Industrial robot workpiece positioning grabbing method and system based on visual guidance

An industrial robot, vision-guided technology, applied in manipulators, manufacturing tools, etc., can solve problems such as target occlusion, grasping failure, and cost increase

Inactive Publication Date: 2014-07-02
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The first method requires the camera to be able to observe the target workpiece and the end of the robot’s hand at the same time. When the robot moves and operates towards the target, it will block the target, resulting

Method used

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  • Industrial robot workpiece positioning grabbing method and system based on visual guidance
  • Industrial robot workpiece positioning grabbing method and system based on visual guidance
  • Industrial robot workpiece positioning grabbing method and system based on visual guidance

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Embodiment

[0053] Such as figure 1 As shown, a vision-guided industrial robot workpiece positioning and grasping system includes: a conveyor belt 1, a photoelectric switch 2, a camera 3, an industrial control computer 4, a robot 5 and a target workpiece 6, and the camera 3 is installed on one end of the conveyor belt 1. The robot 5 is installed on the other end of the conveyor belt 1, the photoelectric switch 2 is installed on the conveyor belt 1, the photoelectric switch 2, the camera 3, the industrial control computer 4 and the robot 5 are electrically connected in sequence.

[0054] Such as figure 2 As shown, a vision-guided industrial robot workpiece positioning and grasping method includes the following steps:

[0055] Step S1: if image 3 As shown, the camera 3 is calibrated with a plane target calibration method, and a reference coordinate system (O ref x ref Y ref Z ref ), get the relative pose between the reference coordinate system and the camera coordinate system cam h...

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PUM

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Abstract

The invention discloses an industrial robot workpiece positioning grabbing method based on visual guidance. The method includes the following steps that 1, a system parametric model is established, and calibration of a camera is conducted; 2, a workpiece feature template is determined; 3, workpiece template living examples are sought for, and the positions of workpieces are determined according to coordinate information of the living examples; 4, the speed of a target workpiece is calculated; 5, the pose, in a robot basic coordinate system, of the workpiece is predicted when the workpiece is located at a station to be grabbed; 6, a robot moves according to a planned path to approach and grab the workpiece and place the workpiece at the position of a target point. The invention further discloses a system for implementing the industrial robot workpiece positioning grabbing method based on visual guidance in the patent claim 1. The system comprises a conveying belt, an optoelectronic switch, a camera, an industrial control computer, the robot and the target workpiece. The system has the advantages of being high in positioning accuracy, high in working efficiency, high in automation degree and the like.

Description

technical field [0001] The invention relates to a robot workpiece grasping technology, in particular to a vision-guided industrial robot workpiece positioning and grasping method and system. Background technique [0002] Workpiece grasping is an important technology for industrial robots on the production line. At present, most industrial robots on the production line can only execute predetermined instructions in a strictly defined structured environment. Once the state of the workpiece changes, the robot often cannot make Correct strain. In recent years, visual guidance and positioning technology has become the main means for industrial robots to obtain information about the surrounding environment. It can enable industrial robots to have the ability to make independent judgments in actual operations, thereby greatly improving the application flexibility and work quality of robots. . There are currently two main researches on vision-guided industrial robot grasping system...

Claims

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Application Information

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IPC IPC(8): B25J19/04B25J13/08
Inventor 翟敬梅董鹏飞张铁
Owner SOUTH CHINA UNIV OF TECH
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