Research On Visual Recognition And Trajectory Planning Of The Path Of Stone Compound Cutting Robot

This article is based on the KUKA KR210 six-degree-of-freedom robot arm,designing a stone compound cutting robot system with dual functions of sawing and waterjet cutting,and describes the working principle of the entire system.The vision system of the compound cutting robot is designed in detail,such as the design of the light source system and the design of the optical system.Then use Zhang's plane calibration method and camera calibration toolbox in Matlab software to calibrate the camera.Based on the camera's internal parameter matrix,radial distortion coefficient and tangential distortion coefficient,the camera can collect more accurate slate image information.When the slate image information collected by the computer is first processed,the image is grayed out,and then the boundary of the slate image is accurately extracted using Canny's algorithm,and the number of pixels of the slate boundary that meets the requirements is calculated using the cyclic program statistical method.Finally,according to the pixel size and the slate,the ratio of the actual physical size is calculated to obtain the actual physical size of the slate.And the purpose of measuring the size of the slate waste is to cut the smaller slate pattern.The method of combining color moments and color histograms can be used to extract the proportion of the three color components R,G,and B in the RGB color space in the entire slate image,that is,the color characteristics of the slate.The method of gray difference statistics and autocorrelation function was used to extract the texture features of slate image.According to the color and texture characteristics of the slate,the type of slate can be determined.The link motion parameters of the robot are determined by the standard D-H parameter method,and a KUKA KR210 six-degree-of-freedom robot link coordinate system is established.Then the forward kinematics and inverse kinematics of the robot are analyzed and solved in detail.Based on the robot 3D model established by Matlab's Robotics Toolbox,the trajectory planning and simulation of the robot were performed in joint space coordinate system and Cartesian space coordinate system.Through simulation,the stability of the joints during the movement of the robot,such as the changes in joint space trajectory,joint angular velocity and joint angular acceleration,were analyzed.In the end of this paper,based on the establishment of a compound cutting robot machine library,the composite cutting path of the slate is planned in detail and simulation experiments and optimization are performed.Then,the corresponding standardized composite cutting program is developed for the slate samples using Sprut CAM software.After the slate type is detected,the corresponding standardized program can be called for rapid compound cutting.Through the above research work,the stone composite cutting robot system designed in this paper can measure the two-dimensional size of slate and the two-dimensional size range of slate waste,accurately identify the type of slate,and then quickly call the cutting program to plan the cutting method.And sequence,complete the composite cutting of slate.The stone composite cutting robot system studied in this paper can complete a variety of posture transformations in three-dimensional space,which can meet the extremely complex free cutting and accurate composite cutting processing of stone mosaic patterns.This has been greatly improved in the field of stone cutting and processing and the level of technology,which has improved the output and quality of stone cutting.The stone cutting robot system can quickly change the cutting method,replace different saw blades or adjust different water pressure and different sand flow to provide a variety of cutting performance,which can be applied to a variety of cutting processing requirements and environments,which can improve labor Productivity is also very important to protect the safety of workers.Adding a visual recognition detection system can measure the size of the slate and identify the type of slate,and can also maximize the utilization rate of the broken slate.It has great value for the standardization and mass production of the slate cutting and mosaic industry.