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Elevator door sheet positioning and grabbing device and method based on vision

A grasping device, elevator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of instability, poor positioning accuracy of a single camera, large size of elevator door panels, etc., achieve good positioning effect, ensure accuracy and Stability, the effect of reducing system cost

Inactive Publication Date: 2018-06-19
广州映博智能科技有限公司
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Problems solved by technology

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a vision-based elevator door panel positioning and grasping device and method. The device aims at the problems of large elevator door panel size, poor positioning accuracy and instability of a single camera, and proposes a Using dual-camera method to ensure the accuracy and stability of positioning

Method used

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  • Elevator door sheet positioning and grabbing device and method based on vision
  • Elevator door sheet positioning and grabbing device and method based on vision
  • Elevator door sheet positioning and grabbing device and method based on vision

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0035] The vision-based elevator door panel positioning and grabbing device of the present invention is composed of a vision system device, an image acquisition card, an industrial computer and a robot, wherein:

[0036] see figure 1 , the vision system device includes cameras 1 and 2, lenses 3 and 4, light sources 5 and 6; wherein, the two cameras 1 and 2, lenses 3 and 4 are installed at one end of the suction cup gripper of the robot 9, and the light source 5 is installed under the camera 1 and the lens 3, and the light source 6 is installed under the camera 2 and the lens 4; the camera 1 and the lens 3, the camera 2 and the lens 4 are all used to take images within their working range, and capture the elevator doors that need to be processed. Material state image; Li...

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Abstract

The invention discloses an elevator door sheet positioning and grabbing device and method based on vision. The device consists of a vision system device, an image acquiring card, a robot and an industrial personal computer. The system method is divided into three modules of (S1) the vision positioning module, (S2) the coordinate system conversion module and (S3) the system software design module.A system adopts double cameras; elevator door sheet characteristic identification and positioning programs are designed based on Cognex VisionPro vision development software; an excellent positioningeffect is achieved; and the robot can be guided to quickly and accurately grab elevator door sheets to finish the loading task to meet actual industrial application demands.

Description

technical field [0001] The invention relates to the field of robot vision positioning and grasping, in particular to a vision-based elevator door panel positioning and grasping device and method. Background technique [0002] The identification and positioning of workpieces is an important part of the effective application of industrial robots in the production line. At present, robots have been widely used in industrial production lines, but many of them complete some preset fixed actions and functions under the teaching programming of teaching personnel or offline programming. If the environment around the workpiece changes, it is likely to cause the robot task to fail. [0003] Machine vision is to enable robots to have human-like visual functions, extract useful information from images of objective things, and realize various detection, judgment, recognition and measurement functions. Combining machine vision technology and robot technology, using the positioning funct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J19/04
CPCB25J9/161B25J9/1679B25J9/1697B25J19/04
Inventor 覃争鸣何中平李康
Owner 广州映博智能科技有限公司
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