A Vision-Based Positioning Method for Top Bending Sheets
A positioning method and plate technology, applied in positioning devices, feeding devices, storage devices, etc., to achieve the effects of high versatility, improving automation level and efficiency, and avoiding time costs
Active Publication Date: 2017-01-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0006] Aiming at the deficiencies of the existing technology and production needs, the present invention provides a vision-based positioning method for the top-layer bending sheet, which realizes automatic recognition of the position of the top-layer sheet from the multi-layer sheets on the reclaiming station, thereby solving the problem of robot-assisted bending. Technical problems of automatic positioning of plates in
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[0025] In order to make the purpose, technical solutions and beneficial effects of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings, but the implementation of the present invention is not limited thereto.
[0026] Please refer to figure 1 As shown, the present invention is based on the vision-based positioning method of the top floor bending plate, which comprises the following steps:
[0027] 1) Image acquisition: use a CCD camera vertically installed above the reclaiming station to capture images of multi-layer plates stacked on the reclaiming station;
[0028] 2) Plate area extraction: Use threshold segmentation to roughly extract the plate area, then use corrosion first and then dilation to remove the noise area in the segmented image, and use the resulting image as a mask to act on the original collected image, from the collected image Ex...
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The invention discloses a vision-based positioning method for a top layer bending plate. Firstly, a charge coupled device (CCD) camera is used for collecting a picture of the bending plate on a taking station, and the plate area in the picture is extracted through threshold segmentation, expansion and collision and picture masking. Secondly, two edges belonging to the top layer plate are obtained after edge extraction and screening, and the end points of the two edge lines are obtained through statistic probability Hoff line conversion. Finally, the pixel coordinates of the obtained end points are converted into three-dimensional coordinates under a camera coordinate system according to internal parameters of the camera, the linear equation corresponding to the two edges is solved, and therefore the displacement deviation and the angle deviation between the actual position of the plate and a reference position obtained in advance are calculated, and the actual grabbing position of a bending robot is obtained. Through the vision sensing technology, the function of automatically identifying the position of the top layer plate from multiple layers of plates is realized, and the defects of high time cost and poor universality caused by mechanical positioning are avoided.
Description
Technical field: [0001] The invention relates to a vision-based positioning method for top-layer bending plates, which belongs to the application field of automation technology. Background technique: [0002] At present, with the wide application of metal sheet metal products in automobiles, electrical cabinets, home appliances, machine tools and other industries, the demand is large and the bending precision is high. Therefore, the development of automated bending technology is an inevitable trend. Compared with traditional manual bending, bending robot has the advantages of stable quality and high efficiency, and is gradually replacing manual bending. The bending robot is a kind of equipment that completes tasks such as automatic loading and unloading during the bending process, positioning of the bending sheet, and follow-up of the sheet during the bending process. It requires high positioning accuracy for the sheet to be folded during the application process. , while th...
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IPC IPC(8): B21D5/00B21D43/11B21C51/00
Inventor 楼佩煌钱晓明杨丽娟王彬
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS