基于视觉引导的陶瓷瓶口定位机器人设计

Ceramic Ware-mouth Positioning Robot Based on Vision Guide

为了将视觉系统送入器皿瓷内部采集内表面图像,设计了一种门式三自由度直角坐标的陶瓷瓶口定位机器人。介绍了机器人的功能体系和硬件构成,研究了基于视觉原理引导机器人定位运动的实现方法 :由CMOS相机拍摄瓶口图像,经过处理后拟合出瓶口外环圆,求取圆心坐标。以该坐标为目标位置,引导机器人XY轴作水平运动,将Z轴定位到瓶口中心。实验结果表明,机器人能快速、准确地获取瓶口图像和定位瓶口中心,为机器视觉应用在器皿瓷内表面的缺陷检测奠定了研究基础。

In order to send a visual device into ceramic ware for capturing inner surface images,a kind of 3-DOF Cartesian-coordinate robot is presented in this paper,which positioning for the vase-mouth-center.The robot＇s function system and hardware structure are designed,0the control way of positioning motion based on visual guiding is studied：The vase-mouth image is captured by COMS camera,then processed and fitted an outer circle of the vase-mouth,obtained the center coordinates.The coordinates for the target guides XY axis in horizontal movement,until Z axis positioning the vase-mouth-center.The experiment shows that the robot can rapidly and accurately acquire image and positioning vase-mouth,it lays a good foundation for the application of machine vision in inspecting inner surface defects of ceramic ware.