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A Method for Rapidly Sorting Defective Workpieces by Parallel Robots

A technology of robots and workpieces, which is applied in the system field of parallel robots to quickly sort defective workpieces, can solve problems affecting the accuracy of robot sorting and lack of positioning accuracy, and achieve the goal of reducing hardware performance requirements, improving operating efficiency, and ensuring accuracy Effect

Active Publication Date: 2022-03-08
中国大恒(集团)有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This scheme uses the Canny operator for image segmentation, and extracts the target image from the background image. Although the Canny operator can identify weak edges very well, at the same time, the Canny operator is easily disturbed by noise, and will part of the noise It is also attributed to the edge, resulting in the lack of positioning accuracy, which in turn affects the accuracy of robot sorting

Method used

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  • A Method for Rapidly Sorting Defective Workpieces by Parallel Robots
  • A Method for Rapidly Sorting Defective Workpieces by Parallel Robots
  • A Method for Rapidly Sorting Defective Workpieces by Parallel Robots

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Embodiment 1

[0038] Such as figure 1 As shown, this embodiment provides a method for quickly sorting defective workpieces by a parallel robot. picking system, the method includes:

[0039] Step 1, based on the NCC template matching algorithm, generate an image pyramid according to the image to be detected, and determine the reference point of the topmost pyramid image, wherein, the image pyramid includes a multi-layer pyramid image, and the image to be detected is the image of the workpiece to be detected;

[0040] Specifically, traditional NCC template matching relies on a pyramid algorithm to build a model. By reducing the length and width of the original image by 2 times, the pyramid images of each layer are sequentially obtained by means of pixel interpolation. With the increase of the pyramid level, the image information is also reduced, although the detection speed will increase accordingly, but the detection accuracy will decrease accordingly. Moreover, traditional NCC template m...

Embodiment 2

[0091] Such as Figure 5 As shown, this embodiment provides a system for quickly sorting defective workpieces by a parallel robot. The system includes: a conveyor belt, an industrial camera, a light source, a manipulator, and a manipulator control system. The manipulator control system is based on any of the above-mentioned embodiments. A method for quickly sorting defective workpieces by a parallel robot controls a mechanical arm to sort workpieces to be inspected on a conveyor belt.

[0092] Specifically, the stamping parts to be inspected (workpieces to be inspected) are placed on the conveyor belt, and the upstream of the conveyor belt is a visual inspection system; the visual inspection system mainly includes: a high-angle ring light source, an industrial camera, and a lens with an adapted resolution.

[0093] First, the visual inspection system collects images of the workpieces on the conveyor belt. The high-level ring light source can irradiate uniformly on the workpiec...

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Abstract

The present application discloses a method for quickly sorting defective workpieces by a parallel robot, including: generating an image pyramid according to the image to be detected, and determining the reference point of the pyramid image at the highest level; determining the image of the next level according to the reference point of the pyramid image at the highest level The predicted reference point of , determine the first area centered on this point, and calculate the matching score of each pixel in the first area, and record the pixel corresponding to the maximum value as the intermediate reference point; when the intermediate reference point is located in the first area If it is an edge, determine the second area with this point as the center, and calculate the matching score of each pixel in the second area, record the pixel corresponding to the maximum value as the reference point of the image in this layer, and re-execute step 2; based on the bottom layer The reference point of the pyramid image is used to calculate the reliability of the workpiece to be inspected as a defect, so as to judge whether to grab the workpiece to be inspected. Through the technical solution in this application, the problems of slow defect detection speed and high error rate in the current industrial robot sorting system are solved.

Description

technical field [0001] This application relates to the technical field of parallel robot sorting, in particular, to a method for quickly sorting defective workpieces by parallel robots and a system for quickly sorting defective workpieces by parallel robots. Background technique [0002] my country's manufacturing industry is in a stage of vigorous development. The combination of industrial robots and machine vision plays an increasingly obvious role in various application directions of intelligent manufacturing. Parallel robot sorting is one of the important ones, especially in electronics, automobiles, food, etc. In fields such as medicine and pharmaceuticals, parallel robot sorting has become an important part of the product assembly line. [0003] However, the parallel robot sorting in the prior art usually has problems such as slow sorting system speed, high error rate, and high cost. [0004] For example, the patent CN107328785A provides a stamping part defect detectio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B07C5/36G06T7/00
CPCB07C5/361G06T7/0004G06T2207/30164B07C2501/0063
Inventor 温宇翔宋伟铭周中亚刘敏高晓阳
Owner 中国大恒(集团)有限公司