| Spray paint robots are widely used in today's factories.Compared to manual methods,they are not affected by harmful gases,and have high utilization of spray materials,and can be sprayed repeatedly.The teaching of painting robots is now generally implemented through teaching reproduction methods and off-line programming.The teaching of reproduction methods is performed by teaching robots one point at a time to complete the teaching of the trajectory,and the procedure is cumbersome;Off-line programming requires higher knowledge of the operator and the crowd is limited.In order to solve the above problems in the teaching process,this article designed a teaching system based on binocular vision,and quickly taught painting robots.The main research content of this paper is as follows:First,the binocular vision quick teaching system is set up,and binocular industrial cameras,infrared light sources and marking point balls are selected for platform construction.The binocular camera image acquisition,camera stereo calibration,and stereo correction are completed to facilitate the subsequent image processing.Secondly,the images collected by the binocular cameras are processed by image processing to identify the marked points,and then denoised by the filtering of the images.Threshold segmentation of the images is performed by using the method of gray-scale fluctuation transformation.After that,contour-based feature extraction is performed on the image.The ellipse fitting method is used to identify the marker point and determine the position of the marker point.The three-dimensional measurement of the marker point is performed by means of stereo matching and the attitude calculation is performed according to the three marker points.Target tracking based on Bayesian target tracking method was used and we compare the advantages and disadvantages of Kalman filter and particle filter in target tracking.Finally,a software platform for the quick teaching system of binocular vision was set up to implement camera calibration,three-dimensional information display of markers,display of binocular camera images,and display function of teaching trajectory.The experiment validates the applicability of the binocular vision rapid teaching system. |
