Research On Laser Cutting Robot Path Guidance Method Based On Binocular CCD 3D Scanning Imaging

In order to meet the needs of intelligent manufacturing development,industrial robots are widely used in intelligent manufacturing processes such as cutting,assembly,painting,and palletizing.The intelligent control level of robots plays a key role in the intelligent development of manufacturing.Based on the hand-eye coordination control theory of industrial robots,the three-dimensional surface space of the industrial robot tool coordinate system is theoretically and experimentally studied by the self-designed high-precision binocular laser three-dimensional imaging industrial robot visual servo guidance system.Continuous motion track control.Firstly,based on the theory of robotic hand-eye coordination control,this thesis designs an overall scheme for robot cutting path guidance for robot laser cutting technology.In order to ensure the accuracy of visual inspection,a binocular CCD laser three-dimensional scanning imaging system was designed and developed for visual servo closed-loop information feedback.The binocular laser three-dimensional scanning system is used to provide accurate three-dimensional information for the laser cutting robot,which is the follow-up robot.Continuous motion control provides support.Secondly,the spatial point cloud extraction based on image sharpness evaluation is studied.Aiming at the influence of environmental factors on the definition of visual imaging in the field of industrial laser cutting,this thesis selects the Tenengrad image sharpness evaluation function.In this application research background,the CCD image sharpness adaptive control method is designed to obtain the dynamic environment.The best laser stripe image.Because the width of laser stripe is an important factor affecting the accurate extraction of visual imaging and spatial point cloud,in order to improve the accuracy of system measurement,this thesis extracts the center of laser stripe and compares and analyzes the different laser stripe center extraction algorithms.The adaptive gray center of gravity algorithm extracts the center of the laser stripe.The algorithm can adapt to the changes of the specific environment,the extracted laser stripe has good smoothness,the system measurement accuracy is high,and the point-to-point guidance of the three-dimensional space is verified on the Dobot robot.Finally,a laser cutting robot path guidance system for binocular CCD three-dimensional scanning imaging is constructed,and the software and hardware designof the system is completed.In the VS2013 environment combined with Opencv library and MATLAB to achieve PC graphics software design and inverse kinematics solution,combined with the laboratory 6R industrial robot platform to achieve processing trajectory simulation and experimental platform testing.The experimental results show that the system can accurately extract the three-dimensional information of the target workpiece and guide the robot to complete the cutting task.