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A fast grasping method, device and storage medium of a binocular vision-guided robot

A binocular vision, robot technology, applied in instruments, manipulators, program-controlled manipulators, etc., can solve problems such as difficulty in breaking through grasping efficiency, slow matching and positioning speed, etc.

Active Publication Date: 2021-12-14
SHANTOU SANSAN INTELLIGENT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The traditional binocular vision guides the robot to grasp, and the matching and positioning speed is slow. It often takes more than 1 to 2 seconds to complete the positioning. The entire grasping action cycle usually exceeds 4s or more, and it is difficult to break through the grasping efficiency.

Method used

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  • A fast grasping method, device and storage medium of a binocular vision-guided robot

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0026] refer to figure 1 The flowchart shown.

[0027] A fast grasping method of a binocular vision-guided robot in an embodiment of the present invention is performed through the following steps.

[0028] Before starting, preprocess the left and right cameras of the binocular camera respectively, read the camera calibration internal parameters, and perform epipolar correction on the left and right images.

[0029] Create a targeted region of interest (ROI) within the corrected left camera's left view

[0030] The first step, based on the creation of edge templates

[0031] 1. Use the Canny algorithm to find the contour edge of the target object.

[0032] Step1: Smooth the image with a Gaussian filter

[0033] formula:

[0034]

[0035] G(x,y)=f(x,y)*H(x,...

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Abstract

The embodiment of the present invention discloses a fast grasping method, device and storage medium of a binocular vision-guided robot, including correcting the left and right cameras, and obtaining the coordinate position of the target point by using an edge contour-based matching algorithm for the left view; The coordinate position of the target point is obtained through the adaptive weight matching algorithm to obtain the matching result on the right view, and obtain the parallax value; convert the parallax value result into depth information; calculate and output the target grabbing point according to the depth information The spatial coordinates of the robot guide the robot to complete the rapid positioning and grasping action. The embodiment of the invention also discloses a device and a storage medium for a binocular vision-guided robot to quickly grasp. With the present invention, the interference of light can be reduced, and the speed is 3 to 6 times faster than the traditional binocular vision stereo positioning algorithm, and the accuracy in the horizontal direction is as high as 0.1mm, and the accuracy in the vertical direction is as high as 1mm, especially suitable for Scara Robot grasping accuracy requirements.

Description

technical field [0001] The invention relates to a machine vision processing method, in particular to a binocular vision-guided robot fast grasping method, device and storage medium. Background technique [0002] By simulating the processing method of human eyes, binocular stereo vision technology has the ability to obtain the depth information of the object to be measured, and then can obtain the spatial position information of the object to be measured. At the same time, it has the advantages of nondestructive measurement and real-time measurement, and has been widely used in various industries. a wide range of applications. Binocular stereo vision technology can accurately obtain the spatial position information of the target point while ensuring the advantages of non-contact and real-time performance. It can be applied to three-dimensional high-precision servo control, high-precision space positioning and high-precision three-dimensional measurement. The processing and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/10B25J19/04G06T7/13
CPCG06T7/13B25J9/10B25J9/16B25J9/1679B25J19/04
Inventor 陈力
Owner SHANTOU SANSAN INTELLIGENT TECH