Research And Development Of Control System For Equipment Handling Manipulator Based On Machine Vision

With the deepening of industrial intelligent manufactur ing,handling robots have been used in modern industrial production more and more increasingly.In metal wire production enterprises,the research on automatic production of I-wheels handling process for coiling metal wire has been carried out step by step.However,in the actual production,the handling of the winding type wheel has the current situation that the general handling robot is mainly unable to grasp due to insufficient stroke,load,positioning accuracy and mainly relies on manual handling,whi ch causes the labor cost of the enterprise to rise and the production efficiency to decrease.In order to improve the automation and intellectualization of I-wheels handling in the production process and improve the production effectively.Through machine vision technology and PLC control mode,this paper studied the manipulator control system of I-wheels automatic handling equipment based on machine vision.The main contents were as follows:(1)We studied the overall system of the I-wheel handling.The handling process of I-wheels was analyzed.According to the design requirements of I-wheels handling manipulator,a truss-type handling manipulator structure was designed,and the force of the end-effector was analyzed to verify its feasibility.In the part of visual system design,the main hardware of the image acquisition device was selected.At the same time,the core controller was selected in the PLC control system,and the software design of visual system and PLC control system was introduced.According to the requirement of AGV operation accuracy,the design of AGV controller for delivery container was theoretically explored,and the numerical simulation of trajectory tracking was carried out.(2)We studied the recognition and localization of the I-wheel target in visual system.Through the analysis of the camera imaging model,the camera calibration was carried out,and the coordinate transformation relationship of the manipulator in the process of grasping the target I-wheel was obtained by combining the hand-eye relationship.The processing method of the I-wheel image was determined by actual comparison,and the ideal I-wheel contour image was obtained by morphological reprocessing.By comparing and analyzing Hu moment method,an algorithm based on line feature points extraction and optimal line fitting was proposed to locate the center point of the actual contour of the I-wheel image.The real coordinate of the I-wheel was determined by coordinate transformation.(3)We studied the motion control syst em of I-wheels handling manipulator.The genetic algorithm was used to plan the path of the manipulator for I-wheels handling,and determined the handling order of the I-wheels.By analyzing the control requirements of the system,the action flow of the ma nipulator for I-wheels handling was determined,and we designed the hardware circuit.At the same time,the sequence control method was used to design the PLC control program.Through the analysis of the functions of the upper computer,the man-machine interface was designed by modularization method,which realized the visual operation of the control system.In system communication,we used OPC communication technology to complete data transmission between PC and PLC.At the same time,the overall test of the control system verified the feasibility of the system.