Research And Implementation Of Vision Guidance System For Industrial Robot

With the continuous progress of the current economy,the manufacturing industry appears the trend of multi-form,high intelligence and rapid development.In the face of such huge industry pressure,in order to adapt to the fierce market competition,companies need to first consider labor costs,production safety,manufacturing efficiency and other issues.Therefore,the demand for intelligent equipment in the manufacturing industry will be huge.Intelligent manufacturing can effectively increase production efficiency,protect workers' lives and improve production quality.At present,the combination of machine vision technology and industrial robot control system can greatly improve the intelligence and work efficiency of industrial robots,which has become a research hotspot in the current intelligent manufacturing industry.The main content of this research is based on the ABB industrial robot as a platform,through communication with industrial cameras,so that the robot can complete the identification,positioning,grasping and other functions of the target workpiece,so as to achieve the construction of the visual guidance platform.The main research contents of this thesis can be summarized as follows:Firstly,the development status of the industrial robot vision guidance platform is elaborated,and the application of the current vision guidance system in different occasions is analyzed in detail.According to its working principle,the "Eye-to-Hand" and "Eye-in-Hand" designs are designed.This kind of guidance mode discusses the detailed calibration method of the workpiece by the vision guidance system,and summarizes the calibration process of the camera to the two guidance modes.Aiming at the need for the vision guidance system to be able to quickly and accurately identify the workpiece,the experimental comparison of different image recognition algorithms is carried out,and the image processing algorithm flow most suitable for this system is concluded.Considering the accuracy and real-time performance of the visual guidance system,the algorithm efficiency is improved as much as possible while ensuring the accuracy,including filtering preprocessing,edge detection,and feature extraction of the image of the robot working area and the workpiece image,which can be effectively carried out in the end Coordinate conversion to meet the requirements of the system quickly and accurately.Design and select the overall hardware configuration of the vision guidance system,design the processing flow of the communication software,and build a vision guidance system platform composed of ABB-IRB6700 six-axis industrial robot and COGNEX industrial camera,worktable,mobile robot and preset workpiece.The platform of visual guidance system composed of the workpiece.By using Visual Studio to write host computer software in the Windows environment of the PC,the remote control system,image processing program,video monitoring program and human-computer interaction interface are realized.The experimental results verify the correctness and feasibility of the industrial robot vision guidance system designed by this institute.