Design And Implementation Of Hand-eye Feeding System Of Automobile Air Conditioner Wheel

In recent years,with the continuous development of computer vision,vision is introduced into the robot feeding system to identify and locate the feeding objects,which can improve the degree of automation of the system and the flexibility of robot operation.Combined with the actual project development requirements,this dissertation USES the vision guided robot feeding technology to solve the problem of automotive air conditioning hub feeding.In automotive air conditioning wheels,this dissertation developed a set of car wheel hub hand-eye feeding system,the system using monocular vision method,the image coordinates of feature points through hand-eye calibration of the system parameters is converted to the coordinates of the robot base coordinate system,using computer to realize the robot system and communication of visual guide system,online guide robot motion to the corresponding position,and through the end of the actuator to complete fetching and placement of automobile air conditioning hub,increases the up-down material of the flexible robot and fetching ability,reduce downtime,improve production efficiency and economic benefits.The main contents of this dissertation are as follows:Firstly,the requirements of hand-eye feeding system were analyzed and the design of hand-eye feeding system was completed.According to the physical environment of automotive air conditioning wheel hub feeding,the selection of robot,camera,lens,light source and other devices,the design of lighting system,mechanical actuator and air path system,and the design of hand-eye feeding hardware system are completed.Secondly,the visual guidance scheme of eye on hand was studied.Model of automobile wheel hub hand-eye feeding system,studies the monocular vision orientation system of the robot coordinate transformation method,the camera calibration algorithm,hand-eye calibration algorithm,the wheel hub parts image preprocessing method,target recognition and positioning method and so on,to form the hub parts by coordinate transformation image coordinate system to the robot base frame coordinates of the whole algorithm.Thirdly,the control flow of hand-eye feeding system is designed,and the software system of hand-eye feeding is developed,including image processing module,robot control module,feeding operation module and system setting module.Finally,the system test was carried out,the positioning accuracy experiment and the hub feeding experiment were completed,and the feasibility and stability of the hand-eye feeding system were verified,indicating that the hand-eye feeding system met the design requirements.