本文選題：機(jī)器視覺　切入點(diǎn)：視覺引導(dǎo)　出處：《昆明理工大學(xué)》2017年碩士論文

【摘要】：當(dāng)前制造業(yè)呈現(xiàn)出壁壘化、智能化、梯隊(duì)化、多極化的趨勢(shì),在競(jìng)爭(zhēng)激烈的大環(huán)境下,企業(yè)想在競(jìng)爭(zhēng)中生存并保持長(zhǎng)期發(fā)展,首先就要考慮生產(chǎn)制造成本、生產(chǎn)效率和產(chǎn)品質(zhì)量等問題,只有成本降低了、效率提高了、產(chǎn)品質(zhì)量高了,才能適應(yīng)競(jìng)爭(zhēng)激烈的市場(chǎng)。目前,隨著人工生產(chǎn)成本的逐漸增加,導(dǎo)致對(duì)自動(dòng)化的設(shè)備有很大的需求,自動(dòng)化制造可以有效降低生產(chǎn)周期、提高生產(chǎn)的質(zhì)量、并且可以取代復(fù)雜的和乏味的過程,減少勞動(dòng)力成本,提高生產(chǎn)效率。機(jī)器視覺通過攝像機(jī)獲取圖像信息并進(jìn)行處理,模仿人類的視覺圖像分析功能,將分析的結(jié)果發(fā)送給機(jī)器人的控制中心,引導(dǎo)機(jī)器人完成指定的任務(wù)。本研究針對(duì)目前主要通過對(duì)工業(yè)機(jī)器人示教編程或離線編程來控制機(jī)器人進(jìn)行定位抓取工件,高精度復(fù)雜模具件的難定位、機(jī)器人示教抓取定位、抓取誤差較大等缺點(diǎn),提出了一種單目視覺引導(dǎo)抓取技術(shù),開發(fā)出新的機(jī)器視覺圖像處理算法,研發(fā)出獨(dú)立完整的一套基于庫卡六軸工業(yè)機(jī)器人的機(jī)器視覺引導(dǎo)系統(tǒng),利用KUKA六軸KR.180.R2500工業(yè)機(jī)器人為實(shí)驗(yàn)平臺(tái)驗(yàn)證能較準(zhǔn)確的定位與提取工件邊緣特征,然后根據(jù)標(biāo)定的視覺系統(tǒng),將在像平面的特征點(diǎn)在世界坐標(biāo)系中的坐標(biāo)進(jìn)行計(jì)算出來,與KUKA機(jī)器人進(jìn)行通訊,進(jìn)而使得能夠準(zhǔn)確的引導(dǎo)機(jī)器人進(jìn)行精確的抓取工件。在圖像處理方面,通過對(duì)工件進(jìn)行系列不同算法的試驗(yàn)對(duì)比,得出適合特定目標(biāo)的圖像處理算法。在通信方面,詳細(xì)研究KUKA六軸工業(yè)機(jī)器人控制器的通信接口協(xié)議,設(shè)計(jì)出了適合的工業(yè)機(jī)器人的數(shù)據(jù)通信協(xié)議,實(shí)時(shí)的與上下位機(jī)交互。針對(duì)機(jī)器視覺引導(dǎo)KUKA六軸工業(yè)機(jī)器人自適應(yīng)抓取目標(biāo),設(shè)計(jì)了系統(tǒng)流程,并建立硬件和軟件平臺(tái)。選擇的試驗(yàn)對(duì)象為四種不同形狀、尺寸的卡盤工件,分別為五角星、正三角形、正方形卡盤工件和不規(guī)則扇形卡盤工件(均為合金鋼材料),進(jìn)行了位姿識(shí)別抓取實(shí)驗(yàn),結(jié)果表明,本文提出的基于機(jī)器視覺技術(shù)的KUKA六軸工業(yè)機(jī)器人能夠準(zhǔn)確地抓取目標(biāo)工件,位姿識(shí)別誤差小,滿足了本課題項(xiàng)目的要求,同時(shí)也可以滿足工業(yè)生產(chǎn)中對(duì)機(jī)器人操作工件的預(yù)期要求。
[Abstract]:The current manufacturing industry is showing a trend of barrier, intelligence, echelon and multi-polarization. In the competitive environment, enterprises want to survive and maintain long-term development in the competition, first of all, they must consider the production cost. Only when the cost is reduced, the efficiency is improved and the product quality is high can the production efficiency and product quality be adapted to the fierce competition in the market. At present, with the increase of the cost of artificial production, Leading to a great demand for automated equipment, automated manufacturing can effectively reduce the production cycle, improve the quality of production, and can replace complex and tedious processes, reduce labor costs, Improve production efficiency. Machine vision acquires and processes the image information through the camera, imitates the human visual image analysis function, sends the analysis result to the robot control center, This research aims at controlling the robot to locate and grab the workpiece mainly by teaching or off-line programming to the industrial robot at present, which is difficult to locate the high precision and complex die parts, and the robot can teach the grasping localization. In this paper, a new machine vision image processing algorithm is developed, and an independent and complete machine vision guidance system based on Kuka six-axis industrial robot is developed. The KUKA six-axis KR.180.R2500 industrial robot is used as the experimental platform to verify the accuracy of locating and extracting the edge features of the workpiece. Then, according to the calibrated visual system, the coordinates of the feature points in the image plane in the world coordinate system are calculated. Communication with the KUKA robot, which makes it possible to accurately guide the robot to grab the workpiece accurately. In image processing, through a series of experiments of different algorithms for the workpiece, In the aspect of communication, the communication interface protocol of KUKA six-axis industrial robot controller is studied in detail, and the suitable data communication protocol of industrial robot is designed. Real time interaction with upper and lower computer. Aiming at machine vision guided KUKA six-axis industrial robot to grasp target adaptively, the system flow is designed, and the hardware and software platform is established. The test object is four kinds of chuck workpiece with different shape and size. As pentagram, equilateral triangle, square chuck workpiece and irregular sector chuck workpiece (all of which are alloy steel materials), the position and orientation recognition and grasping experiments are carried out. The results show that, The KUKA six-axis industrial robot based on machine vision technology is proposed in this paper, which can accurately grasp the target workpiece, and the position and pose recognition error is small, which meets the requirements of this project. At the same time, it can meet the expected requirements of robot operation in industrial production.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242

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本文編號(hào)：1690619