The Research Of Vision Servo And Control Mode On Frame-steel-transmitting Robot

Frame-steel-transmitting plays an important role in frame-steel bending machine, wedding machine and cutting machine, which are in the industry centers around steel structure manufacture such as ship-building, bridge-building, architecture. At present, most of the industry centers where transmitting frame-steel is accomplished by the cooperation of workers and hoists. There exist some problems such as hard sledding and wasting time, random and blindness, etc., so the traditional technique causes electricity energy's wasting and low efficiency of hoists. Further more, workers are in danger because of frame-steel's falling. Consequently, using the superhuman abilities of a new transmitting robot, such as the superhuman reiteration character and the superhuman exactitude character of orientation, can bring great economy benefit and society effect.This paper puts forward a design to realize automatic transmit and feed-in robot for frame-steel bending machine, wedding machine and cutting machine. Further more, it describes computer vision servo and control method in detail.The researches of vision servo and control method are made up of several parts. In the part of the research of manipulator's orientation arithmetic, perspective transform and pickup camera's mode, coordinate affixation mode of frame-steel's central line, manipulator's orientation, and identifying method of frame-steel's central line are discussed in detail. In the next part, aiming at the characters of frame-steel image, the method of median filter is introduced. In the third part, according to the gap of the hue value, the method of detecting frame-steel image brim based on differential calculus and Canny arithmetic operators is introduced in detail. In the fourth, by the design principle of the main structure, the dynamics mode of manipulator is built and the best control mode is designed.