Construction And Visual Recognition Of Automatic Wire Listing Robot System

At present,most steel mills still use manual listing operations for wire listing.This kind of mechanical repetitive work is no longer applicable in the current era of industrial intelligence,and needs to be upgraded.Due to the problems of high staff turnover,frequent replacement and low work efficiency,this paper,based on Yaskawa robot,claw,PLC control cabinet,line laser profiler,camera and other hardware equipment and electrical control system,builds a wire automatic listing robot system based on 3D visual guidance,aiming at realizing automatic listing operation.The functional requirements of the listed robot system were analyzed,the overall scheme of the system was designed,the modular scheme was adopted for hardware selection,and the overall layout was considered to build the whole machine system.According to the principle of "high cohesion and low coupling",the software architecture is designed,the functional modules of the software system are sorted out,and the communication scheme between the hardware and the listing control process is determined.The positioning system of the listed robot was determined,including hand-eye calibration and tool coordinate system calibration.The conversion relationship between the line laser profiler and the end of the robot was determined based on the calibration ball method,and hand-eye calibration software was designed to assist the calculation.The transformation matrix between the end tool and the robot end is determined according to the XYZ-four-point method and ABC-world coordinate system method.The wire data acquisition environment was built,the acquisition method of the 3D vision system was determined,the original point cloud data of the wire was preprocessed,and the regional growth segmentation algorithm was used to complete the segmentation of the wire and the bundled wire.Based on the bundle position,an algorithm of the region of interest location based on dimensionality reduction is proposed to determine the area of wire hanging.A method of "four cuts" is proposed to obtain the key three-dimensional area by cutting the big data.According to the geometric characteristics of the bundle line,the positioning of the three-dimensional coordinate of the listing is completed.A 2D target detection algorithm is used to identify the sign position and determine the listing position.The software interface of the automatic listing system is designed,and the whole machine test is carried out in the field to verify the reliability and practicability of the automatic listing system of wire rods.The results show that the wire automatic listing robot system has a good effect,and its listing accuracy reaches more than 97%,which meets the expected index.