基于融合多传感器信息的点胶机定位系统的研究

Study on Glue Dispenser Positioning System Based on Multi-sensor Information Fusion

传统点胶设备的点胶轨迹是通过人工示教和阵列输入的方式生成的,这种方式不仅操作复杂,且没有考虑到各工件存在高度差异,导致点胶的精度不高,生产效率和点胶合格率较低;针对这一问题,提出了一种融合相机和激光传感器信息来自动定位点胶位置的点胶系统;先制定模板图像和示教点胶轨迹,然后用基于NCC的模板匹配方法得到目标工件的位姿,再通过激光传感器测得目标工件的点胶平面高度值,最后通过坐标变换得到点胶轨迹在三轴点胶平台坐标系下的坐标;实验结果表明:该系统在定位速度和精度上都满足对点胶生产的需求,且对于存在高低差异的工件可以保持一致的点胶效果。

The dispensing path of conventional dispensing devices is generated by manually teaching and array inputs. However, that approach has complex operation and does not account for the height difference of each workpiece, which lead to the result that the dispensing accuracy, production efficiency and dispensing qualify can not reach the desired level. In order to compensate for the defects, proposes an automated dispensing system that fusing cameras and laser sensors information to locate the position of dispensing. Firstly, make image template and teach dispensing path, and calculate the pose of target workpiece by template matching based on NCC. Then use laser sensor to measure the dispensing plane height of target workpiece. Finally, dispensing path is obtained by coordinate transformation in the three--axis dispensing platform. Experimental results show that both speed and accuracy of the system are good enough to meet the practical application requirement. In addition, the proposed method can also be applied to the workpiece of different height with the consistent dispensing effect.