Camera automatic focusing method for intelligent grabbing detection of industrial robot
An industrial robot and auto-focus technology, applied in the direction of instruments, color TV parts, TV system parts, etc., can solve the problems of not paying too much attention, and achieve the effect of fast focusing speed, improved efficiency, and high algorithm efficiency
Pending Publication Date: 2022-03-01
马鞍山学院
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Problems solved by technology
The above applications all involve the design of the robot's grasping detection technology, but there is not much attention to the above-mentioned automatic focus technology of the grasping camera
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Embodiment 1
[0039] In this embodiment, a camera auto-focusing method for intelligent grasping and detection of industrial robots, after the vision system acquires the image of the workpiece, an image with unknown surface clarity is obtained, and the robot mounted with the vision system is continuously controlled by the control system. In the mobile project, the image parameter value is calculated in real time, and compared with the set value, the position is adjusted in real time until the requirement is met to achieve the purpose of auto focus.
[0040]Among them, the intelligent grasping and detection system of industrial robots mainly includes industrial computers, vision systems, industrial robots, workpieces to be grasped, etc., and the composition form of robots and vision systems is eye-in-hand. This is an existing technology that is maturely applied in the industry and will not be described in detail here.
[0041] Specifically, the autofocus method of this embodiment includes the...
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The invention discloses a camera automatic focusing method for intelligent grabbing detection of an industrial robot, and belongs to the field of intelligent grabbing detection. According to the invention, after the visual system acquires the workpiece image, the image with unknown definition on the surface of the workpiece is obtained, and in the project that the robot mounted with the visual system continuously moves under the action of the control system, the image parameter value is calculated in real time and is compared with the set value, and the position is adjusted in real time until the requirement is met, so that the purpose of automatic focusing is achieved. The invention provides a camera automatic focusing method for intelligent grabbing detection of an industrial robot on the basis of the condition that the camera automatic focusing technology has great influence on the precision of automatic grabbing detection of the robot, which can help to ensure that a grabbing system obtains a clear workpiece surface image in the moving process. And the positioning precision of workpiece identification is improved.
Description
technical field [0001] The invention relates to the technical field of intelligent grasping detection of industrial robots based on machine vision, and more specifically, relates to a camera autofocus method for intelligent grasping detection of industrial robots. Background technique [0002] The industrial robot workpiece grasping detection system is mainly an intelligent grasping robot based on the machine vision system. In the industrial robot, the machine vision detection technology is combined to obtain the image of the workpiece through the image acquisition system, and then perform algorithmic processing on the image to obtain the relative position of the workpiece. , and transmit its position to the computer through communication equipment, and finally control the robot to complete the grabbing of the workpiece. [0003] At present, the degree of domestic industrial automation is constantly improving. The intelligent grasping and detection system of industrial robot...
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IPC IPC(8): G06T7/80G06T7/13G06T5/00H04N5/232
CPCG06T7/80G06T7/13G06T2207/10004G06T2207/10148G06T2207/20024G06T2207/30164H04N23/67G06T5/70
Inventor 陈华熊节谈波吴昊韩飞坡
Owner 马鞍山学院