视觉机器人论文绪论.doc

摘要 随着工业技术的发展以及计算机应用的普及，人们越来越多的注意到机器人技术在工业生产中的地位。作为机器人技术的一个主要因素，自动识别及检测技术已成为衡量机器人智能化的一个重要标准。目前工厂实际应用的工业机器人大部分都以“示教—再现” 的工作方式运行。由于这种工作方式是开环工作方式，缺乏对外部变化信息的了解。譬如作业对象发生了变形或位置发生发生变化时，工业机器人就不能根据这些变化实时的调整其运动轨迹，缺乏灵活性和适应性，因此我们引进计算机视觉系统。 本文以自动涂胶机器人为研究对象，在原有的运动控制系统上，为其开发一套视觉系统。这套视觉系统由摄像机，图像采集卡，计算机和原有的涂胶机器人系统以及相关软件组成。在本系统中通过摄像机获取载物台上加工对象的图像资料，通过截取图片在计算中手动标定要涂胶的轨迹路线，进而生成NC代码传入运动控制卡控制机器人x，y，z三个方向的运动。 关键词：机器人 摄像机 轨迹标定 NC代码 运动控制卡 ABSTRACT With the development of industry technology and the popularization use of computer , people pay more and more attention to the place that robot play in the industry production .as a main factor of the robot technology , auto recognition and measure technology have come to be an important standard to tell the level of an intelligent robot .Most industrial robots that actually applied in factories work in the teaching-recurrence mode at present .Because the working mode is open-circuit ,in which the robot know nothing about the ambience ,such as the work pieces’ displacement caused by the work pieces’ deflection and distortion ,so when working in this mode ,the industrial robot can not adjust its moving locus and lacks flexibility and adaptability .So we introduce the computer vision system . In this dissertation we have a disquisition on automatic glue-robot .Based on the intrinsic movement controlling system, we open out a set of vision system. This set of vision system is made up of camera, image-collection-card, computer, intrinsic robot system and some interrelated software. The system gets the image date of the work pieces by camera. And in the PC we demarcate the locus by handwork from the pictures. After that make NC code and send to the movement controlling card to control the movement of robot on three directions(x,y,z). Keyword: robot camera locus demarcation NC code movement control card 第一章 绪论 1.1 机器人概述 长期以来，人类一直渴望并追求制造一种像人一样的机器，以便将人类从繁杂的劳动中解脱出来。人类进入近代以后，出现了第一次工业革命。随着各种自动机器、动力机和动力系统得问世，机器人开始由幻想时期进入自动机械时期，许多机械式的机器人应运而生[1]。