码垛机器人视觉控制关键技术的研究-机械工程专业毕业论文.docxVIP

西南科技大学硕士研究生学位论文第 西南科技大学硕士研究生学位论文 第 PAGE II 页 西南科技大学硕士研究生学位论文第 西南科技大学硕士研究生学位论文 第 III 页 Abstract Now palletizing robot’s main control mode is program teaching, so it can only be implemented works with fixed track, do not have the ability to adapt and strict in the layout of the work environment, so have a lot of limitations on use. High-speed development of machine vision technology makes real-time measuring the 3D space coordinate of image object to be possible, this paper based on this, and combining with servo drive control and the space of image measurement, research on key technology for palletizing robot visual control , make this system have adaptive ability, and have high flexibility in the service environment and application objects. Paper is aim at grabbing bricks, in order to improve the visual control system accuracy and speed as the key technologies. Paper makes intensive research for extraction of objective characteristics the space positioning of objects and technology of visual tracking control in the visual control. This paper based on monocular vision control, design of the image acquisition system and research of the visual control algorithms, in order to avoid illumination brings to the extract inaccurately in objective characteristics, use based on OTSU rapid threshold extraction algorithm; In order to improve the objective characteristics points extractive speed in the 3D space coordinate, establish reductive algorithm which 2D image space to 3D real space is based on ratio; In order to track accurately with various states in the process of target motion, establish objective track algorithm is based on KALMAN filter. Through some tests show this visual control system can calculate objective characteristics in the 3D space coordinates and visual tracking algorithm achieve the desired effect, so it can be used for the actual palletizing robot visual control. Keywords: Palletizing robot Machine vision Visual servo technology Visual spatial coor