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Rapid vision positioning method and system based on SCARA robot

A visual positioning and robot technology, applied in the field of image recognition, can solve the problems of long matching time and low target position accuracy, and achieve the effect of accelerating positioning, enhancing stability and ensuring accuracy

Active Publication Date: 2018-02-09
重庆誉鸣科技有限公司
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Problems solved by technology

[0010] In view of the above problems, the purpose of the present invention is to provide a fast visual positioning method and system based on SCARA robot to solve the problems of long matching time and low target position accuracy in existing visual positioning methods

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  • Rapid vision positioning method and system based on SCARA robot
  • Rapid vision positioning method and system based on SCARA robot
  • Rapid vision positioning method and system based on SCARA robot

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Embodiment Construction

[0038] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0039] In view of the foregoing, the existing visual positioning of the robot has the problems of long matching time and low target position accuracy. The present invention first establishes an image pyramid, and then uses the gradient direction map of the top-level image and the distance transformation of the edge map of the top-level image The obtained label map establishes the gradient direction feature label map of the top-level image; in the process of the top-level template traversing the top-level image with the first preset step size, the features of the top-level template and the template features of the top-level template are combined in the gradient direction feature of the top-level image Match the corresponding area in the mark map, obtain the similarity metric matrix during the matching process, and obtain the matching area of ​​t...

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Abstract

The invention provides a rapid vision positioning method and system based on an SCARA robot. The method comprises the steps that a to-be-tested image pyramid is established; an edge graph and a gradient direction graph of a top-layer image in the to-be-tested image pyramid are obtained; distance conversion is conducted on the edge graph of the top-layer image, meanwhile, a distance graph and a mark graph of the top-layer image are obtained, and a gradient direction feature mark graph of the top-layer image is established according to the gradient direction graph and the mark graph; a pretreated top-layer template traverses the top-layer image with the first preset step length in a template rotation and template zooming manner, and a matched area of a target in the top-layer image is obtained; the top-layer template traverses the matched area with the second preset step length, and the accurate position of the target in the top-layer image is obtained; the obtained accurate position istracked from the top layer to the bottom layer, and in the bottom-layer image of the to-be-tested image pyramid, the position of the target in the to-be-tested image is obtained through the least square balancing algorithm. By means of the rapid vision positioning method and system, the target can be rapidly and accurately positioned.

Description

technical field [0001] The invention relates to the technical field of image recognition, and more specifically, to a method and system for fast visual positioning based on a SCARA robot. Background technique [0002] A SCARA (Selective Compliance Assembly Robot Arm, planar articulated robot) robot is a robot arm used in assembly operations, that is to say, it is an industrial robot (hereinafter referred to as a robot) used in production. Most of the industrial robots currently used in production use off-line programming or teaching methods to program or plan the trajectory of the robot according to specific tasks. The operation process of the robot is to repeatedly execute a series of defined actions. Changes in the working environment or changes in the state of the operating object will cause the robot to be unable to perform its work accurately. [0003] With the development of industry and the continuous expansion of robot application fields, modern industry has higher ...

Claims

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Application Information

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IPC IPC(8): B25J19/04B25J9/04
CPCB25J9/042B25J19/04
Inventor 陶青川
Owner 重庆誉鸣科技有限公司
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