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Binocular vision-based express parcel grabbing device and grabbing method

A technology of binocular vision and grasping device, applied in the direction of photographing device, photo interpretation, sorting, etc., can solve the problem of unpredictable position and posture of the workpiece, and achieve the goal of improving the level of intelligence, ensuring operation accuracy and saving working space. Effect

Pending Publication Date: 2019-03-29
BEIJING INSTITUTE OF GRAPHIC COMMUNICATION
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional positioning method must go through precise manual positioning, and follow the "teaching" program to realize the grabbing and placement of the standard pose workpiece step by step, but in many cases the workpiece pose cannot be predicted, and there are no rules to follow

Method used

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  • Binocular vision-based express parcel grabbing device and grabbing method
  • Binocular vision-based express parcel grabbing device and grabbing method
  • Binocular vision-based express parcel grabbing device and grabbing method

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Embodiment Construction

[0028] Through the following description of the embodiments, it will be more helpful for the public to understand the present invention, but the specific embodiments given by the applicant cannot and should not be regarded as limitations on the technical solutions of the present invention, any components or technical features Changes to the definition and / or formal but not substantive changes to the overall structure should be regarded as the scope of protection defined by the technical solutions of the present invention.

[0029] A binocular vision-based express package grabbing method, the method includes the following steps: 1) establish a coordinate system: calibrate the binocular camera, establish a camera coordinate system, a world coordinate system and a mechanical arm coordinate system, and define each coordinate 2) Image preprocessing: perform preprocessing on the image including binarization and contour extraction; 3) Corner detection: use the harris operator to perfo...

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Abstract

The invention discloses a binocular vision-based express parcel grabbing method and device. The method includes the steps of coordinate system establishing, image preprocessing, angular point detection, contour extraction and determination of a robot grabbing position and posture. According to the express parcel grabbing device, a binocular camera is arranged at the top end of a device bracket, acage car is arranged below the binocular camera, and a six-axis mechanical arm is arranged on one side of the cage car; the six-axis mechanical arm is equipped with a mechanical gripper. The method and device have the beneficial technical effects that operation objects are express parcels, and the shapes are basically similar to cuboid; the device has the main functions of recognition of key points in images, recognition of parcel contours, calculation of grabbing position and posture of the tail end of the grasping robot, control of grasping trajectory and the like, the integration of the functions is realized, the workspace is saved, the operation accuracy is ensured, the intelligent level of work is improved, and the method and device can be integrated with wider-range express sorting systems subsequently.

Description

technical field [0001] The present invention relates to a express parcel grabbing device and a grabbing method, in particular to a binocular vision-based express parcel grabbing device and a grabbing method. Background technique [0002] Grasping motion is a common task in industrial robot applications. The traditional positioning method must go through precise manual positioning, and follow the "teaching" program to realize the grabbing and placement of the standard pose workpiece step by step. However, in many cases, the workpiece pose is unpredictable and there are no rules to follow. This puts forward a demand for the intelligent degree of robot object recognition. Robots based on visual recognition imitate human vision, can recognize target objects, and obtain scene depth information, and have developed rapidly in recent years. [0003] The visual recognition of the robotic arm refers to using a camera to simulate the human eye to control the movement of the robotic a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G01C11/04B07C5/342
CPCG01C11/02G01C11/04B07C5/3422
Inventor 高振清徐炜东
Owner BEIJING INSTITUTE OF GRAPHIC COMMUNICATION
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