機(jī)器視覺與機(jī)器學(xué)習(xí)應(yīng)用ApplicationsofMachineVisionandMachineLearning機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI陳雨ChenYu主講教師Teacher課程導(dǎo)入CourseIntroduction機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI陳雨ChenYu主講教師Teacher課程導(dǎo)入CourseIntroduction如何精準(zhǔn)裝配不同尺寸的零件？Howtoaccuratelyassemblepartsofdifferentsizes?機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI課程導(dǎo)入CourseIntroductionUncoverhowmachinevisioncompletestheintelligentassemblyofmulti-sizedcircularworkpieces揭秘機(jī)器視覺如何完成多尺寸圓形工件的智能裝配案例導(dǎo)入Caseintroduction案例導(dǎo)入Caseintroduction利用機(jī)器視覺定位引導(dǎo)，將4個不同尺寸的圓形工件裝配到對應(yīng)有圓形孔位底座上。Usingmachinevisionpositioningguidance,assemble4circularworkpiecesofdifferentsizesontobaseswithcorrespondingcircularholes.機(jī)器視覺定位裝配MachineVisionPositioningandAssembly機(jī)器視覺定位裝配MachineVisionPositioningandAssembly裝配是工業(yè)制造過程中的最后一個生產(chǎn)階段，具有作業(yè)過程復(fù)雜、裝配任務(wù)繁多等特點。Assemblyisthelastproductionstageintheindustrialmanufacturingprocess,andischaracterizedbycomplexoperationprocessesandnumerousassemblytasks.機(jī)器視覺定位裝配MachineVisionPositioningandAssembly將機(jī)器視覺技術(shù)應(yīng)用到工業(yè)機(jī)器人上Applyingmachinevisiontechnologytoindustrialrobots實現(xiàn)工業(yè)機(jī)器人在視覺引導(dǎo)下，自動地對工件進(jìn)行裝配。Industrialrobotscanautomaticallyassembleworkpiecesundervisualguidance.能夠滿足工業(yè)制造自動化裝配高效高精度的要求。Meetingtherequirementsofhighefficiencyandhighprecisionofautomatedassemblyinindustrialmanufacturing.機(jī)器視覺定位裝配MachineVisionPositioningandAssembly典型的機(jī)器視覺引導(dǎo)定位裝配系統(tǒng)

Typicalmachinevision-guidedpositioningandassemblysystem組成

constitute傳送帶單元Conveyorunit機(jī)器人裝配單元Roboticassemblyunit視覺識別單元Visualrecognitionunit負(fù)責(zé)通信和數(shù)據(jù)分析的信息處理單元Informationprocessingunitresponsibleforcommunicationanddataanalysis機(jī)器視覺定位裝配MachineVisionPositioningandAssembly工作流程Workflow整個裝配系統(tǒng)主要分為兩個部分，即視覺處理部分和機(jī)器人運動控制部分。Theentireassemblysystemisdividedintotwomainparts:thevisionprocessingunitandtheroboticmotioncontrolunit.視覺處理部分負(fù)責(zé)獲取目標(biāo)工件以及作業(yè)環(huán)境中的障礙物的位置、尺寸信息；Thevisionprocessingunitisresponsibleforacquiringthepositionandsizeinformationofthetargetworkpieceandobstaclesintheworkenvironment;機(jī)器人運動控制部分則實現(xiàn)對工業(yè)機(jī)械臂的運動控制，以及對裝配任務(wù)的執(zhí)行。Theroboticmotioncontrolunitcontrolsthemotionoftheindustrialrobotarmandexecutestheassemblytask.開始

Start圖像采集Imageacquisition識別定位

Identificationandpositioning坐標(biāo)轉(zhuǎn)Coordinatetransformation機(jī)器人控制系統(tǒng)

Robotcontrolsystem抓取和裝配

Grippingandassembly結(jié)束

End實際操作PracticalOperations打開DobotVisionStudio1.4.2，選擇通用方案。OpenDobotVisionStudio1.4.2andselecttheGeneralOption.在工具箱的“采集”模塊選擇“相機(jī)圖像”，拖拽到流程編輯區(qū)。Select"CameraImage"inthe"Acquisition"moduleofthetoolboxanddragittotheprocesseditingarea.任務(wù)實施TaskImplementation相機(jī)圖像Cameraimage步驟1Step1步驟2Step2任務(wù)實施TaskImplementation雙擊“相機(jī)圖像”模塊，進(jìn)行參數(shù)設(shè)置。Double-clickthe"CameraImage"moduletosettheparameters.觸發(fā)參數(shù)設(shè)置Triggerparametersettings相機(jī)采集到的圖形Graphicscapturedbythecamera基本參數(shù)設(shè)置Basicparametersettings步驟2Step2在工具欄的定位模塊，將“圓查找”拖拽到流程編輯區(qū)，并與“相機(jī)圖像”相連。Inthepositioningmoduleofthetoolbar,drag"CircleSearch"totheprocesseditingarea,andconnectitto"CameraImage".任務(wù)實施TaskImplementation步驟3Step3任務(wù)實施TaskImplementationDouble-click"1CircleSearch"tosetparameters雙擊“1圓查找”進(jìn)行參數(shù)設(shè)置步驟3Step3任務(wù)實施TaskImplementationClick"SingleExecution"toviewtheresults點擊“單次執(zhí)行”查看結(jié)果步驟3Step3圓查找結(jié)果Circlesearchresults在工具欄的定位模塊，將“單位轉(zhuǎn)換”拖拽到流程編輯區(qū)，并與“1圓查找”相連。Inthepositioningmoduleofthetoolbar,drag"UnitConversion"totheprocesseditingarea,andconnectitto"1CircleSearch".任務(wù)實施TaskImplementation步驟4Step4任務(wù)實施TaskImplementationDouble-click"2UnitConversion"tosettheparameters雙擊“2單位轉(zhuǎn)換”進(jìn)行參數(shù)設(shè)置步驟4Step4將標(biāo)定工具欄的“標(biāo)定轉(zhuǎn)換”拖拽到流程編輯區(qū)，與“2單位轉(zhuǎn)換”相連接。Dragthe"CalibrationConversion"inthecalibrationtoolbartotheprocesseditingarea,andconnectitto"2UnitConversion".任務(wù)實施TaskImplementation步驟5Step5任務(wù)實施TaskImplementationDouble-click"3CalibrationConversion"tosetparameters雙擊“3標(biāo)定轉(zhuǎn)換”進(jìn)行參數(shù)設(shè)置步驟5Step5將邏輯工具欄的“條件檢測”拖拽到流程編輯區(qū)，與“3標(biāo)定轉(zhuǎn)換”相連接，并重命名為“最大圓”。Drag"ConditionDetection"fromthelogictoolbartotheprocesseditingarea,connectitto"3CalibrationConversion",andrenameitto"LargestCircle".任務(wù)實施TaskImplementation步驟6Step6任務(wù)實施TaskImplementation步驟6Step6Double-click"LargestCircle"tosettheparameters雙擊“最大圓”進(jìn)行參數(shù)設(shè)置在邏輯欄，將“分支模塊”拖拽到流程編輯區(qū)，與“4最大圓”相連。Inthelogictoolbar,dragthe"BranchModule"totheprocesseditingarea,andconnectitto"4LargestCircle".任務(wù)實施TaskImplementation步驟7Step7任務(wù)實施TaskImplementation步驟7Step7Double-click"5BranchModule"tosettheparameters雙擊“5分支模塊”進(jìn)行參數(shù)設(shè)置在Magician機(jī)器人命令欄，將“運動到點”拖拽到流程編輯區(qū)，與“5分支模塊”相連。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingarea,andconnectitto"5BranchModule".任務(wù)實施TaskImplementation步驟8Step8方案流程Programprocess任務(wù)實施TaskImplementationDouble-click"6MovetoPoint"tosettheparameters雙擊“6運動到點”進(jìn)行參數(shù)設(shè)置步驟8Step8在Magician機(jī)器人命令欄，將“吸盤開關(guān)”拖拽到流程編輯區(qū)，與“6運動到點”相連。IntheMagicianrobotcommandbar,drag"SuctionCupSwitch"totheprocesseditingareaandconnectitto"6MovetoPoint."任務(wù)實施TaskImplementation步驟9Step9任務(wù)實施TaskImplementationDouble-click"7SuctionCupSwitch"tosettheparameters雙擊“7吸盤開關(guān)”進(jìn)行參數(shù)設(shè)置步驟9Step9在Magician機(jī)器人命令欄，將“運動到點”拖拽到流程編輯區(qū)，與“7吸盤開關(guān)”相連。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectitto"7SuctionCupSwitch."任務(wù)實施TaskImplementation步驟10Step10任務(wù)實施TaskImplementationDouble-click"8MovetoPoint"tosettheparameters雙擊“8運動到點”進(jìn)行參數(shù)設(shè)置步驟10Step10在Magician機(jī)器人命令欄，將“吸盤開關(guān)”拖拽到流程編輯區(qū)，與“8運動到點”相連。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectitto"8MovetoPoint."任務(wù)實施TaskImplementation步驟11Step11任務(wù)實施TaskImplementationDouble-click"9SuctionCupSwitch"tosettheparameters雙擊“9吸盤開關(guān)”進(jìn)行參數(shù)設(shè)置步驟11Step11將“條件檢測”拖拽到流程編輯區(qū)，并與“5分支模塊”相連，并重命名為“大圓”。Drag"ConditionDetection"totheprocesseditingarea,connectittothe"5BranchModule",andrenameit"BigCircle".任務(wù)實施TaskImplementation步驟12Step12任務(wù)實施TaskImplementationDouble-clickthe"5BranchModule"tosettheparameters雙擊“5分支模塊”進(jìn)行參數(shù)設(shè)置步驟12Step12任務(wù)實施TaskImplementationDouble-click"10ConditionDetection"tosetparameters雙擊“10條件檢測”進(jìn)行參數(shù)設(shè)置步驟12Step12按照裝配圓45mm的方法依次將38mm、35mm、32mm的圓裝配到對應(yīng)的孔位。Followthesamemethodasforthe45mmcircle,assemblethe38mm,35mm,and32mmcirclesintothecorrespondingholes.任務(wù)實施TaskImplementation步驟13Step13任務(wù)實施TaskImplementation步驟13Step13將4個圓放到視野范圍內(nèi)，點擊“連續(xù)執(zhí)行”。Placethefourcircleswithinthefieldofviewandclick"ContinuousExecution."機(jī)械臂將4個圓都裝配到對應(yīng)的孔位。Therobotwillthenassembleallfourcirclesintothecorrespondingholes.裝配結(jié)果Assemblyresults課程小結(jié)Summary課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI視覺定位

——圓查找與尺寸過濾技術(shù)Visualpositioning—circlefindinganddimensionfilteringtechniques課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI坐標(biāo)轉(zhuǎn)換——多模塊協(xié)作實現(xiàn)精準(zhǔn)映射Coordinatetransformation—multi-modulecollaborationforprecisemapping課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI邏輯控制——分支模塊指導(dǎo)差異化裝配Logicalcontrol—branchingmodulestoguidedifferentiatedassembly課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI汽車零部件Automotiveparts電子元件組裝Electroniccomponentassembly課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI技術(shù)的精進(jìn)Technologicaladvancement工匠境界的追求Pursuitofcraftsmanship課程小結(jié)CourseSummary機(jī)器視覺定位裝配應(yīng)用一ApplicationsofMachineVisionPositioningandAssemblyI技術(shù)服務(wù)于人，智能裝配的高效精準(zhǔn)，正是我們?yōu)橹袊窃熵暙I(xiàn)智慧與力量的舞臺。Technologyservespeople,andtheefficiencyandprecisionofintelligentassemblyispreciselywherewecancontributeourwisdomandstrengthtoChina'sintelligentmanufacturing.思考題ThinkingQuestions如何改造本系統(tǒng)，使其能裝配6種方形工件？Howtomodifythissystemsothatitcanassemble6typesofsquareworkpieces?方形工件+裝配底座

Squareworkpiece+assemblybase機(jī)器視覺與機(jī)器學(xué)習(xí)應(yīng)用ApplicationsofMachineVisionandMachineLearning機(jī)器視覺定位裝配應(yīng)用二ApplicationsofMachineVisionPositioningandAssemblyII陳雨ChenYu主講教師Teacher課程導(dǎo)入CourseIntroductionApplicationsofMachineVisionPositioningandAssembly機(jī)器視覺定位裝配應(yīng)用機(jī)器視覺定位裝配應(yīng)用二ApplicationsofMachineVisionPositioningandAssemblyII陳雨ChenYu主講教師Teacher課程導(dǎo)入CourseIntroduction機(jī)器視覺定位裝配應(yīng)用二ApplicationsofMachineVisionPositioningandAssemblyII精準(zhǔn)裝配Precisionassembly制造過程Manufacturingprocess課程導(dǎo)入CourseIntroduction機(jī)器視覺定位裝配應(yīng)用二ApplicationsofMachineVisionPositioningandAssemblyII案例導(dǎo)入Caseintroduction案例導(dǎo)入Caseintroduction任務(wù)要求視覺系統(tǒng)能同時處理多個目標(biāo)Thetaskrequiresthevisionsystemtohandlemultipletargetssimultaneously4個不同尺寸的圓形工件和對應(yīng)的孔位底座同時出現(xiàn)在視野中，機(jī)器人需要快速完成匹配裝配。Fourcircularworkpiecesofvaryingsizesandtheircorrespondingbaseswithcorrespondingholesappearedinthefieldofviewsimultaneously,andtherobotneededtoquicklycompletethematchingassembly.案例導(dǎo)入Caseintroduction利用機(jī)器視覺定位引導(dǎo)，將4個不同尺寸的圓形工件裝配到對應(yīng)有圓形孔位底座上。Usingmachinevisionpositioningguidance,assemble4circularworkpiecesofdifferentsizesontobaseswithcorrespondingcircularholes.Requirement:Boththecircularholebaseandthecircularworkpiecemustbewithintheinspectionfieldofview.要求：圓形孔位底座和圓形工件同時放在檢測視野內(nèi)。實際操作PracticalOperations打開DobotVisionStudio1.4.2，選擇通用方案。OpenDobotVisionStudio1.4.2andselecttheGeneralOption.在工具箱的“采集”模塊選擇“相機(jī)圖像”，拖拽到流程編輯區(qū)。Select"CameraImage"inthe"Acquisition"moduleofthetoolboxanddragittotheprocesseditingarea.任務(wù)實施TaskImplementation步驟1Step1步驟2Step2任務(wù)實施TaskImplementation雙擊“相機(jī)圖像”模塊，進(jìn)行參數(shù)設(shè)置。Double-clickthe"CameraImage"moduletosettheparameters.步驟2Step2基本參數(shù)設(shè)置Basicparametersettings觸發(fā)參數(shù)設(shè)置Triggerparametersettings相機(jī)采集到的圖形Graphicscapturedbythecamera在工具欄的定位模塊，將“圓查找”拖拽到流程編輯區(qū)，并與“相機(jī)圖像”相連。Inthepositioningmoduleofthetoolbar,drag"CircleSearch"totheprocesseditingarea,andconnectitto"CameraImage".任務(wù)實施TaskImplementation步驟3Step3任務(wù)實施TaskImplementation雙擊“1圓查找”進(jìn)行參數(shù)設(shè)置Double-click"1CircleSearch"tosetparameters步驟3Step3基本參數(shù)設(shè)置BasicparametersettingsROI區(qū)域ROIarea運行參數(shù)設(shè)置Operatingparametersettings任務(wù)實施TaskImplementation步驟3Step3Click"SingleExecution"toviewtheresults點擊“單次執(zhí)行”查看結(jié)果圓查找結(jié)果Circlesearchresults在工具欄的定位模塊，將“標(biāo)定轉(zhuǎn)換”拖拽到流程編輯區(qū)，并與“1圓查找”相連。Inthepositioningmoduleofthetoolbar,drag"CalibrationConversion"totheprocesseditingarea,andconnectitto"1CircleSearch".任務(wù)實施TaskImplementation步驟4Step4任務(wù)實施TaskImplementationDouble-click"2CalibrationConversion"tosetparameters雙擊“2標(biāo)定轉(zhuǎn)換”進(jìn)行參數(shù)設(shè)置步驟4Step4任務(wù)實施TaskImplementationClick"SingleExecution"toviewtheresults點擊“單次執(zhí)行”查看結(jié)果步驟4Step4標(biāo)定轉(zhuǎn)換結(jié)果Calibrationconversionresults將定位欄的“圓查找”拖拽到流程編輯區(qū)，與“2標(biāo)定轉(zhuǎn)換”相連接。Dragthe"CircleSearch"inthepositioningtoolbartotheprocesseditingareaandconnectitto"2CalibrationConversion".任務(wù)實施TaskImplementation步驟5Step5任務(wù)實施TaskImplementation雙擊“3圓查找”進(jìn)行參數(shù)設(shè)置Double-click"3CircleSearch"tosetparameters步驟5Step5基本參數(shù)設(shè)置BasicparametersettingsROI區(qū)域ROIarea運行參數(shù)設(shè)置Operatingparametersettings任務(wù)實施TaskImplementation步驟5Step5Click"SingleExecution"toviewtheresults點擊“單次執(zhí)行”查看結(jié)果圓查找結(jié)果Circlesearchresults將“標(biāo)定轉(zhuǎn)換”拖拽到流程編輯區(qū)，并與“3圓查找”相連。Drag“CalibrationConversion”totheprocesseditingareaandconnectitto"3CircleSearch".任務(wù)實施TaskImplementation步驟6Step6任務(wù)實施TaskImplementationDouble-click"4CalibrationConversion"tosetparameters雙擊“4標(biāo)定轉(zhuǎn)換”進(jìn)行參數(shù)設(shè)置步驟6Step6任務(wù)實施TaskImplementationClick"SingleExecution"toviewtheresults點擊“單次執(zhí)行”查看結(jié)果步驟6Step6標(biāo)定轉(zhuǎn)換結(jié)果Calibrationconversionresults在Magician機(jī)器人命令欄，將“運動到點”拖拽到流程編輯區(qū)，與“4標(biāo)定轉(zhuǎn)換”相連。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingarea,andconnectitto"4CalibrationConversion".任務(wù)實施TaskImplementation步驟7Step7任務(wù)實施TaskImplementationDouble-click"5MovetoPoint"tosettheparameters雙擊“5運動到點”進(jìn)行參數(shù)設(shè)置步驟7Step7在Magician機(jī)器人命令欄，將“吸盤開關(guān)”拖拽到流程編輯區(qū)，與“5運動到點”相連。IntheMagicianrobotcommandbar,drag"SuctionCupSwitch"totheprocesseditingareaandconnectitto"5MovetoPoint."任務(wù)實施TaskImplementation步驟8Step8任務(wù)實施TaskImplementationDouble-clickthe"6SuctionCupSwitch"tosettheparameters雙擊“6吸盤開關(guān)”進(jìn)行參數(shù)設(shè)置步驟8Step8在Magician機(jī)器人命令欄，將“運動到點”拖拽到流程編輯區(qū)，與“6吸盤開關(guān)”相連。IntheMagicianrobotcommandbar,drag"MovetoPoint"totheprocesseditingareaandconnectittothe"6SuctionCupSwitch".任務(wù)實施TaskImplementation步驟9Step9任務(wù)實施TaskImplementationDouble-click"7MovetoPoint"tosettheparameters雙擊“7運動到點”進(jìn)行參數(shù)設(shè)置步驟9Step9在Magician機(jī)器人命令欄，將“吸盤開關(guān)”拖拽到流程編輯區(qū)，與“7運動到點”相連。IntheMagicianrobotcommandbar,dragthe"SuctionCupSwitch"totheprocesseditingareaandconnectitto"7MovetoPoint".任務(wù)實施TaskImplementation步驟10Step10任務(wù)實施TaskImplementationDouble-clickthe"8-suctioncupswitch"tosetthep