Development Of Robot System Based On Machine Vision

The emergence of robot control technology has changed the pattern of industry,especially the manufacturing industry.In the industrial production process,machine vision has become a particularly important technology for ensuring production efficiency and production quality.The vision-based robot control technology is characterized by automation,intelligence,and information.In view of the danger that industrial robots still need manual operation in harsh environments,the paper has conducted in-depth research on image processing and recognition and robot control technology,developed a robot control system based on machine vision,and realized human-robot collaborative movement and its Gesture control,the main research content is as follows:A binocular vision acquisition system was constructed.Zhang Zhengyou calibration method is used to calibrate the binocular cameras separately,eliminating the distortion of the human hand images;the coordinate of the coordinates of the human hand in the image is converted into the common Cartesian coordinates by the conversion relationship between the four-dimensional coordinates of the image;Image pre-processing methods such as dilation,erosion,and Gaussian de-noising remove most of the useless image information and obtain large-probability information of suspected human hands;algorithms such as watershed algorithm,eight-direction seed algorithm,template matching,region filtering,and stereo matching are implemented.Human hand information extraction and identification.Based on the classical DH method,a parallel link robot model was established and the kinematics forward and inverse kinematics solutions were derived.At the same time,a robot control system based on real-time industrial Ethernet EtherCAT and open software platform CODESYS was constructed,and the control software design was completed..The use of Ethernet(shared memory)establishes the data exchange between the vision acquisition system and the robot controller,which realizes the coordinated movement of the robot and the human hand and the gesture control of the robot.The test shows that the extraction accuracy of manpower is high,real-time performance is strong,and the consistency of man-machine collaboration is high,meeting the requirements of industrial applications.