Binocular stereoscopic vision-based mechanical arm positioned grabbing method and device
A technology of binocular stereo vision and manipulator, which is applied in manipulators, program-controlled manipulators, image data processing, etc. It can solve the problems of failure to achieve automatic verification, manual loading and unloading of tables, and restrictions on the working efficiency of the instrument verification system, so as to improve the verification The effect of improving efficiency and accuracy
Active Publication Date: 2018-12-07
GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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Problems solved by technology
However, the existing instrument automatic verification system requires manual loading and unloading of the meter, and complete automatic verification has not been achieved, which seriously restricts the working efficiency of the instrument verification system.
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[0041] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0042] The method provided by this application can be applied as figure 1 In the application environment shown, the controller, the robotic arm, the binocular stereo vision system, the electric gripper, and the rotating platform for the instrument to be inspected. The binocular stereo vision system and the electric gripper are fixed on the flange of the robot arm, and the instrument to be inspected is placed on the rotating platform to be inspected; the controller is connected with the robot arm and the binocular stereo vision system through an Ethernet cable; the controll...
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The invention relates to a binocular stereoscopic vision-based mechanical arm positioned grabbing method and device. The method comprises the following steps: determining a transformational relation between a world coordinate system and a mechanical coordinate system; classifying and identifying a target electric power meter by means of a scale-invariant feature SIFT feature matching rule; calculating a first target position of the target electric power meter in the world coordinate system and determining a second target position of the first target position in the mechanical arm coordinate system according to the transformational relation between the world coordinate system and the mechanical coordinate system; and grabbing the target electric power meter according to the type feature ofthe target electric power meter and the second target position. According to the method and device, the meter grabbing precision can be improved, and a to-be-detected instrument is placed on a rotaryplatform, so that the whole calibrating system improves the calibrating efficiency.
Description
technical field [0001] The present application relates to the field of automatic control, in particular to a method and device for positioning and grabbing a robotic arm based on binocular stereo vision. Background technique [0002] At present, pointer meters are still commonly used in the power industry. In order to ensure the safe operation of the power system, scientific research institutes such as the Electric Power Research Institute and the Metrology Institute need to conduct regular verification of the meters to ensure the accuracy of the meters. Therefore, automated meters The demands on verification systems are increasing day by day. However, the existing instrument automatic verification system needs manual loading and unloading of the meter, and the complete automatic verification has not been achieved, which seriously restricts the working efficiency of the instrument verification system. Contents of the invention [0003] Based on this, it is necessary to ad...
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IPC IPC(8): B25J9/16B25J11/00G06T7/80
CPCB25J9/1679B25J9/1697B25J11/00G06T7/85
Inventor 裴利强莫文雄黄青丹王勇吕慧媛饶锐李聃曾炼陈于晴廖伟杰李助亚练穆森陈丽梅卢青
Owner GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD