Vision Positioning And Control System Based On Industrial Robot

Industrial robot is a mechatronics equipment for industrial applications,which is an important part of advanced equipment manufacturing.In recent years,the application of robots is increasingly widespread and the market is expanding rapidly,which brings a good and sustainable development opportunity to China's industrial robot industry,which leads to the gradual transformation of the production mode from the original human intelligence to the robot manufacturing mode.But now,industrial robots mainly teaching and the programming method was adopted to realize the automation,this way need the movement parameter is given in advance,in the operation of the program cannot be modified,this means that for each production task you need to write the corresponding program,and the position of each task in the workpiece must be consistent.Obviously,this approach is not flexible enough to meet the needs of modern robots.In view of such problems,the work content of this paper is as follows:(1)A target three-dimensional coordinate positioning method is proposed.Kinect V2 camera was used to collect images.After image binarization,median filtering,contour extraction and other operations,the center point of blocks placed on the working platform was positioned.The corresponding relation between the depth image and the color image coordinate is solved to obtain the depth information corresponding to the color pixel coordinate value.Zhang Zhengyou calibration method was used to calibrate the internal and external parameters of the camera,and the pixel coordinates of the target center point in the image were transformed into the robot coordinates of the industrial robot.By using the depth information of multiple points on the top surface of the building blocks and the depth information of the working platform,the distance between the point and the fitting plane is calculated to obtain the height of the building blocks,and then the coordinate of the center point on the top surface of the building blocks is obtained.(2)A visual positioning and control system based on industrial robots is designed and implemented.A PC is used as the upper computer to obtain the coordinates of the center point of the top surface of the building blocks in the robot coordinate system through the positioning method,and the control of the robot is realized by transmitting data through the TCP communication with the robot.The system has interactive control function,the user can specify the layout plan of the building blocks in the virtual control interface,and the robot will stack the building blocks according to the user's plan.(3)Several groups of experiments were set to test the positioning and grasping effect of the positioning method proposed in this paper on the building blocks in different positions and attitudes,and the accuracy of the positioning method was verified.The system is run and tested,and the correctness of the system is verified.