| With the development of robot technology,the application of robot in industry is an inevitable choice to improve production efficiency.Vision technology is one of the main means to help robot to enhance the ability to perceive environment and intelligence of application.The application of vision function software is very important to increase automation in robot operation.Combined with the requirements of vision functions of typical robot operation,the development and application of vision software for robot operation are studied systematically in this dissertation.According to whether vision system and robot controller interact,typical robot operation can be divided into non-interactive operation and interactive operation.Taking inspection operation as a typical example of non-interactive operation and combined with the requirements of the operation,vision functions of inspection operation are developed based on OpenCV.Taking handling and assembly operation as a typical example of interactive operation and combined with the requirements of the operation,the vision software based on OpenCV and Qt is designed and developed.Via the realization of vision functions of inspection operation and the development and application of vision software,the intelligence of typical robot operations is improved effectively.Firstly,the current research statuses of the application and development of robot vision and machine vision software at home and abroad are summarized.The requirements of vision functions of typical robot operations are analysised.The robot vision system structure is proposed.The selection of camera and lens is explained.The design scheme of software is discussed.Secondly,combined with the requirments of vision functions,the principle and design of basic vision algorithms of vision software are discussed.The camera model is analysised.Camera calibration and “eye-in-hand” calibration are discussed.Algorithms of template matching,classification and plane measurement are presented.Thirdly,the principles of state detection of typical power equipments are analysised.The realization procedure of vision functions of inspection operation is discussed in detail.Forthly,the architecture and design of vision software are described in detail.The design and implementation process of modules of management,image processing,functional packages,results transformation and communication are discussed.Finally,fuctions of vision software are tested.Combined with handling and assembly operation by robot,the feasibility and effectiveness of the design of vision software are verified. |
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