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Method for positioning workpiece in three-dimensional space based on machine vision

A three-dimensional space, machine vision technology, applied in the direction of instruments, image data processing, calculation, etc., can solve the problems of not fully releasing the maximum potential of industrial robots, not being able to complete pre-selection settings well, requiring manual teaching, etc., to achieve image The processing process is simple and efficient, the calculation speed is fast, and the effect of meeting the needs of use

Pending Publication Date: 2021-12-21
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But at present, most robot applications are still at the level of manual teaching, and the maximum potential of industrial robots has not been fully released
As a result, the current industrial robots cannot complete the pre-selected tasks well once the working scene changes.

Method used

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  • Method for positioning workpiece in three-dimensional space based on machine vision
  • Method for positioning workpiece in three-dimensional space based on machine vision
  • Method for positioning workpiece in three-dimensional space based on machine vision

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Embodiment Construction

[0035] The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0036] It should also be understood that the specific embodiments described here are only for understanding the present invention, and are not intended to limit the present invention.

[0037] The target image processed by the present invention comes from the industrial camera of the industrial robot, and the industrial camera is used to detect workpieces on the production line.

[0038] Such as figure 1 As shown, the step-by-step operation of a vision-based workpiece detection method proposed by the present invention is as follows:

[0039] Step 1. Calibration work. Because the imaging development rate of the edge area of ​​the camera lens is different from that of the central area, it will cause distortion during the i...

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Abstract

The invention discloses a method for positioning a workpiece in a three-dimensional space based on machine vision, and the method comprises the steps: carrying out the shooting of a to-be-detected workpiece through a camera, and obtaining an original image of the workpiece in a detection region; performing image preprocessing on the original image; carrying out binaryzation in the preprocessing process based on k entropy in the generalized statistical mechanics theory; and obtaining position information of the target workpiece in a pixel coordinate system through ROI region extraction and image edge detection. The object distance of the image can be obtained by analyzing the pinhole camera model, then the real-time position information of the target workpiece under the robot base coordinate system can be obtained through coordinate transformation, and accurate positioning of the target workpiece is achieved.

Description

technical field [0001] The invention relates to a detection method combined with machine vision and image recognition applied to workpiece positioning in three-dimensional space, which is suitable for the positioning detection of various workpieces in the automatic production process, and particularly relates to a vision-based real-time positioning method. Background technique [0002] With the continuous improvement of the level of automation and intelligence in the manufacturing industry, more and more factories have begun to introduce a large number of automated production lines including industrial robots. When robots participate in automated production, it is necessary to put forward high requirements for the robot to be able to accurately locate the workpiece. But at present, most robot applications are still at the level of manual teaching, and the maximum potential of industrial robots has not been fully released. As a result, once the current industrial robot chang...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06T7/11G06T7/13G06T7/136G06T7/181G06T7/73G06T7/80
CPCG06T7/11G06T7/136G06T7/13G06T7/181G06T7/80G06T7/75G06T2207/20032G06T2207/20028G06T5/70
Inventor 刘志峰刘康许静静赵永胜李龙飞雷旦陈建州
Owner BEIJING UNIV OF TECH
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