Design and research of automatic plug-in system based on machine vision

摘要

The system uses SCARA robot, mechanical jaw and camera CCD as the hardware foundation, building a SCARA robot automatic identification and positioning plug-in system platform based on monocular vision. The coordinate information of the workpiece image acquired by the CCD camera is transformed into the crawling position information in the robot coordinate system by using the parametric model of the crawler system calibration and establishment of the camera parameters. The system uses Visual Studio as the development platform, utilizing OpenCV visual database function for the secondary development of visual algorithms. The visual algorithm can realize the color recognition of the workpiece and obtain the position information of the workpiece, and control the robot jaws to grasp the target workpiece accurately, which meets the general industrial production in the grasp of real-time requirements of the workpiece.