Research On Pose Measurement Technology Of Robot Processing System Based On Binocular Vision

There are more and more applications of robotic processing systems in various industrial productions.Most robotic processing systems usually run locally stored processing programs to process workpieces.When the pose of the workpiece to be processed changes from the preset pose,this method of task reproduction cannot accurately complete the processing task.In this case,the robot needs to perform tool calibration to determine the position of the program origin in the robot coordinate system before running the locally stored processing program,and then run the processing program to achieve accurate processing.This requires the robot to have the ability to perceive the pose information of the workpiece to be processed.The development of machine vision measurement technology provides a new direction for the robot to perceive external information.Combining the advantages of high efficiency,high precision,stable and reliable measurement results,convenient information integration and low cost of machine vision measurement,this paper studies the pose measurement technology of the robot processing system based on binocular vision.The main work is as follows:Firstly,the background and significance of the research on the pose measurement technology of the robot processing system based on binocular vision and the current research status of the vision technology at home and abroad are described.The visual imaging model,camera calibration principle,binocular vision measurement principle,image processing related technology,feature extraction matching method and template matching method are studied,and a method to improve template matching efficiency is proposed.Secondly,a workpiece pose measurement system based on binocular vision is proposed,and the mathematical model of the system is established.There are two modes for measuring the pose of the workpiece in this pose measurement system.The first is by placing a non-isosceles right-angled triangle reference object on the workpiece to be processed,and the second is based on the circular feature information method on the workpiece to be processed.The calculation program of two modes of pose calculation is written by MATLAB language.Thirdly,the modular design builds a binocular vision robot processing tool setting experimental platform,which verifies the accuracy of the designed pose measurement system.The platform includes a workpiece pose measurement module based on binocular vision,a robot hand-eye calibration module and a robot processing tool setting module.Each module has been modularized design,and a human-computer interaction system was designed in conjunction with C# language.Finally,multiple sets of experiments were performed on the various modules and the whole of the built binocular vision robot processing tool setting experimental platform to verify the accuracy of the pose measurement system.The universality verification experiment was carried out for the pose measurement of the reference object method proposed in this paper,and the experiment of the pose measurement based on the circle feature information verified the effectiveness of the method.