《机器视觉与机器学习应用》课件-机器视觉定位装配应用

机器视觉与机器学习应用ApplicationsofMachineVisionandMachineLearning机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI陈雨ChenYu主讲教师Teacher课程导入CourseIntroduction机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI陈雨ChenYu主讲教师Teacher课程导入CourseIntroduction如何精准装配不同尺寸的零件？Howtoaccuratelyassemblepartsofdifferentsizes?机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI课程导入CourseIntroductionUncoverhowmachinevisioncompletestheintelligentassemblyofmulti-sizedcircularworkpieces揭秘机器视觉如何完成多尺寸圆形工件的智能装配案例导入Caseintroduction案例导入Caseintroduction利用机器视觉定位引导，将4个不同尺寸的圆形工件装配到对应有圆形孔位底座上。Usingmachinevisionpositioningguidance,assemble4circularworkpiecesofdifferentsizesontobaseswithcorrespondingcircularholes.机器视觉定位装配MachineVisionPositioningandAssembly机器视觉定位装配MachineVisionPositioningandAssembly装配是工业制造过程中的最后一个生产阶段，具有作业过程复杂、装配任务繁多等特点。Assemblyisthelastproductionstageintheindustrialmanufacturingprocess,andischaracterizedbycomplexoperationprocessesandnumerousassemblytasks.机器视觉定位装配MachineVisionPositioningandAssembly将机器视觉技术应用到工业机器人上Applyingmachinevisiontechnologytoindustrialrobots实现工业机器人在视觉引导下，自动地对工件进行装配。Industrialrobotscanautomaticallyassembleworkpiecesundervisualguidance.能够满足工业制造自动化装配高效高精度的要求。Meetingtherequirementsofhighefficiencyandhighprecisionofautomatedassemblyinindustrialmanufacturing.机器视觉定位装配MachineVisionPositioningandAssembly典型的机器视觉引导定位装配系统

Typicalmachinevision-guidedpositioningandassemblysystem组成

constitute传送带单元Conveyorunit机器人装配单元Roboticassemblyunit视觉识别单元Visualrecognitionunit负责通信和数据分析的信息处理单元Informationprocessingunitresponsibleforcommunicationanddataanalysis机器视觉定位装配MachineVisionPositioningandAssembly工作流程Workflow整个装配系统主要分为两个部分，即视觉处理部分和机器人运动控制部分。Theentireassemblysystemisdividedintotwomainparts:thevisionprocessingunitandtheroboticmotioncontrolunit.视觉处理部分负责获取目标工件以及作业环境中的障碍物的位置、尺寸信息；Thevisionprocessingunitisresponsibleforacquiringthepositionandsizeinformationofthetargetworkpieceandobstaclesintheworkenvironment;机器人运动控制部分则实现对工业机械臂的运动控制，以及对装配任务的执行。Theroboticmotioncontrolunitcontrolsthemotionoftheindustrialrobotarmandexecutestheassemblytask.开始

Start图像采集Imageacquisition识别定位

Identificationandpositioning坐标转Coordinatetransformation机器人控制系统

Robotcontrolsystem抓取和装配

Grippingandassembly结束

End实际操作PracticalOperations打开DobotVisionStudio1.4.2，选择通用方案。OpenDobotVisionStudio1.4.2andselecttheGeneralOption.在工具箱的“采集”模块选择“相机图像”，拖拽到流程编辑区。Select"CameraImage"inthe"Acquisition"moduleofthetoolboxanddragittotheprocesseditingarea.任务实施TaskImplementation相机图像Cameraimage步骤1Step1步骤2Step2任务实施TaskImplementation双击“相机图像”模块，进行参数设置。Double-clickthe"CameraImage"moduletosettheparameters.触发参数设置Triggerparametersettings相机采集到的图形Graphicscapturedbythecamera基本参数设置Basicparametersettings步骤2Step2在工具栏的定位模块，将“圆查找”拖拽到流程编辑区，并与“相机图像”相连。Inthepositioningmoduleofthetoolbar,drag"CircleSearch"totheprocesseditingarea,andconnectitto"CameraImage".任务实施TaskImplementation步骤3Step3任务实施TaskImplementationDouble-click"1CircleSearch"tosetparameters双击“1圆查找”进行参数设置步骤3Step3任务实施TaskImplementationClick"SingleExecution"toviewtheresults点击“单次执行”查看结果步骤3Step3圆查找结果Circlesearchresults在工具栏的定位模块，将“单位转换”拖拽到流程编辑区，并与“1圆查找”相连。Inthepositioningmoduleofthetoolbar,drag"UnitConversion"totheprocesseditingarea,andconnectitto"1CircleSearch".任务实施TaskImplementation步骤4Step4任务实施TaskImplementationDouble-click"2UnitConversion"tosettheparameters双击“2单位转换”进行参数设置步骤4Step4将标定工具栏的“标定转换”拖拽到流程编辑区，与“2单位转换”相连接。Dragthe"CalibrationConversion"inthecalibrationtoolbartotheprocesseditingarea,andconnectitto"2UnitConversion".任务实施TaskImplementation步骤5Step5任务实施TaskImplementationDouble-click"3CalibrationConversion"tosetparameters双击“3标定转换”进行参数设置步骤5Step5将逻辑工具栏的“条件检测”拖拽到流程编辑区，与“3标定转换”相连接，并重命名为“最大圆”。Drag"ConditionDetection"fromthelogictoolbartotheprocesseditingarea,connectitto"3CalibrationConversion",andrenameitto"LargestCircle".任务实施TaskImplementation步骤6Step6任务实施TaskImplementation步骤6Step6Double-click"LargestCircle"tosettheparameters双击“最大圆”进行参数设置在逻辑栏，将“分支模块”拖拽到流程编辑区，与“4最大圆”相连。Inthelogictoolbar,dragthe"BranchModule"totheprocesseditingarea,andconnectitto"4LargestCircle".任务实施TaskImplementation步骤7Step7任务实施TaskImplementation步骤7Step7Double-click"5BranchModule"tosettheparameters双击“5分支模块”进行参数设置在Magician机器人命令栏，将“运动到点”拖拽到流程编辑区，与“5分支模块”相连。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingarea,andconnectitto"5BranchModule".任务实施TaskImplementation步骤8Step8方案流程Programprocess任务实施TaskImplementationDouble-click"6MovetoPoint"tosettheparameters双击“6运动到点”进行参数设置步骤8Step8在Magician机器人命令栏，将“吸盘开关”拖拽到流程编辑区，与“6运动到点”相连。IntheMagicianrobotcommandbar,drag"SuctionCupSwitch"totheprocesseditingareaandconnectitto"6MovetoPoint."任务实施TaskImplementation步骤9Step9任务实施TaskImplementationDouble-click"7SuctionCupSwitch"tosettheparameters双击“7吸盘开关”进行参数设置步骤9Step9在Magician机器人命令栏，将“运动到点”拖拽到流程编辑区，与“7吸盘开关”相连。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectitto"7SuctionCupSwitch."任务实施TaskImplementation步骤10Step10任务实施TaskImplementationDouble-click"8MovetoPoint"tosettheparameters双击“8运动到点”进行参数设置步骤10Step10在Magician机器人命令栏，将“吸盘开关”拖拽到流程编辑区，与“8运动到点”相连。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectitto"8MovetoPoint."任务实施TaskImplementation步骤11Step11任务实施TaskImplementationDouble-click"9SuctionCupSwitch"tosettheparameters双击“9吸盘开关”进行参数设置步骤11Step11将“条件检测”拖拽到流程编辑区，并与“5分支模块”相连，并重命名为“大圆”。Drag"ConditionDetection"totheprocesseditingarea,connectittothe"5BranchModule",andrenameit"BigCircle".任务实施TaskImplementation步骤12Step12任务实施TaskImplementationDouble-clickthe"5BranchModule"tosettheparameters双击“5分支模块”进行参数设置步骤12Step12任务实施TaskImplementationDouble-click"10ConditionDetection"tosetparameters双击“10条件检测”进行参数设置步骤12Step12按照装配圆45mm的方法依次将38mm、35mm、32mm的圆装配到对应的孔位。Followthesamemethodasforthe45mmcircle,assemblethe38mm,35mm,and32mmcirclesintothecorrespondingholes.任务实施TaskImplementation步骤13Step13任务实施TaskImplementation步骤13Step13将4个圆放到视野范围内，点击“连续执行”。Placethefourcircleswithinthefieldofviewandclick"ContinuousExecution."机械臂将4个圆都装配到对应的孔位。Therobotwillthenassembleallfourcirclesintothecorrespondingholes.装配结果Assemblyresults课程小结Summary课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI视觉定位

——圆查找与尺寸过滤技术Visualpositioning—circlefindinganddimensionfilteringtechniques课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI坐标转换——多模块协作实现精准映射Coordinatetransformation—multi-modulecollaborationforprecisemapping课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI逻辑控制——分支模块指导差异化装配Logicalcontrol—branchingmodulestoguidedifferentiatedassembly课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI汽车零部件Automotiveparts电子元件组装Electroniccomponentassembly课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI技术的精进Technologicaladvancement工匠境界的追求Pursuitofcraftsmanship课程小结CourseSummary机器视觉定位装配应用一ApplicationsofMachineVisionPositioningandAssemblyI技术服务于人，智能装配的高效精准，正是我们为中国智造贡献智慧与力量的舞台。Technologyservespeople,andtheefficiencyandprecisionofintelligentassemblyispreciselywherewecancontributeourwisdomandstrengthtoChina'sintelligentmanufacturing.思考题ThinkingQuestions如何改造本系统，使其能装配6种方形工件？Howtomodifythissystemsothatitcanassemble6typesofsquareworkpieces?方形工件+装配底座

Squareworkpiece+assemblybase机器视觉与机器学习应用ApplicationsofMachineVisionandMachineLearning机器视觉定位装配应用二ApplicationsofMachineVisionPositioningandAssemblyII陈雨ChenYu主讲教师Teacher课程导入CourseIntroductionApplicationsofMachineVisionPositioningandAssembly机器视觉定位装配应用机器视觉定位装配应用二ApplicationsofMachineVisionPositioningandAssemblyII陈雨ChenYu主讲教师Teacher课程导入CourseIntroduction机器视觉定位装配应用二ApplicationsofMachineVisionPositioningandAssemblyII精准装配Precisionassembly制造过程Manufacturingprocess课程导入CourseIntroduction机器视觉定位装配应用二ApplicationsofMachineVisionPositioningandAssemblyII案例导入Caseintroduction案例导入Caseintroduction任务要求视觉系统能同时处理多个目标Thetaskrequiresthevisionsystemtohandlemultipletargetssimultaneously4个不同尺寸的圆形工件和对应的孔位底座同时出现在视野中，机器人需要快速完成匹配装配。Fourcircularworkpiecesofvaryingsizesandtheircorrespondingbaseswithcorrespondingholesappearedinthefieldofviewsimultaneously,andtherobotneededtoquicklycompletethematchingassembly.案例导入Caseintroduction利用机器视觉定位引导，将4个不同尺寸的圆形工件装配到对应有圆形孔位底座上。Usingmachinevisionpositioningguidance,assemble4circularworkpiecesofdifferentsizesontobaseswithcorrespondingcircularholes.Requirement:Boththecircularholebaseandthecircularworkpiecemustbewithintheinspectionfieldofview.要求：圆形孔位底座和圆形工件同时放在检测视野内。实际操作PracticalOperations打开DobotVisionStudio1.4.2，选择通用方案。OpenDobotVisionStudio1.4.2andselecttheGeneralOption.在工具箱的“采集”模块选择“相机图像”，拖拽到流程编辑区。Select"CameraImage"inthe"Acquisition"moduleofthetoolboxanddragittotheprocesseditingarea.任务实施TaskImplementation步骤1Step1步骤2Step2任务实施TaskImplementation双击“相机图像”模块，进行参数设置。Double-clickthe"CameraImage"moduletosettheparameters.步骤2Step2基本参数设置Basicparametersettings触发参数设置Triggerparametersettings相机采集到的图形Graphicscapturedbythecamera在工具栏的定位模块，将“圆查找”拖拽到流程编辑区，并与“相机图像”相连。Inthepositioningmoduleofthetoolbar,drag"CircleSearch"totheprocesseditingarea,andconnectitto"CameraImage".任务实施TaskImplementation步骤3Step3任务实施TaskImplementation双击“1圆查找”进行参数设置Double-click"1CircleSearch"tosetparameters步骤3Step3基本参数设置BasicparametersettingsROI区域ROIarea运行参数设置Operatingparametersettings任务实施TaskImplementation步骤3Step3Click"SingleExecution"toviewtheresults点击“单次执行”查看结果圆查找结果Circlesearchresults在工具栏的定位模块，将“标定转换”拖拽到流程编辑区，并与“1圆查找”相连。Inthepositioningmoduleofthetoolbar,drag"CalibrationConversion"totheprocesseditingarea,andconnectitto"1CircleSearch".任务实施TaskImplementation步骤4Step4任务实施TaskImplementationDouble-click"2CalibrationConversion"tosetparameters双击“2标定转换”进行参数设置步骤4Step4任务实施TaskImplementationClick"SingleExecution"toviewtheresults点击“单次执行”查看结果步骤4Step4标定转换结果Calibrationconversionresults将定位栏的“圆查找”拖拽到流程编辑区，与“2标定转换”相连接。Dragthe"CircleSearch"inthepositioningtoolbartotheprocesseditingareaandconnectitto"2CalibrationConversion".任务实施TaskImplementation步骤5Step5任务实施TaskImplementation双击“3圆查找”进行参数设置Double-click"3CircleSearch"tosetparameters步骤5Step5基本参数设置BasicparametersettingsROI区域ROIarea运行参数设置Operatingparametersettings任务实施TaskImplementation步骤5Step5Click"SingleExecution"toviewtheresults点击“单次执行”查看结果圆查找结果Circlesearchresults将“标定转换”拖拽到流程编辑区，并与“3圆查找”相连。Drag“CalibrationConversion”totheprocesseditingareaandconnectitto"3CircleSearch".任务实施TaskImplementation步骤6Step6任务实施TaskImplementationDouble-click"4CalibrationConversion"tosetparameters双击“4标定转换”进行参数设置步骤6Step6任务实施TaskImplementationClick"SingleExecution"toviewtheresults点击“单次执行”查看结果步骤6Step6标定转换结果Calibrationconversionresults在Magician机器人命令栏，将“运动到点”拖拽到流程编辑区，与“4标定转换”相连。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingarea,andconnectitto"4CalibrationConversion".任务实施TaskImplementation步骤7Step7任务实施TaskImplementationDouble-click"5MovetoPoint"tosettheparameters双击“5运动到点”进行参数设置步骤7Step7在Magician机器人命令栏，将“吸盘开关”拖拽到流程编辑区，与“5运动到点”相连。IntheMagicianrobotcommandbar,drag"SuctionCupSwitch"totheprocesseditingareaandconnectitto"5MovetoPoint."任务实施TaskImplementation步骤8Step8任务实施TaskImplementationDouble-clickthe"6SuctionCupSwitch"tosettheparameters双击“6吸盘开关”进行参数设置步骤8Step8在Magician机器人命令栏，将“运动到点”拖拽到流程编辑区，与“6吸盘开关”相连。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectittothe"6SuctionCupSwitch".任务实施TaskImplementation步骤9Step9任务实施TaskImplementationDouble-click"7MovetoPoint"tosettheparameters双击“7运动到点”进行参数设置步骤9Step9在Magician机器人命令栏，将“吸盘开关”拖拽到流程编辑区，与“7运动到点”相连。IntheMagicianrobotcommandbar,dragthe"SuctionCupSwitch"totheprocesseditingareaandconnectitto"7MovetoPoint".任务实施TaskImplementation步骤10Step10任务实施TaskImplementationDouble-clickthe"8-suctioncupswitch"tosetthep