Design And Implementation Of A Robot System Based On Computer Vision

Due to insufficient blasting in the mine,the rock is loosened.In order to prevent the falling of the rock from endangering the life and safety of the mine staff,professionals are required to perform risk relief work.Aiming at the complex internal geological conditions of the mine,manual risk removal is time-consuming and laborious and there are certain potential safety hazards.In this paper,a machine vision robot is designed to replace manual risk removal work,which solves the labor cost and the safety of mine workers,and promotes the automation and intelligence of mine risk removal.The main research work of this paper is as follows:(1)This article makes an overall design plan for the machine vision risk-removing robot system,which detects crack images in real time through machine vision technology,obtains relevant image information,and realizes robot movement and riskremoval through human-computer interaction.The risk-removing robot system designed in this paper is divided into two parts: target extraction and analysis and robot movement.The target extraction and analysis part is mainly completed by the image acquisition and processing equipment to complete the mine rock crack detection and parameter calculation.The robot movement part is composed of the power module,the DC motor drive module,and the network communication module to complete the robot's forward,backward,steering and telescopic steering of the manipulator.(2)In the part of target extraction and analysis,this article uses adaptive median filter algorithm and linear gray scale transformation algorithm to suppress the noise and enhance the crack target in the acquired image according to the characteristics of a large amount of noise in the acquired image and low target background contrast.Aiming at the complicated surface background of the rock cracks in the mine,the combination of particle swarm and OTSU algorithm solves the problem that the target background is difficult to segment.In view of factors such as uneven lighting and elimination of isolated points in segmented images,the problem of cracks appearing breakpoints,the template matching idea is used to extract the single pixel skeleton of the cracks to find the breakpoints;combined with the expansion algorithm to grow and reconstruct the complete cracks at the crack breakpoints,And calculate the parameters of the complete crack.(3)In the robot movement part,the robot is designed with a combination of hardware and software according to the principle of modular design.Combining the functional requirements of the robot system and working background,determine the hardware selection of the risk-removing robot system and the design and installation of each submodule,analyze the PLC hardware control plan,and develop the I/O allocation table to draw the electrical diagram.Design the host computer interface of the risk-removing robot operating system and the programming of the program to realize human-computer interaction.Finally,the system is tested and optimized.