Automatic Changing Rock Drill System Based On Machine Vision

With the development of robotics,manual operations in traditional industries have gradually begun to use robots instead.In addition,due to the use of machine vision technology in the robot,the robot can successfully detect external information,and then achieve its motion planning through the positioning of the target object.This paper proposes an automatic changing rock drill machine based on machine vision.It mainly studies camera calibration technology,image preprocessing and image location detection technology.The research content of this paper is divided into the following four parts.The first part studied the camera calibration technology in the automatic changing rock dril machine.This part analyzes the coordinate transformation during the specific imaging process of the drill rod and borehole,and in the analysis process,several major camera calibration techniques are introduced in detail.Among them,Zhang Zhengyou’s calibration method was introduced and analyzed.Finally,by using this method,the camera’s internal and external parameters were successfully solved.The second part studies the image processing technology in the automatic changing rock drill system.Since the target image is collected in a blast furnace ironmaking environment and contains a lot of noise information,it is necessary to perform denoising.In this paper,the median filter is used to process the salt and pepper noise in the image,then Gaussian filter is used to process the Gaussian noise.The two filter processing effect map can achieve a higher signal to noise ratio.After the denoising is completed,the maximum class-like variance method is used to enhance the image processing to facilitate edge detection of the target image.Through the comparison and analysis of several kinds of edge detection operators,the Canny edge algorithm is finally used for image edge detection.The third part deals with the autonomous walking of the automatic changing rock drill machine.This problem can be transformed into the problem of identifying and tracking lane lines.In this paper,morphological processing,edge detection and other operations are performed in the road image preprocessing stage,so that noise and interference factors in the image are filtered to preserve the edge information of the image.After that,the lane line is identified and tracked.During the recognition process,the line segment in the road image is firstly judged,the road boundary point is extracted by the modified Hough transform segment,and the lane line model is matched by the hyperbola model to complete the recognition of the lane line.At the same time,in this process,the extended Kalman filter is used to predict and track the lane line,the recognition of the previous frame image is used to predict the position of the lane line in the next frame of the image,and the position of the lane line is tracked,thereby realizing the autonomy of the changing rock drill machine self-walking.The fourth part deals with the precise positioning of the drill rods and boreholes in the process of changing the brazing process.In this paper,machine vision technology is used to achieve accurate positioning of target objects by performing automatic threshold segmentation of target images,denoising and de-interfering,region segmentation,and conditional screening based on the segmented regions.After obtaining the position coordinates of the target in the image,the image position information is converted into the position information in the coordinate system of the brazing machine by the camera calibration technology,and the motion control module controls the robot arm according to the coordinate information,thereby realizing the unloading and loading of the robot and other operations.In this paper,an automatic changing rock drill based on machine vision technology is proposed,which integrates the self-propelled walking of the car and the robot’s automatic brazing.The research contents mainly include image acquisition and processing,system calibration,data transmission,and industrial robot control.This system will completely replace artificial brazing,improve the automation degree of the furnace operation,free the furnace workers from high-risk and high-intensity labor,further improve the efficiency of the iron opening machine,and have strong practicality and promotion value.