研究机械加工零件在自动化生产线加工过程中零件位置识别,是近年来热门的研究问题。本文通过坐标法和距离法分析和识别零件的位置,采用几何图像法及AutoCAD作图等方法,给出了数学模型及解决方案。首先,先根据题目所给附件DATA1和DATA2,...研究机械加工零件在自动化生产线加工过程中零件位置识别,是近年来热门的研究问题。本文通过坐标法和距离法分析和识别零件的位置,采用几何图像法及AutoCAD作图等方法,给出了数学模型及解决方案。首先,先根据题目所给附件DATA1和DATA2,利用MATLAB软件显示出机械手抓取零件后所放置的标准位置图像和机械手抓取零件前需要计算机自动识别的单个零件轮廓图像。方法一:坐标法描述位置。根据零件的标准位置图像利用几何图像法在平面上建立直角坐标系,以零件中间大圆的圆心为坐标系原点。在零件上选取10个固定参考点用其坐标描述零件的位置。将DATA1和DATA2中数据导入到Excel表格中,将两者合并,在单个零件轮廓图像中复合出标准位置图像并建立直角坐标系,根据零件上选取的10个固定点来描述其位置。方法二:距离法描述位置。在识别零件的生产线固定位置安装2个探测器,分别检测到达零件不同位置的距离,用零件各特定点距离探测器的长度描述零件位置。从两种不同的位置测量原理分析识别时间,坐标法识别时,识别时间主要包括:图像识别和得出十个点的坐标的时间;距离法识别时,识别时间主要包括每个探测器的光源从发射到反射回来所需的时间,进行比较两者的高效性。其次,利用问题一中建立的第一种方法,根据标准位置的图像建立直角坐标系,用每个零件上固定的10个点的坐标分别描述多个零件的位置。利用第二种方法,分别检测探测器到各零件固定位置点的距离,用每个零件到达两个探测器的距离描述零件的位置。最后,基于问题一建立的两种模型推广到其他形状的零件。我们自己设计特定形状的零件并应用已建立的模型。方法一:首先将该零件放置于标准位置,建立直角坐标系,并在零件上选取多个固定点测量其坐标,描述位置。方法二:利用已固定的探测器检测到达该零件特定点的距离,用探测器测得的距离描述零件的位置。Research on the position recognition of mechanical parts in the process of automated production line processing has been a hot research issue in recent years. This paper analyzes and identifies the position of parts by using the coordinate method and distance method, and uses the geometric image method and AutoCAD drawing methods to give a mathematical model and solution. First, according to the attachments DATA1 and DATA2 given in the question, the standard position image placed after the manipulator grabs the part and the single part contour image that needs to be automatically recognized by the computer before the manipulator grabs the part are displayed using MATLAB software. Method 1: Describe the position using the coordinate method. According to the standard position image of the part, a rectangular coordinate system is established on the plane using the geometric image method, and the center of the large circle in the middle of the part is used as the origin of the coordinate system. 10 fixed reference points are selected on the part to describe the position of the part with their coordinates. Import the data in DATA1 and DATA2 into an Excel table, merge the two, composite the standard position image in the single part contour image and establish a rectangular coordinate system, and describe its position according to the 10 fixed points selected on the part. Method 2: Describe the position using the distance method. Two detectors are installed at fixed positions on the production line for identifying parts. The distances to different positions of the parts are detected respectively, and the lengths of each specific point of the parts from the detectors are used to describe the position of the parts. The recognition time is analyzed from two different position measurement principles. When the coordinate method is used for recognition, the recognition time mainly includes: the time for image recognition and obtaining the coordinates of ten points;when the distance method is used for recognition, the recognition time mainly includes the time required for the light source of each detector to be emitted and reflected back. The efficiency of the two is compared. Secondly, using the first method established in question 1, a rectangular coordinate system is established according to the image of the standard position, and the coordinates of the 10 fixed points on each part are used to describe the positions of multiple parts. Using the second method, the distances from the detector to the fixed position points of each part are detected respectively, and the distances from each part to the two detectors are used to describe the position of the part. Finally, the two models established based on question 1 are extended to parts of other shapes. We design parts of specific shapes by ourselves and apply the established models. Method 1: First, place the part in the standard position, establish a rectangular coordinate system, and select multiple fixed points on the part to measure its coordinates and describe the position. Method 2: Use a fixed detector to detect the distance to a specific point on the part, and use the distance measured by the detector to describe the position of the part.展开更多
文摘研究机械加工零件在自动化生产线加工过程中零件位置识别,是近年来热门的研究问题。本文通过坐标法和距离法分析和识别零件的位置,采用几何图像法及AutoCAD作图等方法,给出了数学模型及解决方案。首先,先根据题目所给附件DATA1和DATA2,利用MATLAB软件显示出机械手抓取零件后所放置的标准位置图像和机械手抓取零件前需要计算机自动识别的单个零件轮廓图像。方法一:坐标法描述位置。根据零件的标准位置图像利用几何图像法在平面上建立直角坐标系,以零件中间大圆的圆心为坐标系原点。在零件上选取10个固定参考点用其坐标描述零件的位置。将DATA1和DATA2中数据导入到Excel表格中,将两者合并,在单个零件轮廓图像中复合出标准位置图像并建立直角坐标系,根据零件上选取的10个固定点来描述其位置。方法二:距离法描述位置。在识别零件的生产线固定位置安装2个探测器,分别检测到达零件不同位置的距离,用零件各特定点距离探测器的长度描述零件位置。从两种不同的位置测量原理分析识别时间,坐标法识别时,识别时间主要包括:图像识别和得出十个点的坐标的时间;距离法识别时,识别时间主要包括每个探测器的光源从发射到反射回来所需的时间,进行比较两者的高效性。其次,利用问题一中建立的第一种方法,根据标准位置的图像建立直角坐标系,用每个零件上固定的10个点的坐标分别描述多个零件的位置。利用第二种方法,分别检测探测器到各零件固定位置点的距离,用每个零件到达两个探测器的距离描述零件的位置。最后,基于问题一建立的两种模型推广到其他形状的零件。我们自己设计特定形状的零件并应用已建立的模型。方法一:首先将该零件放置于标准位置,建立直角坐标系,并在零件上选取多个固定点测量其坐标,描述位置。方法二:利用已固定的探测器检测到达该零件特定点的距离,用探测器测得的距离描述零件的位置。Research on the position recognition of mechanical parts in the process of automated production line processing has been a hot research issue in recent years. This paper analyzes and identifies the position of parts by using the coordinate method and distance method, and uses the geometric image method and AutoCAD drawing methods to give a mathematical model and solution. First, according to the attachments DATA1 and DATA2 given in the question, the standard position image placed after the manipulator grabs the part and the single part contour image that needs to be automatically recognized by the computer before the manipulator grabs the part are displayed using MATLAB software. Method 1: Describe the position using the coordinate method. According to the standard position image of the part, a rectangular coordinate system is established on the plane using the geometric image method, and the center of the large circle in the middle of the part is used as the origin of the coordinate system. 10 fixed reference points are selected on the part to describe the position of the part with their coordinates. Import the data in DATA1 and DATA2 into an Excel table, merge the two, composite the standard position image in the single part contour image and establish a rectangular coordinate system, and describe its position according to the 10 fixed points selected on the part. Method 2: Describe the position using the distance method. Two detectors are installed at fixed positions on the production line for identifying parts. The distances to different positions of the parts are detected respectively, and the lengths of each specific point of the parts from the detectors are used to describe the position of the parts. The recognition time is analyzed from two different position measurement principles. When the coordinate method is used for recognition, the recognition time mainly includes: the time for image recognition and obtaining the coordinates of ten points;when the distance method is used for recognition, the recognition time mainly includes the time required for the light source of each detector to be emitted and reflected back. The efficiency of the two is compared. Secondly, using the first method established in question 1, a rectangular coordinate system is established according to the image of the standard position, and the coordinates of the 10 fixed points on each part are used to describe the positions of multiple parts. Using the second method, the distances from the detector to the fixed position points of each part are detected respectively, and the distances from each part to the two detectors are used to describe the position of the part. Finally, the two models established based on question 1 are extended to parts of other shapes. We design parts of specific shapes by ourselves and apply the established models. Method 1: First, place the part in the standard position, establish a rectangular coordinate system, and select multiple fixed points on the part to measure its coordinates and describe the position. Method 2: Use a fixed detector to detect the distance to a specific point on the part, and use the distance measured by the detector to describe the position of the part.
