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Visual positioning method of large-size material and carrying robot

A visual positioning, large-scale technology, applied in instruments, image analysis, image enhancement and other directions, can solve the problems of high labor cost, inconvenient handling, time-consuming and laborious manual handling, etc., to ensure the effect of stress and eliminate potential safety hazards.

Active Publication Date: 2019-11-15
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, with the continuous increase in the size and weight of materials, the labor intensity of construction personnel is high, the handling is inconvenient, the labor cost is high, and the handling process does not meet the requirements of building safety construction
Taking construction as an example, the size of architectural PC prefabricated interior wall panels can reach 2600mm*600mm*100mm, and the weight can reach 150kg. Manual handling is time-consuming and laborious, and the risk factor is high

Method used

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  • Visual positioning method of large-size material and carrying robot
  • Visual positioning method of large-size material and carrying robot
  • Visual positioning method of large-size material and carrying robot

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Experimental program
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Embodiment 1

[0055] This embodiment provides a visual positioning method for large-sized materials, which is suitable for locating the position of materials before material handling, and is especially suitable for materials with rectangular cross-sections.

[0056] The visual positioning method is performed by a large-size material handling robot, the handling robot includes a manipulator and a moving component, the manipulator is used to grab the material, and the moving component is used to move the robot to the place where the material is placed; further, The handling robot includes a depth camera and a controller, the depth camera is used to acquire the depth image of the material to be transported, and the height of the camera relative to the ground is greater than the height of the wood; the controller is used to locate the material according to the depth image acquired by the depth camera , and control the manipulator to grab the material according to the positioning, and control the...

Embodiment 2

[0074] In this embodiment, on the basis of the above-mentioned embodiments, when the handling robot transports the materials to the destination, it needs to place the materials according to the placement position of the wooden cubes on the site. Materials are identified and positioned to ensure proper placement of materials.

[0075] When placing materials, it is necessary to judge whether the placement of wooden cubes is correct according to the placed materials or the wall surface, and then stack the newly moved materials according to the placement requirements. For the materials that have been placed, use the same method as the above-mentioned embodiment to locate, and the method of identifying and locating the wooden square is as follows:

[0076] After analyzing and obtaining the coordinates of each point in the three-dimensional coordinate system on the depth image, the material plane 11 or the wall surface and the contour lines of at least two wooden squares 12 are iden...

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Abstract

The invention discloses a visual positioning method of a large-size material and a carrying robot, and relates to the technical field of machine vision. The visual positioning method comprises the following steps of acquiring a depth image of a material through a depth camera; carrying out analyzing to obtain coordinates of each point on the depth image in a three-dimensional coordinate system; and identifying a material plane according to the coordinates of all points, and calculating the center coordinates of the plane of the material. The depth image of the material is acquired at the viewing angle of the carrying robot through the depth camera, the plane of the material can be identified through image processing and analysis, and the coordinates of the geometric center of the materialin the three-dimensional coordinate system can be calculated, so that visual guidance is provided for the carrying robot, the carrying robot can grab the material according to the center point of thematerial, and the material is guaranteed to be uniformly stressed, balanced and the like in the carrying process. In this way, the carrying robot can be free of the auxiliary of constructors, materialconveying is independently completed, and potential safety hazards are eliminated.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a visual positioning method for large-sized materials and a handling robot. Background technique [0002] At present, the logistics handling of large-sized materials is usually completed by manpower, mainly by multiple construction workers to lift the materials and transport them to the destination with the help of simple trolleys. However, as the size and weight of materials continue to increase, the labor intensity of construction personnel is high, the handling is inconvenient, the labor cost is high, and the handling process does not meet the requirements of building safety construction. Taking construction as an example, the size of architectural PC prefabricated interior wall panels can reach 2600mm*600mm*100mm, and the weight can reach 150kg. Manual handling is time-consuming and laborious, and the risk factor is high. [0003] In actual industrial scenarios, large...

Claims

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Application Information

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IPC IPC(8): G01B11/00G06T1/00G06T7/70
CPCG01B11/002G06T1/0014G06T2207/10028G06T7/70
Inventor 孙伟俊黄洋阳化
Owner GUANGDONG BOZHILIN ROBOT CO LTD
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