Unlock instant, AI-driven research and patent intelligence for your innovation.

Machine vision-based automatic workpiece sorting method and system

A machine vision and automatic sorting technology, applied in sorting, instruments, image analysis, etc., can solve problems such as inability to accurately reflect the conversion relationship between the camera coordinate system and the robot coordinate system, sorting failure, etc., and improve the sorting accuracy Effect

Pending Publication Date: 2021-03-26
GUANGDONG UNIV OF TECH
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to certain errors in the manufacturing process and assembly process of industrial cameras, the picture information captured by the industrial camera has a small amount of distortion, and the internal and external parameters of the industrial camera obtained through camera calibration have certain errors. The hand-eye calibration process uses the internal parameters of the camera with certain errors. The transformation affine matrix obtained with the external parameters does not accurately reflect the transformation relationship between the camera coordinate system and the robot coordinate system
In actual operation, there are certain errors in the workpiece position information obtained by the sorting robot using the error-prone transformation affine matrix, and the sorting failure often occurs

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Machine vision-based automatic workpiece sorting method and system
  • Machine vision-based automatic workpiece sorting method and system
  • Machine vision-based automatic workpiece sorting method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] This embodiment proposes a method for automatic sorting of workpieces based on machine vision, comprising the following steps:

[0064] S1: The camera takes pictures of different types of workpieces, generates corresponding types of workpiece matching templates and stores them in the workpiece feature template library.

[0065] In this step, the weighted average filtering algorithm is used to preprocess the captured workpiece pictures to improve the quality of the workpiece pictures, and then extract the edge contour shape information of the workpieces in the pictures, and generate different types of workpiece matching templates, and the workpieces Matching templates are stored in the workpiece feature template library.

[0066] Among them, the weight in the weighted average filtering algorithm is the reciprocal of the gray gradient, and its expression formula is as follows:

[0067]

[0068]

[0069] d(i+k,j+l)=(|f(i+k,j+l)-f(i,j)|+1) -1 ,(k,l)≠(0,0)

[0070] ...

Embodiment 2

[0121] This embodiment proposes an automatic workpiece sorting system based on machine vision, and applies the automatic workpiece sorting method based on machine vision proposed in Embodiment 1. Such as image 3 Shown is a schematic structural view of the automatic workpiece sorting system based on machine vision in this embodiment.

[0122] The automatic workpiece sorting system based on machine vision proposed in this embodiment includes a camera 1, a sorting robot 2, a host computer 3, a workbench 4 and a placement slot 5, wherein:

[0123] The camera 1 is placed in the shooting area on one side of the workbench 4, and the sorting robot 2 is placed in the grabbing area on the other side of the workbench 4;

[0124] A conveyor belt is arranged on the workbench 4, and the conveyor belt is used to transmit different types of workpieces to the shooting area and the grabbing area;

[0125] The upper computer 3 classifies the workpiece types according to the workpiece photos t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

In order to overcome the defect that the sorting result is influenced by errors of internal parameters and external parameters of an industrial camera, the invention provides a machine vision-based automatic workpiece sorting method, which comprises the following steps of: shooting different types of workpiece pictures by using a camera, generating corresponding types of workpiece matching templates and storing the workpiece matching templates in a workpiece feature template library; calibrating the camera to obtain original internal parameters and external parameters of the camera; optimizingthe internal parameters and the external parameters of the camera by adopting a longicorn beard optimization algorithm; constructing a conversion affine matrix of a camera coordinate system and a robot coordinate system according to the optimized camera internal parameters and external parameters; obtaining a workpiece grabbing position coordinate S through a conversion affine matrix of a cameracoordinate system and a robot coordinate system, and enabling the sorting robot to execute workpiece grabbing work according to the workpiece grabbing position coordinate S. The invention further provides a machine vision-based automatic workpiece sorting system, wherein the automatic workpiece sorting system applies the method.

Description

technical field [0001] The present invention relates to the technical field of machine vision, and more particularly, to a method and system for automatic sorting of workpieces based on machine vision. Background technique [0002] With the rapid development of the national economy, the manufacturing industry, which is the backbone of the country, is also developing rapidly. Traditional manufacturing enterprises have a very high demand for transformation and upgrading of production machinery and equipment. As important machinery and equipment, industrial robots play an important role in the road to intelligent manufacturing. At present, the number of industrial robots in my country has leapt to the first place in the world, and industrial robots have been applied to various manufacturing fields, such as equipment welding, material consignment, workpiece sorting, etc. Efficient operation in the environment, effectively protecting the health of workers and improving the accura...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06T7/00G06T7/66G06T7/73G06T7/80B07C5/36
CPCG06T7/0004G06T7/66G06T7/73G06T7/80B07C5/361G06T2207/10004G06T2207/20024G06T2207/30108G06T2207/30204
Inventor 曹江中廖秉旺
Owner GUANGDONG UNIV OF TECH