Mechanical arm positioning fetching method based on machine vision

Abstract

The invention discloses a mechanical arm positioning fetching method based on machine vision. The mechanical arm positioning fetching method comprises the following steps: S1) carrying out parameter calibration on a camera and a mechanical arm, establishing relationship between an image coordinate system and a conveyor belt coordinate system as well as between a mechanical arm coordinate system and the conveyor belt coordinate system; S2) identifying a target workpiece in the image, and calculating the centroid and the angle of deflection of the target workpiece; and S3) sending the centroid and the angle-of-deflection information, which are calculated in the step2), of the target workpiece to the mechanical arm, calculating a position coordinate of the target workpiece under a mechanical arm coordinate system to fetch the target workpiece. The invention exhibits a wide application range, and a great quantity of scattered workpieces can be quickly and accurately fetched under the condition that a production line is not changed, operation is flexible, and cost is saved.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a machine vision-based manipulator positioning and grasping method suitable for high-speed assembly line operations. Background technique [0002] Since the birth of the first robot in the world in the 1950s, robotics has experienced a slow process of development. Later, with the development of computer technology and microelectronics technology, machine vision appeared in the 1980s and developed rapidly in the 1990s. At this time, machine vision also extends from the field of scientific research to the field of application. [0003] In the process of modern industrial automation production, machine vision has been widely used, such as automatic detection of mechanical parts, intelligent control and automatic monitoring of production lines, automatic tracking and identification of moving targets, etc. However, the cooperation between machine vision and mechanical arms is st...

AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to overcome the shortcomings of poor real-time performance and high cost in the existing mechanical arm grasping method, and provide a mechanical arm positioning and grasping method based on machine vision

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