Industrial robot visual recognition positioning grabbing method, computer device and computer readable storage medium

Abstract

The invention provides an industrial robot visual recognition positioning grabbing method, a computer device and a computer readable storage medium. The method comprises the steps that image contour extraction is performed on an acquired image; when the object contour information exists in the contour extraction result, positioning and identifying the target object by using an edge-based templatematching algorithm; when the target object pose information is preset target object pose information, correcting the target object pose information by using a camera calibration method; and performingcoordinate system conversion on the corrected pose information by using a hand-eye calibration method. The computer device comprises a controller, and the controller is used for implementing the industrial robot visual recognition positioning grabbing method when executing the computer program stored in the memory. A computer program is stored in the computer readable storage medium, and when thecomputer program is executed by the controller, the industrial robot visual recognition positioning grabbing method is achieved. The method provided by the invention is higher in recognition and positioning stability and precision.

Description

technical field [0001] The present invention relates to the technical field of industrial robots, in particular to a method for visual recognition, positioning and grasping of industrial robots, a computer device using the method for visual recognition, positioning and grasping of industrial robots, and a method for applying the visual recognition, positioning and grasping of industrial robots A computer readable storage medium for a method. Background technique [0002] In recent years, with the increase in labor costs and the reduction in the cost of industrial robots, more and more robots have been applied to the sorting process on the assembly line. Robot visual servo and dynamic grasping technology refers to real-time acquisition of images of real objects through industrial cameras, tracking and modeling of motion information of objects to be grasped through target tracking or pattern recognition technology, and feedback to the robot system for further motion control a...

AI Technical Summary

Problems solved by technology

However, the traditional gray-scale related target recognition method is easily affected by environmental factors such as light, and the anti-interference is not strong, resulting in low positioning stability and accuracy.

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