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Workpiece positioning method and system based on active binocular vision technology

A technology of binocular vision and positioning method, which is applied in computer components, image data processing, complex mathematical operations, etc., can solve the problems of difficult feature point stereo matching and low workpiece positioning accuracy, and achieve the goal of improving accuracy and calculation accuracy Effect

Inactive Publication Date: 2019-08-16
CHINA UNIV OF GEOSCIENCES (WUHAN)
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AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that, when there are few feature points of the workpiece in the image, it is difficult to perform stereo matching on the feature points in the left and right images at this time, resulting in the defect of low positioning accuracy of the workpiece. Technical workpiece positioning method and system

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  • Workpiece positioning method and system based on active binocular vision technology
  • Workpiece positioning method and system based on active binocular vision technology
  • Workpiece positioning method and system based on active binocular vision technology

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Embodiment Construction

[0043] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0044] Please refer to figure 1 , which is a flow chart of a method for workpiece positioning, the present invention proposes a method for workpiece positioning based on active binocular vision technology, comprising the following steps:

[0045] S1. Use an active binocular vision camera equipped with a color camera and a depth camera to acquire a color image and a depth image of a workpiece with several feature points; please refer to Figure 5 , in the implementation process, specifically, identify and locate the 4 bolts on the workpiece.

[0046] S2. In the color image, identify each feature point (bolt) on the workpiece to be positioned, and the plane coordinates of each feature point (bolt) in the color image;

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Abstract

The invention discloses a workpiece positioning method and system based on an active binocular vision technology. The beneficial effects of the invention are that by adopting the technologies of aligning an RGB color image and a depth image, converting an image coordinate system into a camera coordinate system, creating feature point templates and matching the templates, when the number of featurepoints of a workpiece in the image is small, three-dimensional matching is carried out on the feature points in the left image and the right image, and the calculation precision of the position and the posture of the workpiece is improved.

Description

technical field [0001] The invention relates to the field of workpiece positioning, and more specifically relates to a method and system for precise positioning of workpieces by using active binocular vision technology. Background technique [0002] With the continuous development of science and technology, people's requirements for automated operations continue to increase, and traditional manual operations are constantly being challenged. As a result, more and more industrial robots for the industrial field have emerged, which can automatically realize various functions by relying on their own power and control capabilities. In complex industrial sites, robots often need to identify and locate the workpiece before processing the workpiece. Therefore, in recent years, in manufacturing and production, using machine vision to guide robot operations has gradually become a mainstream trend. [0003] In industrial production, processes such as automatic loading and unloading o...

Claims

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Application Information

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IPC IPC(8): G06T7/90G06T7/73G06T7/50G06K9/62G06F17/16
CPCG06T7/50G06T7/90G06T7/75G06F17/16G06F18/22
Inventor 陈鑫简旭刘振焘孙一仆贺文朋
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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