A positioning method based on machine vision when the height of the target object is uncertain
A target object, machine vision technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as calculating the end of the crank handle
Active Publication Date: 2020-09-15
北京市城市管理研究院
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[0009] The purpose of the present invention is to provide a positioning method based on machine vision when the height of the target object is uncertain, so as to solve the problem of how to calculate the height distance between the camera and the plane of the object (handle end) grasped by the manipulator. The technical problem of the coordinate value of the handle end
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[0022] The present invention uses the following implementation example to illustrate the specific technical solution for realizing the purpose of the invention. Such as figure 1 As shown, on the top of the dung tank of the dung suction truck, the principle schematic diagram of unscrewing the dung valve with the method of the present invention. Install a part called "lower claw seat" at the end of the crank handle. There are two small circles 7 (or polygons) on the upper plane, and the two circles are painted in a different color (for example: red) from the fecal suction car in the figure. The distance between the graphs is a fixed value L. The "lower claw seat" is concentric with the end of the rocker, and with this as the center of the circle, a large concentric circle 8 (or polygon) is placed on the "lower claw seat", and the graphics are painted in a different color from that of the fecal suction truck (for example: red).
[0023] see figure 2 shown. Use the industria...
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The invention discloses a positioning method for a target object at an indeterminate height based on a machine vision. The positioning method comprises the following steps: putting a marker on the target object, wherein an upper plane of the marker comprises a large circle coincident to the center of a to-be-grabbed object by a mechanical arm and two small circles with a known distance; coating graphs of the small and large circles with colors different from those of surrounding equipment; taking a positioning picture of the marker downward by an industrial camera at fixed position and height;calculating the separating distance of any two pixels in the picture by dividing the known distance of the two small circles by number of pixels between the center of circles of the two small circlesand calculating the pixel coordinate value at the center of circle of the large circle; and multiplying the coordinate value by the separating distance of the two pixel points to obtain the actual distance from the center of circle of the large circle to the origin of a coordinate system so as to obtain X-axis and Y-axis distance values of a position where the object is grabbed by a mechanical arm. The positioning method can solve the technical problem that the position of the object is positioned when the height of the object grabbed by the mechanical arm is indeterminate.
Description
technical field [0001] The invention relates to a method for automatic positioning of a manipulator. Background technique [0002] In some specific occasions, the manipulator will automatically find the position of the grasped object, and approach it to complete the grasping operation. [0003] For example, the following industries: when the sanitation manure suction truck is discharging manure, the workers have to climb to the top of the manure tank and use the shaker to unscrew the valve to open the manure. Some manure tanks are more than two meters high and have no steps. In winter, the manure tank may freeze. It is inconvenient and dangerous to climb up and down twice for each operation. It is proposed to design a mechanical arm that can replace the human hand to unscrew and close the valve. [0004] There are various types of fecal suction trucks ranging from 3 tons to 8 tons, and the height of the end of the handle of the fecal suction truck varies from 1.5 meters to...
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IPC IPC(8): B25J9/16
Inventor 孙晨阳王晓燕徐毅刚
Owner 北京市城市管理研究院