基于双目视觉原理的混联机器人初始点坐标研究

Acquisition and Application of the Machining Initial Point Coordinate of Hybrid Robot Based on Binocular Vision Principle

目的获取混联机器人加工初始点的三维坐标,并将坐标应用于机器人的自动对刀过程,提高对刀效率及加工精度.方法基于双目视觉原理进行了理论建模和实验分析,建立双目视觉系统的数学模型,推导出由图像像素坐标到三维坐标的坐标转换关系,利用MATLAB视觉工具箱进行摄像机的标定,并提取出被加工件上目标点的像素坐标,通过点的三维重建获得靶位目标点的三维坐标.结果经仿真与实验,精确获取了加工初始点的三维坐标,相对误差在3%以内.结论该方法应用于雕刻机器人自动对刀系统中,能降低人工对刀危险系数,提高了对刀效率和对刀精度.

In order to improve tool efficiency and processing accuracy the three-dimensional coordinates of the initial processing were obtained and applied to the robot＇s automatic tooling process.The mathematical model of the binocular vision system was established based on the binocular vision principle and experimental data,and the coordinate transformation relationship between the image pixel coordinates and the three-dimensional coordinates was deduced.The camera calibration was carried out using the MATLAB visual toolbox and the pixel coordinates of the target points on the workpiece were extracted.Three-dimensional coordinates of the target point were obtained by the three-dimensional reconstruction.The three-dimensional coordinates of the machining initial point is obtained by simulation and experiment,and the relative error is less than 3%.The simulation method can be applied to the automatic tooling system of the engraving robot,which can reduce the risk of manual knife and improve the working efficiency and machining precision.