Visual alignment method for rapidly guiding manipulator to grab target

Abstract

The invention discloses a visual alignment method for rapidly guiding a manipulator to grab a target. The method comprises the following steps of placing the center of a test workpiece at a reference position set by a station for at least two times; using a camera to photograph to obtain actual coordinates of the test workpiece when the test workpiece is placed each time with the camera as a reference system; constructing a position correction function of the manipulator; ensuring that the actual coordinates of each time of placement are substituted into the position correction function to determine a position correction model of the manipulator; ensuring that a to-be-grabbed target workpiece flows into the station at any position and / or posture, and actual coordinates of the to-be-grabbed target workpiece are obtained through photographing of the camera when the camera serves as the reference system; ensuring that the actual coordinates of the to-be-grabbed target workpiece are substituted into the position correction model of the manipulator when the camera serves as the reference system, and the position deviation coordinates of the manipulator needing to be corrected for material taking are obtained. The method is high in compatibility and easy to operate, the equipment debugging time can be shortened, and the grabbing efficiency and precision of the manipulator are improved.

Description

technical field [0001] The invention belongs to the technical field of machine vision, and in particular relates to a visual alignment method for quickly guiding a manipulator to grab a target. Background technique [0002] Industrial vision CCD guidance and positioning requires that the machine vision system can quickly and accurately find the target and confirm its physical position, and guide the robotic arm or axis module to accurately grasp the target or load and unload. At present, most of the domestic third-party machine vision special algorithms are used, and they are biased towards low-level or independent unit operations. The specific application level must be realized by on-site development engineers combining huge operator units according to actual needs. , [0003] The operation preparations for vision-guided alignment include: checkerboard distortion correction→nine-point calibration→rotation posture center fitting. Among them, checkerboard distortion correct...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem of complex fitting operation and large errors in the rotation posture center fitting operation existing in the prior art, the present invention provides a visual alignment method that quickly guides the manipulator to grab the target. This method has strong compatibility, simple operation, and can reduce equipment debugging time, improve the efficiency and accuracy of manipulator grabbing

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