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Part view library construction method, part positioning and grabbing method and device

A construction method and technology of parts, applied in computer parts, instruments, computing, etc., can solve problems such as high cost and low efficiency

Active Publication Date: 2020-01-03
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Different tooling equipment must be made for each different part, resulting in high cost and low efficiency

Method used

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  • Part view library construction method, part positioning and grabbing method and device
  • Part view library construction method, part positioning and grabbing method and device
  • Part view library construction method, part positioning and grabbing method and device

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Embodiment Construction

[0072] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0073] The present invention proposes a method for building a part view library, comprising the following steps:

[0074] Step A1, drawing the 3D model of the part;

[0075] Step A2, acquiring two-dimensional images of different angles of the 3D model of the part; extracting the edge information of the two-dimensional image, and calculating the similarity between the images, and constructing a trapezoidal part view library according to the similarity.

[0076] In this example, if figure 1 As shown in , where the outermost sphere is the drawn virtual view sphere, 1 represents the 3D model of the part, and 2 represents the virtual camera, whic...

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Abstract

The invention relates to a method for constructing a part view library, a method and a device for locating and capturing parts. The invention draws the 3D model of the part at first, and extracts the two-dimensional contours of the 3D model of the part at different angles by constructing a virtual view sphere and surrounding the virtual view sphere with a virtual camera. Group the image edge information by similarity, and then build a trapezoidal part view library; based on the part view library, before the part is captured, the image of the part to be captured and the image in the view library are from the top layer to the bottom layer According to the layer-by-layer matching of the similarity, the image most similar to the image of the part to be captured can be quickly located, and then the corresponding pose coordinates can be obtained; then the precise pose coordinates of the part can be obtained by the least squares iterative method. The invention saves the part positioning tooling, greatly reduces the cost on the industrial production line; and is not affected by the uneven illumination on the production line, can accurately grasp the target parts, and improves the working efficiency of the industrial robot.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to a method for building a parts view library, a method and a device for locating and grabbing parts. Background technique [0002] At present, various types of industrial robots are applied to the fields of parts processing, assembly and transportation. For industrial robots working on automated production lines or flexible manufacturing systems, the most completed type of operation is the "grab-place" action. . [0003] In the existing technology, it is usually necessary to place the parts in a suitable tooling, requiring the pose of the parts to remain unchanged. Different tooling equipment must be made for each different part, resulting in high cost and low efficiency. Contents of the invention [0004] In order to solve the above-mentioned problems in the prior art, the present invention proposes a method for building a parts view library, a method and a device ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/653G06V10/44G06F18/22
Inventor 赵向乔红苏建华杨爱龙
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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