Industrial robot automatic pin hole assembling method based on visual guidance

Abstract

The invention provides an industrial robot automatic pin hole assembling method based on visual guidance. A CCD industrial camera is used for serving as a visual system, and through adoption of a positioning pin outline recognition algorithm and a positioning algorithm, recognition, positioning, grabbing, hole inserting and other work tasks of a positioning pin are completed. The posture of the positioning pin in the space can be precisely estimated, and the precision is high. Image matching and recognition are both based on the outline, implementation is easy, and real-time performance is good. Full automation from part grabbing to pin inserting work is achieved based on a monocular hand and eye mechanical arm, meanwhile, hardware cost is kept, and the work efficiency and quality of a robot are improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a method and system for automatic pin hole equipment of a mechanical arm based on vision guidance. Background technique [0002] Pin-hole assembly is an important job for industrial robots on industrial production lines. At present, most of the robots on the industrial production line can only execute predetermined instructions in a strictly defined structured environment through traditional teaching methods. There are two problems with this method. First, it cannot make corresponding adjustments to changes in the environment, and the robustness is poor. Second, even if the same command is executed, the movement of the robot will produce errors, which will affect the jacking results. In recent years, the use of visual guidance technology has become the main means for industrial robots to obtain the surrounding environment and reduce errors. It enables industrial robots to have a...

AI Technical Summary

Problems solved by technology

There are two problems with this method. First, it is impossible to make corresponding adjustments to changes in the environment, and the robustness is poor. Second, even if the same command is executed, the movement of the robot will produce errors, which will affect the jacking results.

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