prone to poisoning and other phenomena in such a working environment for a long time.Therefore,there is an urgent need in the steel industry for a robotic device that can replace the manual task of automatic painting of round steel end faces.Among them,the machine vision image processing technology is used to complete the image acquisition of the round steel end face and identify and locate it,and the center coordinates of the end face of the round steel are obtained in real time,thus preparing for the automatic painting of the robot.In view of this,this paper focuses on the round steel end face identification and positioning technology of round steel end face painting robot and the automatic spraying system technology of round steel end face painting robot.This paper mainly studies three aspects: the image recognition of the round steel end face,the center positioning of the round steel end face and the automatic spraying system of the round steel end face painting robot.Its main work and innovative research include:1)Based on the working principle of round steel end spraying,the recognition subsystem of round steel end spraying is emphatically designed,and the working principle,hardware selection and system construction of the system are thoroughly studied;2)Using the imaging principle of industrial camera,a set of methods to meet the image recognition of round steel end face is proposed.Through the image preprocessing algorithm research and the algorithm research on the shape recognition of round steel end face,the pixel coordinate positioning of the center point of circular steel end face is finally achieved;3)Converting the pixel coordinates of the center point of the round steel end face to the world coordinates by the camera calibration method of Delaunay splitting triangle interpolation value;4)The calibration error is corrected by the laser tracker;5)Through searching the material,investigating and researching other spraying equipments,and a suitable pipeline system for Robot Spraying of round steel end surface is designed;6)Design and develop the automatic spraying test system of round steel end painting robot,and carry out the automatic spraying test of round steel end surface,and the reliability and feasibility of the research content in this paper are verified from the paint effect of the round steel end face.In this paper,the image recognition and the center location algorithm of the round steel end surface are proposed,which can accurately identify the image of the round steel end surface and get the coordinates of the center point of the round steel.Thus,the position information of the spray paint is provided for the automatic spray painting of the round steel end surface robot,and the spray paint system can provide real-time paint.The experiment shows that the automatic spraying system of the round steel end face painting robot can meet the requirements of the end face painting of the round steel,and provides the theoretical basis and technical method support for the automation of the round steel end face painting operation and the reduction of the labor intensity of the workers. |
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