The Mnipulatoer And Printing Overprint Research On Dynamic And Static Orientation

"Orientation",in broad terms,is to determine the process of acertaining the position of the object in a particular environment relative to a reference object.This topic based on the manipulator automatic handling paper tube and printing overprint marker detecting visual location,researched a kind of visual positioning based on image processing methods.Manipulator's dynamic detection and location,since the detection process is vulnerable to light, the impact of a complex background, so I painted the different colors' round line on the paper tube and axial ports respectively, this article uses red and blue color, based on RGB color space, color segmentation can improve detection accuracy, if the colors same with the paper tube and the axis appear in the detection background, to set restrictions on the color range of the paper tube and shaft, to distinguish between the background color. After detection accuracy was raised, using the least-squares algorithm to fit the round processing, paper tube and shaft come to the pixel coordinates of the center, so the pixel distance can be calculated between the paper tube and shaft in the image coordinate system. Through this visual positioning method used in this paper, analysing the collecting data results, when the apart between the paper tube and the shaft in the space changes, according to the collected pixels numbers, this paper can accurately predict the apart between the paper tube and the shaft,and the horizontal difference distance,to complete manipulator's automated visual orientation.Printing overprint markers' static positioning,the key is the segmentation detection accuracy and the extraction range of the overprint marker,then using the least-squares algorithm to fit straight line for deviation calculation's data results,at last, using visual positioning analysis,when the apart between the CMOS and the overprint mark is a certain distance,then the overprint mark's deviation data are quantitative analyzed by printing mechanical control mechanism,to regulate the location of printing forme roller and achieve the overlay orientation.This paper focuses on the methods of target detection and visual poisitioning,this mainly used in image-based visual positioning applications.And with the manipulator and printing overprint for the application background,and with monocular vision for the experimental platform, the establishment of CMOS-based video acquisition and feature detection system,including CMOS image sensors, data acquisition system and the host computer video display and processing software,putting forward vision orientation method based on image pixel to solve the manipulator and printing overlay's automatic positioning,experimental results verify that the positioning method is feasible.In the paper's last,the conclusions and results obtained have been summarized and summary,proposing the directions for further studies of this topic.