Research On Vision Inspection Technology Of Handling Robot

With the arrival of Made in China 2025,the robot industry has developed rapidly,and robots have been widely used in various important links in the national economy,such as express delivery,catering,banking,medical treatment,and so on.The application of industrial robots in the field of automated production is also becoming more and more extensive,which can realize the workflow of glue coating process,palletizing process,sorting process,assembly process and so on.With the continuous development of computer industry technology,vision technology and image processing technology have made a qualitative leap.The combination of vision-based image processing technology and industrial robots is becoming closer and closer.The vision system and the handling robot system can be combined to make the industrial robot vision system.It has been widely used in industrial production.In the past,the robot handling system was relatively mechanized when processing products,and the production efficiency was low.The products could not be identified,resulting in the inability to reject defective products in the production process.Forming a robot hand-eye system to identify product defects by closely integrating the robot handling system and the vision system,improve industrial production efficiency,and bring huge benefits to enterprises and society.The research work of this article is as follows:1.The application of CHL-DS-01 visual intelligent sorting workstation.In this workstation,ABB industrial robot is combined with OMRON vision system.Through its structural design,a mathematical model between the coordinate system of the handling robot,CCD camera and material is established,and the application space based on the geometric principle,the conversion matrix between the robot and the object is derived;using the object coordinate system as the intermediate conversion matrix,the conversion relationship between the robot and the camera coordinate system is obtained.2.Kinematic analysis of the robot,establishing the coordinate system of connecting rod based on D-H principle,and the forward kinematics solution of the robot is deduced based on this.The OTSU algorithm is used to improve the adaptive threshold of the Canny edge detection algorithm to solve the effect of the external light on the edge processing quality;the Hough transform algorithm is used to obtain the pose parameters of the object in the image,and the Hu moment algorithm is used to obtain the object's coordinate parameters.3.The CHL-DS-01 visual intelligent sorting workstation is used as the experimental object to simulate the sorting and installation process of 3C industry chip.The parallel data connection is used to communicate between the ABB industrial robot and the OMRON vision system.Industrial robots are used to pick up and transport chips,and CCD vision detection device is used to classify the chips.Finally,the intelligent sorting and assembly of single PCB is completed.