Mechanical arm tracking and positioning on-line identification and correction method based on computer vision

Abstract

The invention discloses a mechanical arm tracking and positioning on-line identification and correction method based on computer vision. A computer vision technology is adopted to obtain a synchronous motion state picture of a mechanical arm and a tracked target, digital image analysis and processing are performed, a relative deviation of the mechanical arm from a geometric center position of the tracked target is obtained, and a mechanical arm servo control system adjusts an existing track of the mechanical arm according to the deviation value, thereby completing accurate positioning of the tracked moving target by the mechanical arm. The method provided by the invention can realize on-line automatic detection and calibration of the relative position deviation between the mechanical arm in periodical variable motion and the moving target to be tracked and positioned which has a regular geometrical shape; can effectively eliminate a random error caused by interference factors such as a mechanical arm shake; and facilitates improvement of the automation level of the field of mechanical package production, ensures production quality, and increases economic benefits.

Description

technical field [0001] The invention relates to the field of production and packaging machinery automation, in particular to a method for on-line identification and deviation correction of manipulator tracking and positioning based on computer vision. Background technique [0002] In a mechanical packaging production system with servo multi-axis synchronous motion, a multi-degree-of-freedom manipulator is applied. The trajectory of the manipulator is controlled by multiple servo motors, and the motor that controls the manipulator is used as a virtual axis that is synchronized with the main shaft. Driven by the main shaft, the imaginary shaft completes the established motion trajectory, so that the manipulator can complete the task of tracking the moving target with regular geometric shape transported on the conveyor belt driven by the main shaft. as attached figure 1 As shown, during the system movement, the movement speed of the main shaft is variable, and the distance bet...

AI Technical Summary

Problems solved by technology

[0003] However, with the long-term production operation, the tightness of the conveyor belt and the backlash of the gears will change, resulting in a deviation in the synchronization between the manipulator and the main shaft conveyor belt, resulting in a change in the relative position of the manipulator and the geometric center of the tracked moving target. change, so that the pick-up clip installed on the manipulator cannot accurately grasp the moving target

In the "Automatic Deviation Correction Packaging Robot" published on July 7, 2010, the patent No. "200810189493.2" provides an automatic deviation correction packaging robot with high degree of automation, accurate deviation correction and small size, but this patent is for folders, Light and simple packaging objects such as desk calendars and certificates, there is no specific embodiment for some large regular packaging objects that need to follow the movement of the production line

In addition, for this kind of servo multi-axis synchronous motion system, in the existing manipulator tracking control technology, most of them rely on manual intervention to manually adjust the trajectory offset of the manipulator, which makes the production line unintelligent, poor in timeliness, troublesome in operation, and reduces productivity

Images