基于机器视觉的人防门智能打磨系统

Intelligent Grinding Equipment for Civil Air Defense Doors Based on Machine Vision

针对人工识别易出错、清理效率低、打磨环境恶劣等难题,基于机器视觉原理结合双机械臂研制一种人防门智能打磨系统,其中视觉系统主要由1台视觉控制器VC3300和2台500万像素相机构成。通过视觉系统识别工件的顶点坐标,建立待打磨坐标系与顶点坐标系的映射关系,解决塞焊孔位置及埋弧焊位置难以有效识别、数据难以高效协同、高精度打磨难以实现的难题。实验结果表明:此视觉系统能够有效保证较高的定位准确率和精度,整体工序相较于人工提速33.3%,打磨后焊点的平均高度0.115 mm,满足实际工业生产需求,具有较好的实用价值。

In view of the difficulties of the grinding production line such as error-prone manual identification,low cleaning efficiency and harsh grinding environment,the intelligent grinding equipment for civil air defense doors was developed based on the principle of machine vision combined with dual manipulators.The vision system was mainly composed of a vision controller VC3300 and two 5 million pixel cameras.By recognizing the vertex coordinates of the civil air defense doors through the visual system,a mapping relationship between the coordinate system to be grinded and the vertex coordinate system was established,which solved the problems of difficult identification of plug welding hole and submerged arc welding positions,difficulty in efficient data collaboration,and difficulty in achieving high-precision grinding.The experimental results show that the proposed system can effectively guarantee high positioning accuracy and precision.Compared to manual operation,the overall process of robot grinding increases the speed by 33.3%,and the average height of the welded joints after grinding is 0.115 mm,which meets the needs of actual industrial production,and has good practical value.