Control method of manipulator grabbing control system based on binocular stereoscopic vision

Abstract

The invention discloses a control method of a manipulator grabbing control system based on binocular stereoscopic vision. The control method comprises the following steps: camera parameters are calibrated, and a teaching manipulator is used for realizing conversion of a camera coordinate system and a manipulator coordinate system; line laser performs an arc surface scanning cloud motion, and a camera acquires images; laser lines of the images shot by the camera are respectively extracted; the positions of the laser lines are precisely determined by using a sub pixel algorithm; the homonymy point matching is performed for the laser lines extracted in the images; three-dimensional space coordinates of all points on the laser lines are calculated through a triangular measuring principle to finish scanning of workpieces in a scene so as to obtain point cloud data in the viewing field of the camera; a workpiece point cloud template is built, a manipulator grabbing point position is selected, and the obtained point cloud data is matched with the workpiece point cloud template to calculate a conversion relation of the two; the manipulator grabbing point position in the point cloud template is converted to a present coordinate, is converted to a coordinate under the manipulator coordinate system, and is transferred to the manipulator; and the manipulator finishes actuation actions.

Description

technical field [0001] The invention relates to the field of manipulator grasping control, in particular to a manipulator grasping control based on binocular stereo vision that can obtain 3D point cloud data of workpieces in a material box in real time, and guide manipulators to grasp and place workpieces through template matching system control method. Background technique [0002] At present, industrial automation assembly has received more and more attention, and industrial assembly by vision-guided manipulator is an important way to realize industrial automation. In the process of manipulator performing tasks, it is a very critical issue to control the manipulator to locate to the target position. CN103963058A method and method for grasping control of a robotic arm based on multi-directional vision positioning, CN104331894A a method for unstacking a robot based on binocular stereo vision, and CN104677330A a small binocular stereo vision ranging system all disclose a vis...

AI Technical Summary

Problems solved by technology

However, these methods have the defects of poor recognition rate for different types of product

Images