Design And Development Of Industrial Robot Loading And Unloading System Based On Machine Vision

At present,the loading and unloading industrial robots working in the industrial field are generally controlled by teaching and planning all the movements of the robot.However,such control is strictly limited by the position and posture of the robot grasping the target object,which cannot meet the needs of flexible and intelligent work in the current industry.With the development of computer,image processing and other technologies,machine vision technology is more and more applied to guide industrial robots to complete various flexible tasks,which greatly increases the autonomy and flexibility of industrial robots.It is one of the key technologies of visual robot system that how to identify and locate industrial robots and how to control industrial robots based on visual feedback.According to the actual needs of the project,this paper designed and built a set of industrial robot loading and unloading system based on machine vision.Its main contents are as follows:(1)By analyzing the key requirements of the system,the composition and technical route of the loading and unloading vision robot system are determined,and the overall design of the robot system is completed.(2)The imaging model of the camera is established,and the internal reference calibration of the camera and the hand-eye calibration of the hand-eye system are completed.Based on the D-H parameter method,the forward and inverse kinematics models of the HSR-JR620 L robot were established,and the pose calculated by the kinematics model was compared with the actual pose of the robot,and the correctness of the deduced kinematics model was verified.(3)The application effects of different image processing and recognition algorithms are analyzed and compared.Some algorithms are improved,and the recognition and positioning of system workpiece and fixture are completed.(4)completed the system hardware and software development,set up the system hardware platform according to the requirements of industrial field,and combined with c #complete the software development of the system with Halcon,finally is set up on the system test,the design of the visual servo control method by testing the build system can meet the scraping of the workpiece and the up-down material mission requirements.