基于工业机器人的汽车轮毂表面缺陷的视觉检测系统设计

A Visual Inspection System Design of Automotive Wheel Hub Surface Defects Based on Industrial Robot

摘要:

摘要：由于汽车轮毂结构复杂，为解决当前轮毂检测效率低，检测速度慢，工作量大等问题，该文给出了一种基于工业机器人的视觉检测方法。通过把视觉系统安装在机器人的末端执行器上，利用机器人的精确运动来改变视觉系统的姿态，以实现对汽车轮毂各表面的检测，进而可实现对多规格轮毂进行动态检测，并针对多次重复测量时定位累计误差导致成像质量退化的问题，通过对轮毂图像的预处理找到了轮毂的气阀作为检测的初始位置，对机器人调节相应的位姿进行校正。该文以HONDA 1.6X17摩托车轮毂作为研究对象，实验表明，该系统在准确检测的同时，提高了检测效率。

Abstract:

Abstract: Due to the complicated structure of the automobile hub, aiming at solving the problems of low detection efficiency, slow detection speed and heavy workload of the current hub, a visual inspection method based on industrial robots is presented. By installing the vision system on the end effector of the robot and using the accurate movement of the robot to change the attitude of the vision system so as to detect the surfaces of the automobile hub, the multi-specification hub can be dynamically detected, In the process of repeated measurement, the accumulated error leads to the problem of image quality degradation. Through the preprocessing of the wheel image, the wheel valve is found as the initial position of detection, and the corresponding pose of the robot is adjusted. In this paper, HONDA 1.6X17 motorcycle wheel hub as the object of study, experiments show that the system in the accurate detection at the same time, improve the detection efficiency.