3D visual guidance pile disassembling measurement system and control method thereof
A visual guidance and measurement system technology, applied in measuring devices, instruments, using ultrasonic/sonic/infrasonic waves, etc., can solve the problems of poor accuracy and timeliness of unstacking information, limited use range, and inability to obtain workpiece height information, etc., to achieve The effect of widening the scope of use, improving accuracy and timeliness, and meeting the requirements of unstacking
Pending Publication Date: 2019-02-01
QINGDAO JIATONG ROBOT CO LTD
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Problems solved by technology
At present, the 3D vision-guided depalletizing measurement system in the prior art can only pick up the workpiece from the stack, and then place the workpiece on another station (conveyor belt or palletizing station), but, in actual In the process of use, due to the difference in the height and size of the workpiece, the height information of the workpiece cannot be obtained. When unstacking workpieces with different heights, the overall dimensions of the unstacked workpiece cannot be fully given, resulting in the accuracy of the unstacking information. And poor timeliness, has great limitations in practical applications, and the scope of use is limited
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[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0033] Such as figure 1 As shown, the 3D vision-guided unstacking measurement system of this embodiment includes:
[0034] The image acquisition module 1 is used to collect image information to be unstacked to obtain length and width information and grabbing coordinates of workpieces to be unstacked;
[0035] The robot 2 is used to detach t...
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The invention discloses a 3D visual guidance pile disassembling measurement system and a control method thereof. The 3D visual guidance pile disassembling measurement system comprises an image acquisition system, a robot and a height measurement module, wherein the image acquisition system is used for acquiring image information of a to-be-disassembled pile so as to acquire length and width information and a grabbing coordinate of a workpiece in the to-be-disassembled pile, the robot is used for disassembling the workpiece on the to-be-disassembled pile according to the grabbing coordinate, the height measurement module is used for performing height measurement on the workpiece grabbed by the robot so as to acquire height information of the workpiece. By the 3D visual guidance pile disassembling measurement system, the height of the workpiece can be automatically measured, the accuracy and the timeliness of pile disassembling information are improved, the pile disassembling requirementof the workpieces of different height sizes is met, and the application range is expanded.
Description
technical field [0001] The invention relates to refrigeration equipment, in particular to a 3D vision-guided destacking measurement system and a control method thereof. Background technique [0002] The 3D vision-guided destacking system is a camera composed of the traditional principle of laser triangulation to complete the relative movement with the measured object to obtain the three-dimensional data of the object, or use the principle of structured light to take still pictures of the object and obtain the three-dimensional data of the object through decoding. Calibrate to obtain the internal and external parameters of the camera, convert the data from the image coordinate system to the camera coordinate system, and convert the 3D information of the workpiece from the camera coordinate system to the robot coordinate system through the hand-eye calibration relationship, and select the 3D data in the robot coordinate system Template, and then match the template with the alg...
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IPC IPC(8): G01B11/24G01B11/06G01B17/02
CPCG01B11/0608G01B11/24G01B17/02
Inventor 高书征王宁宁陈春朋林森
Owner QINGDAO JIATONG ROBOT CO LTD