Robot positioning grabbing method and system based on laser visual guidance

Abstract

The invention relates to a robot positioning grabbing method and system based on laser visual guidance. The robot positioning grabbing method comprises the steps that three non-collinear distance measuring instruments are used for measuring the distance of a target object, and the normal vector of a plane where the target object is located is determined; the posture of a visual sensor is adjustedaccording to the normal vector; two-dimensional image information of the target object is captured through the visual sensor; and the posture of the target object is determined according to the two-dimensional image information, and grabbing of the target object is achieved. The system comprises a positioning grabbing arm, a PLC and an upper computer. The PLC is sealed in the positioning grabbingarm and connected with the upper computer, the positioning grabbing arm is provided with a visual sensor which is connected with the PLC, and the plane where the visual sensor is located is provided with the three non-collinear distance measuring instruments. Compared with the prior art, the robot positioning grabbing method and system based on laser visual guidance have the beneficial effects that the calculation amount is small, the precision is high, and the grabbing speed is high.

Description

technical field [0001] The invention relates to the field of robot vision, in particular to a method and system for robot positioning and grasping based on laser vision guidance. Background technique [0002] Industrial robots have become irreplaceable and important equipment in advanced manufacturing. Apply computer vision technology to visual guidance, determine the position and orientation of the target object through image processing, and provide the position and attitude for industrial robots to complete specific actions. The accuracy of the vision system directly affects the accuracy of robot tracking and grasping in the industrial production process. Accuracy taken. [0003] At present, various technical fields have different visual measurement technologies for identifying targets and obtaining target poses. The commonly used stereo vision methods in this field include binocular vision and laser line scanning technology. For the binocular vision technology in stere...

AI Technical Summary

Problems solved by technology

For the binocular vision technology in stereo vision, if you want to recover the complete target depth information, you need to take target images from multiple angles, and match each image, and then restore the complete depth information of the target object. The process is very complicated. Calculation A large amount, and the accuracy is not high

The laser line scanning method can only obtain the height information of the workpiece, which is suitable for measuring the surface with gentle changes, and the specific coordinates are unknown. The recognition of edge and boundary features requires a large amount of data and calculation processing, so that the recognition process of the target is slow. low efficiency

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