Workpiece recognition method based on geometric shape feature and device thereof

Abstract

The invention relates to a workpiece recognition method based on a geometric shape feature and a device thereof. The method comprises the steps of (1) taking a two-dimensional image of a workpiece on a conveyor belt, carrying out difference operation on the two-dimensional image of the workpiece on the conveyor belt and a conveyor belt image, and obtaining a foreground area comprising the workpiece and the shadow of the workpiece, (2) using a shadow detection method to remove the shadow in the foreground area comprising the workpiece and the shadow of the workpiece to obtain the accurate area contour of the workpiece, (3) extracting the geometric feature for the accurate area contour of the workpiece so as to obtain the feature vector of the workpiece area contour, wherein the feature vector comprises a Hu moment and a Fourier operator, and (4) using a support vector machine SVM to train and classify the feature vector of the workpiece area contour. Through employing the above steps, the method and the device can be widely applied to the fields of workpiece grasp and transportation in a factory production line, circumferential welding manipulator, industrial painting and equipment assembly.

Description

technical field [0001] The invention relates to a workpiece recognition method and device, in particular to a workpiece recognition method and device based on geometric shape features. Background technique [0002] Using computer vision technology, industrial robots can efficiently and accurately complete equipment assembly, workpiece detection and identification, and processing, thereby reducing manual intervention, improving product quality, and improving industrial production efficiency. Workpiece detection and identification play a very important role in the modern industrial production process. Its purpose is to identify different types of workpieces (including screws, screws and various industrial blanks, etc.), to obtain information such as the attitude and position of the workpiece, and to Instruct the robot to perform sorting, handling, assembly, processing and other processing. [0003] In industrial production, laser, magnetic, ultrasonic and other equipment can ...

AI Technical Summary

Problems solved by technology

[0010] The disadvantages of this technical solution are as follows: the solution is to realize workpiece recognition when the contour of the workpiece area can be obtained very accurately, but this solution does not mention how to obtain the contour of the workpiece area in complex actual industrial application scenarios, so its industrial less practical

[0011] To sum up, the existing workpiece recognition and classification methods have the following technical problems: (1) Realize workpiece recognition with the help of complex equipment such as 3D cameras, resulting in high cost, complicated data acquisition and processing, and a large amount of calculation

Difficult to meet the requirements of industrial practical application scenarios

(3) The technical solution using special equipment is mainly aimed at identifying certain specific workpieces, so the applicable work scene is single and the application field is limited

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