Research Of Embedded Image Processing Platform In Robot Fast Stacking System

Rotary air preheater is one of the core equipment of large-scale thermal power unit.Aiming at the automatic assembly and production of heat storage elements of rotary air preheater,this paper designs a fully automatic production that integrates machine vision inspection and robot stacking and framing.The system improves the automation level of the production process,significantly reduces the labor intensity of the on-site operators,applies a flexible image detection algorithm,and can adapt to heat storage plates of different specifications and sizes.The main research work of this paper includes:1.Aiming at the on-site environment of the thermal storage element production line,this paper proposes a dynamic grasping scheme based on machine vision,selecting the monocular acquisition system,image processing platform,HIWIN robot grasping system,and truss robot framing system to realize the hardware The construction of the platform.2.Aiming at the detection problem of the position information and attitude information of the heat storage plates of different sizes,this paper studies two algorithms,the improved Hough transform detection algorithm and the smallest bounding rectangle detection algorithm.Based on the shape characteristics of the rectangle,the recognition and detection of the heat storage plate are realized..In this paper,a good human-computer interaction function is realized by designing a graphical interface,which achieves the purpose of flexible detection of heat storage plates of different sizes,and lays the foundation for subsequent robot grasping.3.Aiming at the conversion of different coordinate systems in the vision-guided HIWIN robot system,this paper studies the correction schemes of the camera coordinate system,the conveyor coordinate system and the robot tool coordinate system,and realizes the overall grasping system coordinate system through system modeling.The pose calculation achieves the purpose of collaboration between the vision system and the HIWIN robot system.4.Aiming at the problem of dynamic grabbing of the heat storage plate,this paper proposes a solution combining external trigger and encoder real-time feedback.The robot control box uses the number of pulses feedback from the encoder to count the advancement of the conveyor belt,records the position changes at the moment of taking pictures and grabbing to realize the dynamic positioning of the heat storage plate,and carries out trajectory planning by correcting the trapezoidal acceleration curve to realize the improvement of the heat storage plate.Dynamic crawling.After the performance test,the absolute error and relative error are Ew=0.13cm,Ec=0.24%,which have reached the accuracy requirements of position and speed,and satisfy the time requirements.