Research On Collaborative Robot Car Wash Technology Based On Machine Vision

With the high-speed economic development and society progress,car parc shows a noticeable increase which leads rapid development and promotion of the Car Wash Industry.But the traditional Car Wash Industry still can cause some problems,such as the waste of water resources and high labor cost caused by the high-intensive and time-consuming work.Therefore,to increase the car washing effective,innovate the intelligent technology and then realize the artificial intelligence car washing systems,scientists focus on the research of car washing robot system relying on the machine vision.The article use the industrial camera to collect the vehicles’ outline photographs,then the photos will be transferred to Personal Computer(PC)for picture processing.there are three steps can be used to realize the purposes.Firstly,by the establishment of the relationship between different coordinate system,the localization of the relationship between vehicle and car washing robots would be determined.After that,people can obtain features of two-dimensional image based on Scale-Invariant Feature Transform(SIFT),then match and filter the features to get sparse point clouds of the vehicles.In addition,the sparse point clouds would experience noise reduction,removal of irrelevant points,fillings and other operation by the Reverse engineering technique.After the few steps,the three dimensional(3D)curved model of a vehicles would be achieved.As for the workstation of car washing robots,the stability of the robots is the precondition of the car washing task.The report will mark the parameter based on the D-H parameter method and verify the validity of the robot modeling according to the simulation modeling and forward and inverse kinematics solution of robots.Moreover,after five times polynomial interpolation trajectory planning and five times B-spline curve against motion,the mutation occurring in the process would be optimized.After that,three successive smooth curves will be obtained,including Joint Angle Curve,Joint Angular Velocity Curve,Joint Angular Acceleration Curve,which effectively reduced the mechanical shock and vibration in the process of robot collaboration.By using the Solid Works to model the robot workstation and transfer the workstation model to Delmia for the trajectory simulation to establish the connection between different motion mechanism.In addition,by imitating the car washing process under the real situation,the possible impact points would be checked and the Motion track program would be get eventually.For enhancing and improving the work efficiency and automation degree of car washing robot station,the strategies would be constructed by the introduction of the relationship of information’s transformation between the different parts of robot workstation system.Specifically,the Siemens 840 DSL numerical control system would be introduced in the report and secondary develop the control system to create the operating interface of the car washing robot workstation.In conclusion,the report mainly focuses on the car washing technologies which includes Machine vision technology,modeling and simulation technology,offline programming technology and system secondary development technology.The author designs a reasonable car washing robot system.While ensuring the stability of robot’s working,by the real-time control of the system,also ensure the stable washing process can obey the Customized car wash process,which might beneficial for the development of intelligent car washing systems.