Study On Key Technologies Of Billet Robot Marking And Recognition System

Since the 21 st century,machine vision and industrial robot technology have developed rapidly,and the practical application of combining the technical characteristics of the two has become a new development trend.In the field of steel production,steel companies have become more and more stringent in their production information supervision and systems are becoming more and more perfect.In the production process,steel products need to be sprayed with identification information codes for production process supervision.At the same time,the final information label needs to be affixed to the finished steel products.Compared with traditional manual identification of steel information codes and manual labeling,intelligent devices based on machine vision and industrial robots have advantages in terms of efficiency,accuracy,and safety.This article is based on the steel company's identity certification of the single bar product in circulation and the final production labeling of the end-of-line bar product.The working conditions of the steel bar finishing production line and the characteristics of the end face of the bar products is analyzed.And a bar identity authentication information code with horizontal double marks and three digit characters is designed;in order to improve the efficiency and accuracy of visual recognition of information codes,the double-marker points are used to realize the correction of a single rotation of the information codes;a character recognition method combining the number of gray-level co-occurrence matrices of binary image gray combination GLCM(0,1)and the area matrix of connected region of character region was proposed and verified to improve the recognition accuracy of bar information codes under complex conditions of finishing lines;For the labeling of the end face of the bar,the D-H parameter method was first used to establish a coordinate system consistent with the robot manufacturer,and the calculation of the forward and inverse solutions of the robot kinematics was completed to achieve unity with the internal data of the robot;In view of the situation that multiple sets of solutions exist in the inverse kinematics solution,four inverse solution selection rules were formulated to facilitate the robot's motion control;In the case of singular areas,the robot will have discontinuous motion,poor tracking performance,reduced motion stability,and increased impact problems,the differential transformation method is used to solve the Jacobian matrix of the robot.Based on the relationship between the Jacobian matrix and the singularity,the singular constraint equation of the robot is solved,and the singularity and singular region avoidance strategies of the robot motion are formulated using the singularity equation.According to the engineering practice of single-bar identity authentication and end-face labeling of the final product,this article designs a single-bar identity authentication information code,which improves the correction speed and accuracy of the image processing of the information code.A character recognition method applied to the production lines of steel enterprises was proposed and verified.The forward and inverse solutions of the UR5 robot were analyzed.The inverse solution selection rules were formulated,and the singularity avoidance trajectory planning of the robot was realized.The technical foundation laid by the productization of the system.