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

A computer vision, tracking and positioning technology, applied in computer control, instrument, packaging automatic control, etc., can solve the problems of synchronization deviation, lower production efficiency, troublesome operation, etc., and achieve the effect of high measurement accuracy

Inactive Publication Date: 2016-07-13
CENT SOUTH UNIV
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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 deg

Method used

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

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Embodiment Construction

[0029] See attached figure 1, this structure is improved and perfected on the original servo multi-axis synchronous motion system structure, and the manipulator is attached to a newly added base that can rotate freely, which increases the degree of freedom of the manipulator, so that the manipulator that can only move in the plane become movable in space. The conveyor belt 2 is driven by the main shaft, responsible for transporting the moving target 5 to be tracked and positioned by the manipulator 1, and the adjacent moving targets are distributed at unequal intervals. The manipulator 1 has multiple degrees of freedom, and the horizontal and vertical directions are respectively controlled by independent servo motors. Control, and the base 3 of the manipulator 1 is also controlled by an independent servo motor to achieve free rotation, so that the manipulator 1 can reach the position within the specified range of space, and the servo motor controlling the manipulator 1 is used...

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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

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Claims

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Application Information

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Owner CENT SOUTH UNIV
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