Design Of Visual Inspection System Based On Complex Surfaces Of Robotic Arms

With the introduction of industry 4.0,modern industrial intelligent manufacturing has developed rapidly.Machine vision technology is a new technology rapidly developed in the smart manufacturing industry in recent years.Because of its non-contact,high-precision detection and strong anti-interference ability,it is widely used in the direction of visual guide positioning,appearance recognition,defect detection,etc..Manual work such as transport,palletizing,spraying,welding,etc.,can be replaced by industrial robots,which are highly repeatable and labor-intensive.They can replace manual work in hazardous,dangerous,hightemperature,etc.applications and are widely used in industrial automation.Due to the complex structure of the vehicle hub,in order to solve the problems of low efficiency,low detection speed and large workload of the current hub detection,this paper based on the FANUC robot to carry out the visual inspection system design of the vehicle hub surface.By combining the vision system and the robot system,the industrial camera,lens,and light source are mounted on the end effector of the robot,and the position and orientation of the robot are changed through visual positioning and guidance to realize the detection requirements for various postures,thereby realizing.Multi-standard,complex product testing applications of the hub.In order to solve the problem of degrading imaging quality caused by accumulated positioning errors caused by repeated measurements,the valve of the hub is found as the initial position of the detection by preprocessing the image of the hub,and the position and orientation of the robot are adjusted accordingly,and then performing subsequent process of detection.Firstly,this article analyzes the test requirements of the research object,according to the relevant technical indicators,completed the selection of the camera,lens,light source,combined with industrial robots and PLC and other peripheral equipment to build the system.Secondly,the overall scheme of the system design and the design of the wheel visual inspection scheme are described.Once again,to solve the problem of positioning accumulated error when the robot repeats motion detection for many times,a method for initial position correction of the robot arm based on position detection of the hub valve is given.Segmented the hub valve by performing median filtering,noise reduction,threshold segmentation,and morphological processing on the image,and using the geometric moment invariant features of the image to solve the center-of-mass coordinates of the hub valve,which is calculated using the equivalent ellipse method.The orientation of the center of mass of the hub is taken as the initial point of detection.The detected position data is sent to the robot,and the robot compares and offsets the offset according to the predetermined position data.Finally,according to the pre-defined program to detect.The stability of the position during the multiple detection movements of the robot under the initial position correction method is compared,when the measured hub is in a stationary state.The experiment shows that the method for correcting the initial position of the robot arm given in this paper can effectively eliminate the robot system's own repeat positioning error.