Positioning clamping detection device based on stereoscopic vision recognition sensor and method

Abstract

The invention belongs to the technical field of engineering machinery, and particularly relates to a positioning clamping detection device based on a stereoscopic vision recognition sensor. The positioning clamping detection device comprises a clamping mechanism, a transportation mechanism and a vision detection mechanism, the vision detection mechanism is arranged above the transportation mechanism and is used for recognizing and detecting a target object on the transportation mechanism, the positioning information of the target object is obtained, the positioning information is transmitted to an external control system, and then the clamping mechanism clamps the target object. The positioning clamping detection device solves the problems that when an existing clamping detection device conducts the next clamping action after a visual recognition system locks the target, due to the fact that the bottom of the clamping mechanism is possibly not installed in place, shaking can be generated, the clamping effect is adversely affected, in particular, in-place detection of the clamping mechanism is lacked, the clamping function is missing due to the fact that the clamping reference goes wrong from the beginning and deviation is brought to the calculation of the positioning allowance of the visual recognition system.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a positioning and clamping detection device and method based on a stereo vision recognition sensor. Background technique [0002] At present, in the transmission of workpieces in engineering, classification, positioning and sorting are mainly carried out manually by visual inspection. However, manual classification is not accurate, positioning is not accurate, and sorting is labor-intensive. Sometimes the workpiece contains burrs and can hurt people. skin. Vision robots can replace manual work, and stereo vision has the advantage of detecting three-dimensional objects. [0003] The Chinese patent with the application number CN201810924835.4 discloses a steel mesh grabbing system based on visual recognition, including a visual recognition mechanism, a control system and a steel mesh gripping mechanism, a visual recognition mechanism, a steel mesh grippin...

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Problems solved by technology

[0006] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a positioning and clamping detection device based on a stereo vision recognition sensor to solve the problem of the next step of the existing clamping detection device when the visual recognition system locks the target. During the clamping action, due to the fact that the bottom of the clamping mechanism may not be properly installed, shaking will occur, which will have an adverse effect on the clamping effect, especially the lack of in-position detection of the clamping mechanism, and the clamping reference will be wrong from the beginning. It brings deviation to the positioning margin calculation of the visual recognition system, resulting in the lack of clamping function

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