Research On Robot Welding Workpiece Positioningtechnology Based On Machine Vision

The precise positioning of the target is the key technology of machine vision in the industry.Visual positioning is to obtain coordinates from the workpiece appearing in the camera’s field of view,capture and image processing.The subject originates from the project "Intelligent Manufacturing and Production of Air Conditioning Floor Plates" of a company in Ganzhou,and researches the positioning of air conditioning floor plates in the context of the project.Through the acquisition and processing of images,as well as the communication with handling and welding robots,intelligent positioning welding is realized.First,the workpiece acquisition system is designed,hardware selection is completed according to the requirements,a vision platform is built,the camera calibration is completed,and the internal parameters and distortion parameters are obtained.Secondly,in the image preprocessing stage,common algorithms are analyzed.According to the gray distribution histogram,select Gamma Correction.Compared with the filtered PSNR,the guided filtering effect is good.Analyzing the classic edge detection,Canny can completely extract the edge,which is convenient for post-processing.Third,in the coarse positioning stage,an improved algorithm is proposed to solve the premature convergence phenomenon of GWO’s template matching algorithm.Comparing the two similarity measures,edge-based SSDA is 3 times faster than NCC,and edge-based SSDA is chosen as the fitness function.Comparing the improved algorithm with GWO and PSO,the results show that the improved algorithm can converge earlier and is not easy to be locally optimal,and the improvement of the algorithm is effective.Finally,the random Hough is analyzed in the fine positioning stage,and the results show that the accuracy of the center coordinates and radius meet the requirements.The sum of the average running time was calculated and the project requirements were met.This project has been successfully applied to the intelligent manufacturing and production of air-conditioning baseplates in a leading domestic appliance company.Figure 43;Table 11;Reference 55...