<title>CAD-based intelligent robot vision system</title>

摘要

This paper presents a system that integrates a CAD package and a vision system to attain a higher level of intelligence and automation in manufacturing environments. The proposed vision system can achieve object recognition without tedious, manual teaching in advance by adopting a simple recognition method and the use of CAD data. It can also on-line derive the 3D position and orientation of the workparts randomly placed on the workbench from their camera images, for guiding robot to pick them up. Such derived object position and orientation data can also be used to compensate the workpart measurement path coordinates of coordinate measuring machine (CMM). The workpart searching ability over the workbench has been demonstrated in this proposed system as well. The CAD package functions are extended for not only being used in product design, but also in producing simulated camera images to correspond to those from the real camera in the robot workcell simulation. With these developments, a higher level intelligent and automatic manufacturing environment without the need of accurate part feeder, fixture, and auxiliary toolings is achieved. Key Words: Vision system, CAD images, Object recognition, CMM