Visual identification and grabbing method of mechanical arms

A mechanical arm, visual recognition technology, applied in the direction of manipulators, measuring devices, instruments, etc., can solve the problems of no visual auxiliary system, damaged workpiece, single pneumatic fixture device, etc., to reduce risks, reduce waste, and improve product quality. Effect

Inactive Publication Date: 2014-09-17
上海朗煜电子科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing gripping equipment usually does not have a visual aid system, and its construction is only a single pneumatic gripper device
During the working process, the cylinder pushes t...

Method used

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Experimental program
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Embodiment Construction

[0014] A visual recognition and grasping method of a mechanical arm, comprising the following steps:

[0015] 1) Image acquisition

[0016] A dual-camera system composed of two CCD vision sensors collects workpiece images, converts the images into digital format and transfers them to computer memory;

[0017] 2) Image processing

[0018] The processor performs color recognition, image enhancement, edge sharpening, and noise reduction on the image, measures the length and area of ​​the workpiece, and finds the coordinate position of the center point of the workpiece in the image;

[0019] 3) Coordinate transmission

[0020] Calibrate the coordinates of the CCD vision sensor and the coordinates of the robot arm so that the coordinate systems of the CCD vision sensor and the robot arm coincide, and transmit the coordinate position of the center point of the workpiece in the image to the controller of the robot arm, and the controller controls the robot arm to Grab the workpiec...

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PUM

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Abstract

The invention discloses a visual identification and grabbing method of mechanical arms. The method includes the following steps of (1) image collecting, wherein workpiece images are collected through a dual-camera system formed by two CCD visual sensors, and the images are converted into digital formats and transmitted into a computer memory, (2) image processing, wherein a processer conducts color recognition, image enhancement, edge sharpening and noise reduction on the images, conducts measurement on the length and area of workpieces, and finds out the coordinate position of the central point of the workpieces in the images, (3) coordinate transferring, wherein the coordinates of the CCD visual sensors are calibrated with the coordinates of the mechanical arms, so that the coordinate system of the CCD visual sensor can coincide with that of the mechanical arms, the coordinate position of the central point of the workpieces in the images is transmitted to a controller of the mechanical arms, and the mechanical arms are controlled by the controller to grab the workpieces. By means of the visual identification and grabbing method of the mechanical arms, the mechanical arms are made to more accurately grab the workpieces in the fast-paced production process, in other words, under the dual-camera system, even though the positions of the workpieces are slightly deviated, the mechanical arms can accurately grab the workpieces as well.

Description

technical field [0001] The invention relates to a dual-camera system visual recognition and grasping method of a mechanical arm, which is used in the automobile industry, electronic integrated manufacturing industry, packaging and printing industry and food industry. Background technique [0002] In the traditional production process, the grasping, handling, and installation of workpieces are all done manually. The production efficiency is low, the work is dangerous, the labor cost is high, the work intensity is high, and the replacement rate of operators is high. [0003] In order to solve the above problems, a grabbing device is used in the prior art to complete the above operations. Existing gripping equipment usually does not have a visual aid system, and its construction is only a single pneumatic gripper device. During the working process, the cylinder pushes the mechanical fixture located around the workpiece to "blindly" grab the workpiece. In the fast-paced produc...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01C11/02B25J13/08
Inventor 韩海林黄大钊吴迅奇
Owner 上海朗煜电子科技有限公司
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