Robot monocular guidance method and system for sorting scattered parts at random

A technology for robots and parts, applied in the field of robot monocular guidance methods and systems, can solve problems such as poor spatial positioning effect, poor reliability and stability, and poor versatility, and achieve the effect of improving efficiency and satisfying versatility.

Active Publication Date: 2018-06-01
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Monocular 3D positioning technology has low cost, but the reliability and stability of estimating the three-dimensional information of objects through plane images is poor. Currently, there is no effective algorithm that can achieve high-precision positioning of any object, and its versatility is poor. Large errors

Method used

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  • Robot monocular guidance method and system for sorting scattered parts at random
  • Robot monocular guidance method and system for sorting scattered parts at random
  • Robot monocular guidance method and system for sorting scattered parts at random

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Example Embodiment

[0043] figure 1 It is a schematic diagram of a robot monocular guidance system for random sorting of scattered parts according to a preferred embodiment of the present invention.

[0044] like figure 1 As shown, the robot monocular guidance system for random sorting of scattered parts according to the preferred embodiment of the present invention includes: a robot 10 , a 2D camera 20 , a grasping part 40 and a control and processing device 50 . Preferably, a light source 30 is also generally included.

[0045] Wherein, the grasping part 40 is fixed at the end of the robotic arm of the robot 10 to form the end effector of the industrial robot; and the 2D camera 20 is fixed at the end of the robotic arm of the robot 10 .

[0046] Preferably, the light source is a ring light source.

[0047]Preferably, the gripping member is an electric gripper. For example, the gripping part is fastened to the end of the robot by means of a flange.

[0048] figure 2 It is a flow chart of ...

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Abstract

The invention discloses a robot monocular guidance method and system for sorting scattered parts at random. The robot monocular guidance method for sorting scattered parts at random includes an automatic calibration process for determining a positional relationship between a camera, a camera picture, and the tail end of a robot mechanical arm; an automatic training process for extracting and training the closed contour features of a template of a target part; and an automatic sorting process for sorting and guiding the scattered parts in real time by the extracted template obtained in the automatic training process.

Description

technical field [0001] The invention relates to the field of robot vision guidance, the field of robot vision servo technology and the field of 3D vision, in particular to a robot monocular guidance method and system for random sorting of scattered parts. Background technique [0002] In the field of modern industrial production and logistics industry, it is often full of random sorting work of a large number of scattered parts. At present, these heavy and monotonous tasks are done by people, and there is an urgent need for robots to replace them. However, traditional industrial robot applications cannot solve the problem of recognition and spatial positioning of scattered parts, which requires the assistance of robot 3D vision guidance technology. The core of robot 3D vision guidance technology applied in the field of random sorting of scattered parts is the recognition, extraction and 3D positioning of a large number of disordered identical parts. At present, there are t...

Claims

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Application Information

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IPC IPC(8): G06T7/73B25J9/16G01C21/20B07C5/36G06T7/80
CPCG06T7/73G06T7/80G01C21/20B07C5/361B07C5/362B25J9/16B25J9/1679B07C2501/0063G06T2207/30108
Inventor 袁浩巍李智徐胤于佳琳
Owner SHANGHAI ELECTRICGROUP CORP
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