Robot vision guiding method and device based on integration of global vision and local vision

Abstract

The invention discloses a robot vision guiding method and device based on integration of global vision and local vision. The method comprises the following steps that a global vision system and a local vision system are integrated, firstly, the rough positioning of a machining target is achieved, and the partitioning of the machining target is achieved, path planning is carried out, then a high-precision visual detection system is combined to accurately detect the target, and then the robot is guided to implement high-precision and high-efficiency automatic grinding and polishing operation, sothat the precision requirement for high-efficiency machining of the large-size machining target is met.

Description

technical field [0001] The invention relates to the field of robot vision, in particular to a robot vision guidance method and device based on integrating global vision and local vision. Background technique [0002] Automation equipment (robot system), which is a powerful tool for manufacturing a powerful country, must move towards high speed and intelligence. An important means of intelligent automation equipment is to equip the machine with "eyes" and a "brain" that can cooperate with the eyes. This "eye" can be a monocular camera, a binocular camera, a multi-camera, a 3D scanner, or an RGB-D (RGB+Depth) sensor. The core work of intelligent automation equipment includes: analyzing the image data obtained by this "eye" (such as image recognition), and then guiding the robot system to complete specific processing or assembly operations based on the analysis results. With the advancement of processing technology, the surface of the parts to be processed is becoming more an...

AI Technical Summary

Problems solved by technology

[0003] The main purpose of the present invention is to provide a robot vision guidance method and device based on the integration of global vision and local vision, aiming to solve the problem that the detection accuracy of the existing robot vision guidance scheme with a large detection field of view is usually not high, and the processing cannot be achieved. Accuracy requirements, and in order to obtain high-precision spatial positioning information, the robot vision guidance solution needs to set a small detection field of view, so for larger processing targets, block detection is required, so the calculation complexity is very high and requires a lot of Large amount of calculation, long calculation time, resulting in low work efficiency of the overall system, and high performance requirements for software and hardware, it is difficult to achieve real-time processing, which does not meet the needs of the current high-speed industrial production process technical problem

Images