Method for automatically locating and moving binocular vision mechanical arm for weight testing

A technology of automatic positioning and binocular vision, applied in the field of robotics, can solve the problems of weighing equipment damage, low efficiency, and inability to accurately guarantee the quality of verification work, and achieve the effects of avoiding impact hazards, reducing labor costs, and improving verification efficiency

Inactive Publication Date: 2015-05-20
ZHENJIANG MEASUREMENT VERIFICATION TEST CENT +1
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Problems solved by technology

In the existing weight verification technology, the loading and unloading of weights is usually carried out by manual positioning and manual handling, which requires a lot of physical labor for the verification personnel, and th

Method used

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  • Method for automatically locating and moving binocular vision mechanical arm for weight testing
  • Method for automatically locating and moving binocular vision mechanical arm for weight testing

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Embodiment Construction

[0031] The present invention will be further described below in combination with specific embodiments and accompanying drawings.

[0032] refer to figure 1 , the binocular vision manipulator automatic positioning and moving method for weight verification of the present embodiment includes the following steps:

[0033] Step S1, performing calibration on the camera and determining a feature template;

[0034] Step S2, the camera collects images of the centering plate of the weighing apparatus, the weight to be inspected, and the clamp at the end of the manipulator, and searches for a characteristic pattern matching the characteristic template in the obtained image;

[0035] Step S3, calculating the position of the feature figure in the pixel coordinate system, and converting it to the position in the fixed coordinate system of the manipulator system;

[0036] Step S4, generating a planned path 1 according to the position of the gripper at the end of the manipulator and the pos...

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Abstract

The invention provides a method for automatically locating and moving a binocular vision mechanical arm for weight testing. A camera is calibrated, and a feature template is determined; the camera collects an image of a weighing apparatus centring disc, an image of a weight to be tested and an image of a mechanical arm tail end clamp, and feature graphs matched with the feature template are found from the obtained images; the positions of the feature graphs under a pixel coordinate system are calculated and converted into positions under a fixed coordinate system; a first path is generated according to the positions of the tail end clamp and the weight to be tested, and the mechanical arm completes the work of clamping the weight to be tested according to the first path; a second path is generated according to the positions of the weight to be tested and the weighing apparatus centring disc, and the mechanical arm moves the weight to be tested to the target point of the weighing apparatus centring disc according to the second path. Locating precision can be improved, the carrying efficiency of the weight can be improved, labor cost can be lowered, and impact damage to a weighing apparatus is avoided.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an automatic positioning and moving method of a binocular vision manipulator used for weight verification. Background technique [0002] Mass is one of the seven basic physical quantities, and weights are a physical measuring tool that reproduces mass values, and are widely used in various departments. The measurement and verification of weights is realized by weighing and comparing the standard weights and the tested weights by measuring instruments, which is directly related to the accuracy and consistency of mass value transmission. In the existing weight verification technology, the weight loading and unloading is usually carried out by manual positioning and manual handling, which requires a lot of physical labor for the verification personnel, which is inefficient, and may cause damage to the weighing equipment due to human misoperation . Therefore, manual positioning and ...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J13/08
Inventor 肖晖韩轩赵不贿石建荣夏勤戴春丽
Owner ZHENJIANG MEASUREMENT VERIFICATION TEST CENT
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