浙江工业大学硕士学位论文 硕士学位论文论文题目： 基于视觉定位跟踪的工业机器人 自动装配系统设计与研究 作者姓名 何 涛 指导教师 赵 燕 伟 学科专业 机械制造及自动化 所在学院 机械工程学院 提交日期 2015年411浙江工业大学硕士学位论文基于视觉定位跟踪的工业机器人自动装配系统设计与研究作者姓名：指导教师： 浙江工业大学机械工程学院2015年4月Dissertation Submitted to Zhejiang University of Technologyfor the Degree of MasterDESIGN AND RESEARCH OF INDUSTRY ROBOT ASSEMBLY SYSTEM BASED ON VISUAL DETECTION AND TRACKINGCandidate: Advisor: College of Mechanical EngineeringZhejiang University of TechnologyApril 2015浙江工业大学学位论文原创性声明本人郑重声明：所提交的学位论文是本人在导师的指导下，独立进行研究工作所取得的研究成果。除文中已经加以标注引用的内容外，本论文不包含其他个人或集体已经发表或撰写过的研究成果，也不含为获得浙江工业大学或其它教育机构的学位证书而使用过的材料。对本文的研究作出重要贡献的个人和集体，均已在文中以明确方式标明。本人承担本声明的法律责任。作者签名：日期： 年 月 日学位论文版权使用授权书本学位论文作者完全了解学校有关保留、使用学位论文的规定，同意学校保留并向国家有关部门或机构送交论文的复印件和电子版，允许论文被查阅和借阅。本人授权浙江工业大学可以将本学位论文的全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或扫描等复制手段保存和汇编本学位论文。本学位论文属于1、保密，在_年解密后适用本授权书。2、不保密。（请在以上相应方框内打“”）作者签名：日期： 年 月 日导师签名：日期： 年 月 日 2基于视觉定位跟踪的工业机器人自动装配系统设计与研究摘 要单向器是起动机的最重要的部件之一，星轮与弹簧滚柱的装配是单向器装配的关键环节，目前主要采用人工装配，装配效率低下，产品合格率较低，在现代化生产的大环境下这种生产方式已经不能满足企业的要求了。工业机器人作为一种多学科相互结合的高科技产物，能够成为现代化生产和制造改造的载体，能够完成很多人们无法完成的高精密、高重复度的工作。本文采用基于视觉技术的工业机器人对单向器星轮装配生产线进行改造，设计了星轮装配器，研究了星轮位姿检测和跟踪算法，并开发了面向装配生产线的上位机控制系统。主要成果有：（1）完成了弹簧滚柱自动装配系统的总体框架设计。本文通过分析单向器装配这一问题的特点和难点，建立了单向器弹簧滚柱装配模型以及装配误差分析，得出了其径向和周向的的装配允许误差，理论上验证了利用工业机器人进行改造的可能性。在这基础上进行了单向器弹簧滚柱装配器的机械结构，视觉检测跟踪模块以及运动控制模块的总体设计。（2）针对单向器星轮的特点提出了针对性的视觉检测和跟踪算法。首先分析选取了适合本文的张正友摄像机标定算法对相机进行标定，同时根据工业机器人的抓取特点采用三点法对传送带进行标定，在经过图像预处理的基础上对提出了利用Hough圆检测算法检测星轮位置，并根据星轮内侧齿形轮廓的特征完成了星轮齿顶像素点坐标的提取，从而求出星轮的周向转角，最后得到星轮的位姿。依据摄像机和传送带的标定算法建立了星轮在传送带上运动的跟踪模型。（3）开发了弹簧滚柱装配系统的上位机控制软件。有良好的人机交互性。采用Microsoft Visual Studio 2010为平台中的C#开发环境进行开发。实现了上位机对系统的控制，操作简便，基于OpenCV开源视觉库，实现了单向器星轮位姿的检测算法。并设计了相机跟踪序列的设计，解决了如何排除相机重复定位零件的问题，研究了机器人抓取策略。关键词：工业机器人，单向器，视觉定位，装配技术IDESIGN AND RESEARCH OF INDUSTRY ROBOT ASSEMBLY SYSTEM BASED ON VISUAL DETECTION AND TRACKINGABSTRACTStarter driver is one of the most important part of the motor starter. The start wheel and spring assembly is the key process of starter drivers assembly. Now,it is usually assembled manually and the efficiency is very low and the qualified rate is unacceptable. This production method is not appropriate for the environment of 21centrys modernization. As a combination of various course,industry robot is able to do some jobs which need high accuracy and repeation. This paper reforms the assembly line of starter driver with the help of the industry robot technology based on the vision technology. It is completed that the designation of the starter driver assembler and the development of the detection and tracking algorithm. At last, the assembly lines controlling software is developed. The main achievement of the paper is as followed.(1) The general framework of the starter driver assembly lines designation is completed. After setting up a model of the starter drives assembly and analysis of the assembly error, the radial and circumferential error tolerance is acquired. The designation of the assemblers mechanical structure , the detection and tracking module and the motion control part are accomplished.(2) According to the characteristics of the starter driver proposed visual detection and Tracking algorithm are targeted.At first calibrating the camera use the calibration algorithm of Zhang camera which is chosen as the appropriate. And according to the characteristics of industry robots gripping,we use the three-point method to calibrating the conveyor belt.Using the Hough algorithm to detect the position of the star wheel after the image pre-processing. The coordinate extraction of the tooth top pixel of the star wheel is completed according to the contour feature of the medial profile of the star wheel.Then the circumferential angle of the star wheel is obtained .The tracking model of the star wheels motion on the conveyor belt is established based on the calibration algorithm of camera and conveyor belt .(3) The PC control software of the starter driver assembly line is developed with good human-computer interaction. The software is developed by C# computer language on the Microsoft Visual Studio 10 platform. So people can control the assembly system just on the computer much easier. The software implement the detection and tracking of star wheel by the OpenCV vision library. Moreover,the tracking sequence of camera is designed to solve the repeat positioning of the star wheel and the strategy the industry robot catching is researched.Key words:industry robot,stater driver,visual detection ,assembly目 录摘 要IABSTRACTII第1章 绪 论11.1 国内外工业机器人装配的研究现状11.2 视觉辅助装配技术的研究现状31.2.1 视觉定位跟踪技术的研究现状41.2.2