Disorderly stacked workpiece grabbing system based on 3D vision and interaction method

A workpiece, 3D technology, applied in the field of 3D vision, can solve the problems of long debugging time, difficulty in large-scale promotion and application, and high learning cost for ordinary workers

Active Publication Date: 2020-08-07
北京迁移科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of common visual control software systems are: on the one hand, they are very professional and require professional technicians to use them. The learning cost for ordinary workers in factories is very high, and it is difficult to promote and apply them on a large scale; on the other hand, they are very easy to use. Low, even for professional technicians, creating a task requires a long debugging time, which affects production efficiency

Method used

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  • Disorderly stacked workpiece grabbing system based on 3D vision and interaction method
  • Disorderly stacked workpiece grabbing system based on 3D vision and interaction method
  • Disorderly stacked workpiece grabbing system based on 3D vision and interaction method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] A 3D vision-based disorderly stacked workpiece grasping system is applied to the grasping and unloading of randomly placed materials in the industrial field. Specifically, by constructing a disorderly grasping task, based on the above-mentioned disorderly grasping system, it can Realize the identification and accurate grasping of workpieces. Such as figure 1 As shown, it includes task management module, information interaction module, system management module, image acquisition module and task execution module. The image acquisition module is used to obtain the depth image of the workpiece and the scene. It is essentially a different type of 3D camera. In the actual application process, different types of cameras are used according to the captured workpiece. 3D cameras such as binocular 3D cameras, ToF 3D Camera, monocular structured light 3D camera, binocular structured light 3D camera; the image acquisition module transmits the acquired depth image to the information...

Embodiment 2

[0085] Based on the streamlined and guided task creation interface provided by the task management module, according to Figure 5 The task creation step completes the creation of unordered workpiece grabbing tasks:

[0086] Step S110: Determine the workpiece to be grasped in the robot's grasping task, and establish a 3D point cloud model for the workpiece to be grasped through the 3D camera. In the actual work process, the user needs to specify the workpiece to be grasped by the robot and build a 3D point cloud of the workpiece Model; when the task is executed, the 3D point cloud model of the workpiece is used to match and identify the workpiece in the basket, and the workpiece to be grasped is placed in the center of the 3D camera field of view. The 3D vision software system triggers the 3D camera to take pictures, and the 3D camera receives the vision software system to take pictures Command and execute the camera action to obtain the depth image of the scene under the field...

Embodiment 3

[0112] Also provided is an industrial control device, which includes: a processor, a memory, and a communication module; the processor, the memory, and the communication module of the industrial control device can be connected through a bus or in other ways.

[0113] Further, the processor executes various functions and image data processing of the 3D vision system by running the 3D vision software programs, instructions and modules stored in the memory, that is, realizes the method of grasping disorderly stacked workpieces based on 3D vision; the communication module Provide hardware interface and communication protocol for data transmission between image acquisition module and task execution module;

[0114] The memory includes a storage program area and a storage data area, wherein the storage program area is used to store the operating system and corresponding application programs, such as the 3D vision control application program of this solution; the storage data area is ...

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Abstract

The invention discloses a disorderly stacked workpiece grabbing system based on 3D vision and an interaction method, and relates to the technical field of 3D vision. The system comprises a task management module, an information interaction module, a system management module, an image acquisition module and a task execution module. According to the invention, a process-oriented task creation form is adopted for guiding workers to complete disordered workpiece grabbing task creation according to set steps; workers only need to grasp the specific implementation process of the disordered workpiecegrabbing task; the technical details of workpiece point cloud model generation, workpiece matching recognition, grabbing pose calculation, path planning and the like do not need to be paid attentionto, the usability of a visual software system is improved, the use threshold and learning cost of a terminal user are reduced, the debugging time of a 3D visual guidance robot for executing a grabbingtask is shortened, and the production efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of 3D vision, and in particular relates to a grasping system and an interaction method for disorderly stacked workpieces based on 3D vision. Background technique [0002] 3D vision technology has been applied in the manufacturing industry. Through 3D vision positioning to identify objects and guide robots to grab them, the tasks of sorting, loading and unloading, assembly and depalletizing of unordered workpieces are realized. In the actual operation process, the visual software system plays an important role and is an important bridge connecting the 3D camera and the robot control system. [0003] At present, the visual control software developed by 3D vision companies in the market is very professional and more suitable for professional visual engineers. They need to understand complex image processing algorithms and have certain professional knowledge. The disadvantages of common visual control software ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T19/20G06F3/0484
CPCG06T17/00G06T19/20G06F3/04845Y02P90/02
Inventor 樊钰赵明明李宏坤田璇
Owner 北京迁移科技有限公司
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