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A method of workpiece grasping based on machine vision

A machine vision, workpiece technology, applied in instruments, manipulators, manufacturing tools, etc., can solve the problems of deformation of the outer contour of the workpiece, affecting robot clamping, reducing robot clamping efficiency, etc., to achieve a wide range of applications and improve clamping efficiency. Effect

Active Publication Date: 2022-04-08
HOHAI UNIV CHANGZHOU
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AI Technical Summary

Problems solved by technology

If the position and attitude of the workpiece cannot be accurately positioned, the gripping efficiency of the robot will be reduced
Machining and installation errors and when the equipment is running, the upper surface of the workpiece due to vibration is not parallel to the imaging surface of the camera, resulting in deformation of the outer contour of the workpiece, which affects the gripping of the robot

Method used

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  • A method of workpiece grasping based on machine vision
  • A method of workpiece grasping based on machine vision
  • A method of workpiece grasping based on machine vision

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Embodiment Construction

[0025] In order to better understand the essence of the present invention, the present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

[0026] The invention discloses a workpiece grasping method based on machine vision, which is suitable for the technical field of industrial robot grasping. The specific steps are as follows: figure 1 , figure 2 Shown:

[0027] Step 1: Use an industrial camera and a strip light source to collect images of the workpiece, and perform grayscale processing on the collected workpiece images to obtain a grayscale image of the workpiece, as shown in image 3 shown. Gaussian blurring is used to denoise the grayscale image of the workpiece. The grayscale image of the workpiece after denoising is obtained by the threshold segmentation method to obtain a binary image, and the image morphology operation is performed on the obtained binary image to further filter the noise. Using the edge d...

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Abstract

The invention discloses a workpiece grasping method based on machine vision, belongs to the technical field of industrial robot grasping, and includes offline operation steps and real-time online operation steps. The off-line operation steps include: collecting the image of the workpiece to obtain the edge profile of the workpiece and calculating the center point of the workpiece, obtaining an accurate edge profile of the workpiece through optimization, and calculating the positioning point and the initial angle β of the workpiece. A database is formed according to the workpiece edge profile and its corresponding initial angle β. The online operation steps include: collecting the real-time image of the workpiece to obtain the edge profile of the workpiece and simultaneously calculating the initial angle β' of the current workpiece. Match the edge profile of the workpiece obtained in real time with the edge profile of the workpiece in the database to obtain the relative rotation angle of the robot's end joint to grab the workpiece and the rotation direction of the robot's end joint, and the robot uses this to grab the workpiece. The invention provides a workpiece grasping method based on machine vision, which can enable a robot to accurately locate the position of the workpiece and effectively grasp it.

Description

technical field [0001] The invention relates to a workpiece grasping method based on machine vision, and belongs to the technical field of industrial robot grasping. Background technique [0002] With the application and development of robotics and vision technology, more and more intelligent robotic systems are gradually replacing manual labor to complete repetitive and complicated tasks. With the development of image processing technology and chip technology, machine vision has become the most important tool for robots to provide their autonomous intelligence. The loading and unloading of workpieces processed by machine tools is labor-intensive and repetitive work. Using robots instead of manual labor can not only achieve round-the-clock uninterrupted work and provide production capacity. During the loading and unloading of the robot system, the robot needs to accurately locate the position and posture of the workpiece. The position of the workpiece can be limited mechan...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/04B25J9/16G06T7/13G06T7/136G06T5/00
CPCB25J19/04B25J9/16B25J9/1612G06T7/13G06T7/136G06T2207/30164G06T5/80
Inventor 谭治英费仲文赵宝来徐孝彬
Owner HOHAI UNIV CHANGZHOU
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