로봇 시각 장치를 이용한 압연코일의 라벨링 자동화 구현

Abstract

본 연구에서는, 로봇비젼시스템과 주변 기구학을 이용항여 수동에 의한 압연코일 라벨링 작업을 자동으로 라벨링하는 시스템으로 구현하였다. 이를 위하여 압연 코일의 윤관선과 임계치를 찾기위한 영상처리는 이치 경도 알고리즘을 적용하였다.

처리된 데이타로부터 코일내 중심점의 위치가 변화하여도 Hu에 의해 제시된 모멘트 알고리즘을 적용하였을 때 쉽게 다룰 수 있었다. 또한 자유도가 6축인 산업용 로봇의 위치 오차 보정 알고리즘은 비동기 방식으로 전달?? 데이터와 카메라와 통신하므로서 압연 코일의 중심점을 찾을 수 있다. 만일 압연 코일의 중심점 위치가 변화하여도 로봇이 성공적으로 라벨링 작업을 수행하기 위하여 압연 코일의 중심점으로 움직인다. 따라서 이러한 시스템은 효과적이면서도 안정적으로 수행될 수 있다.

In this study an automatic rolling-coil labeling system using robot vision system and peripheral mechanism is proposed and implemented, which instead of the manual labor to attach labels on rolling-coils in a steel mill. The binary image process for the image processing is performed with the threshold, and the contour line is converted to the binary gradient which detects the discontinuous variation of brightness of rolling-coils. The moments invariant algorithm proposed by Hu is used to make it easy to recognize even when the positions of the center are different from the trained data. The position error compensation algorithm of six degrees of freedom industrial robot manipulator is also developed and the data of the position of the center rolling-coils, which are obtained by floor mount camera, are transferred by asynchronous communication method. Therefore, even if the positions of center is changed, robot moves to the positions of center and performs the labeling work successfully. Therefore, this system can be improved in the safety and efficiency.

In this study an automatic rolling-coil labeling system using robot vision system and peripheral mechanism is proposed and implemented, which instead of the manual labor to attach labels on rolling-coils in a steel mill. The binary image process for the image processing is performed with the threshold, and the contour line is converted to the binary gradient which detects the discontinuous variation of brightness of rolling-coils. The moments invariant algorithm proposed by Hu is used to make it easy to recognize even when the positions of the center are different from the trained data. The position error compensation algorithm of six degrees of freedom industrial robot manipulator is also developed and the data of the position of the center rolling-coils, which are obtained by floor mount camera, are transferred by asynchronous communication method. Therefore, even if the positions of center is changed, robot moves to the positions of center and performs the labeling work successfully. Therefore, this system can be improved in the safety and efficiency.