Visual identification and grabbing method of mechanical arms

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...

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 the mechanical fixture located around the workpiece to "blindly" grab the workpiece. In the fast-paced production, if the workpiece deviates slightly, it will be caught empty or even damaged.