A robotic arm vision system
A vision system and robotic arm technology, applied in the field of robotic arm vision systems, can solve the problems of inoperable behavior adjustment, reduced system efficiency, and a lot of programming preparation time, so as to improve operation accuracy, improve intelligence, and improve industrial control level. Effect
Active Publication Date: 2021-09-07
SHANDONG CHAOYUE DATA CONTROL ELECTRONICS CO LTD
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Problems solved by technology
This control method is extremely restrictive for intelligent robots, does not have real-time performance, has insufficient perception of external information changes, and cannot adjust the operating behavior according to changes in the environment. At the same time, a large number of functions require a large amount of programming preparation time. , which greatly reduces the system efficiency to a certain extent
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[0023] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions protected by the present invention will be clearly and completely described below using specific embodiments and accompanying drawings. Obviously, the implementation described below Examples are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in this patent, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this patent.
[0024] This embodiment provides a vision system for the robotic arm 1, such as figure 1 As shown, it includes: robotic arm 1, binocular camera 2, hand-eye calibration module 4, image processing module 3, and robotic arm control module 5;
[0025] The binocular camera 2 is arranged on the upper part of the end of the mechanical arm 1, and is used to collect image data of characteristic obj...
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The invention provides a vision system of a manipulator. The binocular camera collects image data of characteristic objects in the working area of the manipulator; the image processing module receives the image data transmitted by the binocular camera, and uses a symmetrical convolutional neural network The image data captured by the camera extracts eigenvalues and performs filtering processing; and reconstructs the original image data according to the extracted eigenvalues; the hand-eye calibration module calibrates the coordinates of the feature objects on the image data transmitted by the image processing module, and unifies the coordinates of the feature objects and the mechanical arm End coordinates; the robot arm control module receives the motion parameters and trajectory of the robot arm in real time, generates the robot arm movement trajectory command according to the unified coordinates, and controls the movement of the robot arm in real time; improves the intelligence of the robot arm control.
Description
technical field [0001] The invention relates to the field of industrial intelligent control, in particular to a robotic arm vision system and method. Background technique [0002] In recent years, industrial robots have been widely used in the field of industrial control. The traditional technical method uses the offline programming guidance of operators to control industrial robots. The robot repeatedly executes the program stored in the memory unit to perform the required operations. This control method is extremely restrictive for intelligent robots, does not have real-time performance, has insufficient perception of external information changes, and cannot adjust the operating behavior according to changes in the environment. At the same time, a large number of functions require a large amount of programming preparation time. , which greatly reduces the system efficiency to a certain extent. Contents of the invention [0003] In order to overcome the deficiencies in t...
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IPC IPC(8): B25J19/04B25J9/16G06T7/80G06K9/46G06K9/40G06N3/04
CPCG06T7/85B25J9/16B25J9/1664B25J19/04G06V10/30G06V10/40G06N3/045
Inventor 王晔葛永辉刘毅枫马晓光
Owner SHANDONG CHAOYUE DATA CONTROL ELECTRONICS CO LTD