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Fuzzy grabbing method and device based on machine vision

A machine vision, fuzzy technology, applied in the direction of conveyor objects, transportation and packaging, can solve the problem of low fault tolerance, achieve the effect of large fault tolerance, prevent grasping failure or impact on the shell

Inactive Publication Date: 2020-05-05
SHENGRUI TRANSMISSION
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a fuzzy grasping method and device based on machine vision, which overcomes the defects in the existing control methods. For the problem of low position tolerance, the position of the manipulator can be automatically corrected when the shell is roughly positioned (positioning accuracy is at the millimeter level), achieving 100% automatic grabbing

Method used

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  • Fuzzy grabbing method and device based on machine vision
  • Fuzzy grabbing method and device based on machine vision
  • Fuzzy grabbing method and device based on machine vision

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Embodiment Construction

[0024] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that the following does not constitute a limitation to the protection scope of the present invention.

[0025] Examples such as figure 1 , figure 2 , image 3 , Figure 4 Shown, a kind of fuzzy grasping method based on machine vision, the device that realizes this fuzzy grasping method comprises:

[0026] The whole equipment is mainly composed of material buffer area 1, 3D camera 2, manipulator 3, fixed scanning gun 4, PLC control system 5, material cart 7, guide rail 8, and shell repair area 10.

[0027] Material buffer area 1 includes material buffer area 1-A, material buffer area 1-B and material buffer area 1-C, and material buffer area 1-C is an empty material area; once material buffer a...

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Abstract

The invention discloses a fuzzy grabbing method and device based on machine vision. A mechanical hand moves to the position above a material temporary storage zone to suspend, a 3D camera takes a photo of the posture of a shell and conducts recognition, the photo is compared with a picture arranged in a system, and the correction is automatically calculated and fed back to a robot; and the robot corrects the position of the mechanical hand according to the calculating result so that the mechanical hand can adapt to the actual posture of the shell, the mechanical hand grabs the shell downwardsto move to a code scanning position, a QR code of the shell is aligned to a fixed code scanning gun, machine type mistake-proof recognition is conducted, the shell is moved to the initial point of a production line after machine type mistake-proof recognition, after auxiliary holes of the shell are aligned to positioning points on a tray, the shell is released, and single-time grabbing action is completed. The fault tolerance of the posture of the shell is large, the mechanical hand can automatically adapt to the position of a workpiece with the millimeter error range and is corrected from theworking position to the appropriate grabbing position, and the problem that grabbing fails or the shell is collided is prevented.

Description

technical field [0001] The invention belongs to the technical field of automatic transmission control, and in particular relates to a machine vision-based fuzzy grasping method and device. Background technique [0002] With the rapid development of computer technology and digital image processing, machine vision technology is widely used in many fields such as automobile and auto parts manufacturing, machining industry and so on. At present, traditional industrial robots must teach point by point to complete the material handling and assembly on the production line, but the workpieces are often placed randomly on site, which makes the industrial robots unable to complete the operation tasks. [0003] In the previous assembly process, the transmission case was manually carried on the line, and the case blocked the line of sight, and it was inevitable that there would be slight collisions with the positioning points of the tooling. If the manipulator is simply used for graspi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G47/90
CPCB65G47/905
Inventor 李伦张建坤王鲁李健
Owner SHENGRUI TRANSMISSION
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