Visual robot grabbing system and control method thereof
A vision system and robot technology, applied in the field of computer vision and robot intelligent control, can solve the problems of high learning cost for ordinary workers, difficulty in large-scale promotion and application, lack of simple operation, etc., to achieve simplified complexity, strong real-time performance, and efficient strong effect
Pending Publication Date: 2022-05-10
NANJING UNIV OF SCI & TECH
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] At present, the visual control software of visual companies in the market is very professional. The main users are professional visual engineers, who must have certain professional knowledge and understand complex image processing algorithms.
The disadvantages of this kind of visual control software system are: on the one hand, they are highly professional, and the users are targeted at professional technicians. The learning costs for ordinary workers are very high, and it is difficult to promote and apply them on a large scale; on the other hand, they are very easy to use. Low, even for professional technicians, creating a task requires a long debugging time, reducing production efficiency
There is a lack of control methods on the market that are easy to operate and the gripping system can adapt to different workpieces by adjusting parameters
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0063] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0064] Structural module framework of the present invention such as figure 1 As shown, this visual robot grasping system includes a master control system, a slave control system, a vision system, and a grasping system. The master control system sends instructions to control the slave control system, the vision system, and the grasping system respectively. ;
[0065] The main control system includes a main processor, a memory, a data acquisition module, a data processing module, a coordinate system conversion module, a display screen and a communication interface;
[0066] The main processor is the control core of the main control system and the slave control system;
[0067] The memory is used to store data and programs generated during the working process of the entire grabbing system;
[0068] The data acquisition module includes...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a visual robot grabbing system and a control method thereof. The system comprises an industrial personal computer master control system, a robot slave control system, a visual system and a grabbing system. The method comprises the steps that the visual system automatically obtains position information of an object through an image shot by a camera, and determines the grabbing position of the robot tail end grabbing system; and meanwhile, according to the image processing method of the visual system, the posture of the grabbing tool is determined according to the observed shape and the placing state of the grabbed object in the image, and finally the randomly-placed workpiece is successfully grabbed. The robot can be applied to grabbing workpieces of different sizes and adapt to different industrial automatic production scenes, the complexity of working programming is simplified, the application range of the robot is widened, and the working efficiency in actual production is improved; when only the visual sensor is used as input, adaptive grabbing can be carried out on a specified object in multiple objects, visual tracking of a moving object can be completed, and the method is high in real-time performance, high in detection rate, high in robustness and good in universality.
Description
technical field [0001] The invention relates to the technical fields of computer vision and robot intelligent control, in particular to a visual robot grasping system and a control method thereof. Background technique [0002] A robot is a machine device that can perform work automatically. It can accept human instructions, run pre-set programs, and act according to principles and programs specified by artificial intelligence technology. Its mission is to assist or even replace human beings in actual production, such as in service industry, construction industry, factory production, or dangerous work. [0003] At present, the visual control software of visual companies in the market is very professional, and the main users are professional visual engineers, who must have certain professional knowledge and understand complex image processing algorithms. The disadvantages of this kind of visual control software system are: on the one hand, they are highly professional, and t...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G06T7/00G06T7/80G06T7/13G06T5/00B25J9/16
CPCG06T7/0004G06T7/80G06T7/13B25J9/16B25J9/1697B25J9/1664G06T2207/20036G06T5/80G06T5/70
Inventor 韩子怡马倩张保勇周国鹏
Owner NANJING UNIV OF SCI & TECH