Research On Guidance Method Of Visual Job Of Machine Tool

In the robot operating environment perception system,the visual analysis can be more than 70%of the environmental characteristics.At present,by the visual inspection technology complexity,cost and applicability of the restrictions in the robot operating system applications are still in the exploration and trial stage.In view of the relatively simple working environment of the machine,the image analysis process is easy to implement and can be associated with the robot control system.In this paper,the guidance method of visual processing of machine tool is studied.The main contents and methods are as follows:(1)According to the process characteristics of the production and processing,the overall layout of the machine loading and unloading operations,and the operating environment visual field conditions,this paper carried out the image sensor position selection,light source configuration,and the end of the interconnection of technical issues such as research,The flexibility of the entire system,so that the entire system in the smallest work space to play the highest efficiency.(2)In order to determine the relationship between the robot operation and the image acquisition system,this paper uses the D-H parameter method,the model of the manipulator and the coordinate system in the image,and the inverse and the inverse of the manipulator are obtained.Change of position.(3)After calibrating the camera used in this system using the camera calibration method proposed by professor Zhang zhengyou,in order to reduce the effect of noise on the processing results,it is necessary to smooth the acquired image using the median filter and enhance the image Then,the edge feature of the image is obtained by using the automatic threshold detection method and the Canny algorithm.Then,the shape of the image is determined by the combination of the area and the feature of the corner and the combination of the Hough transform.Finally,the image is obtained by calculating the center of gravity the center of the location.(4)By using MATLAB software,the path of loading and unloading of the manipulator is fitted,and a path with high efficiency and high stability is obtained by analyzing and simulating.The simulation results are verified according to the simulation results of the acquired path.