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.
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[0054] Example one
[0055] This embodiment provides a visual positioning method for large-size materials, which is suitable for positioning materials before material handling, and is especially suitable for materials with rectangular cross-sections.
[0056] The visual positioning method is executed 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 obtain a 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 position the material according to the depth image obtained by the depth camera , And control the manipulator to grab the material according to the positioning, and control th...
Example Embodiment
[0073] Example two
[0074] This embodiment is based on the above-mentioned embodiment. After the handling robot transports the materials to the destination, the materials need to be placed according to the location of the wood on the site. Therefore, it is necessary to check the wood and the placed wood at the material placement. The materials are identified and positioned to ensure the proper placement of materials.
[0075] When placing materials, it is necessary to judge whether the wooden squares are placed correctly according to the placed materials or the wall, and then stack the newly moved materials according to the placement requirements. For the placed materials, the same method as in the above-mentioned embodiment is used for positioning, and the method of identifying and positioning the wooden square is as follows:
[0076] After analyzing and obtaining the coordinates of each point on the depth image in the three-dimensional coordinate system, according to the coordina...
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