Implementation method for workpiece grasping of industrial robot based on visual positioning

Abstract

The invention relates to an implementation method for workpiece grasping of an industrial robot based on visual positioning, which comprises the steps that a workpiece image is acquired through a fixed global CCD camera, and workpiece image information is transmitted to a robot control system through an Ethernet interface; the robot control system processes the workpiece image and acquires workpiece position vector information; the robot performs Cartesian and joint coordinate transformation according to the workpiece position vector information so as to realize positioning and grasping of a tail-end claw for a workpiece. The invention provides a workpiece position information calculation method, which is characterized in that contour region screening is performed on all detected images when contour detection is performed on workpiece images, isolated and small-segment continuous edges are deleted, non-target contours are removed, and the target contour identification accuracy is improved; and meanwhile, when workpiece position information is calculated, judgment is performed on a long side of a workpiece, and the robot is controlled to grasp the long side of the workpiece, so that a failure in grasping caused by short side clamping of the robot is avoided, and the grasping efficiency is improved.

Description

technical field [0001] The invention relates to a method for grasping workpieces of industrial robots, in particular to a method for realizing grasping workpieces of industrial robots based on vision positioning. Background technique [0002] The positioning and grasping of workpieces by industrial robots determines the application efficiency and reliability of industrial robots. At present, there are mainly three methods: online teaching, offline programming and vision-based technology. The application of online teaching and offline programming methods for workpiece positioning requires the design, manufacture, and installation of high-precision workpiece positioning devices, especially for workpieces with complex contours. cost. At the same time, when the type of workpiece changes, it is necessary to redesign the manufacturing positioning device, which limits the production transformation cycle. On-line identification and positioning of the workpiece based on vision tech...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the disadvantages of low efficiency, poor accuracy, unfavorable robot control system integration and poor reliability existing in the method of positioning and grabbing workpieces by industrial robots in the prior art, the technical problem to be solved by the present invention is to provide an industrial robot workpiece based on visual positioning Grab the implementation method

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