Automatic positioning and position correcting method and device for manipulator tray
By installing the camera on the robot tray and automatically positioning and position correction using the SURF feature point detection algorithm, the problem of low positioning accuracy and low degree of automation of the robot tray is solved, and high precision, simple operation and efficient production are achieved.
Patent Information
- Application Number
- CN202411366106.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-02-11
AI Technical Summary
The positioning accuracy of existing robotic trays is not high and the operation is complicated. When the relative position between the robotic tray and the insulation furnace capillary needle base changes, manual position correction is required, resulting in low automation and low production efficiency.
Using a robotic hand tray with a camera installed, the overall image of the capillary needle holder of the insulation furnace is obtained through the camera. After pre-processing, the SURF feature point detection algorithm is used to generate the initial and current coordinate positions of the standard reference object, calculate the position deviation value in real time, and automatically correct it. Position of the robot tray.
It improves the positioning accuracy of the robotic tray, simplifies the operation process, reduces human resource requirements, and improves the degree of automation and production efficiency.
Smart Images
Figure CN119417757A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of medical machinery automation, and in particular to an automatic positioning and position correction method and device for a manipulator tray. Background Art
[0002] In recent years, robots have been widely used in the automation industry to replace manpower to perform tedious and high-precision production and manufacturing procedures. In order for the robot arm to be able to move continuously and accurately to avoid errors, the industry has high requirements for the accuracy of the robot arm. Since the capillary has a very small diameter, the accuracy requirements for the robot tray are even higher. The current existing robot tray positioning requires personnel to perform visual positioning, which has the problems of low accuracy, cumbersome operation, and high requirements for personnel skills. In addition, when the capillary, holding furnace, and robot tray move relative to each other due to maintenance, replacement of parts, or routine operation, manual position correction and resetting are required, and there are also problems of low automation and low production efficiency. Summary of the invention
[0003] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a method and device for automatic positioning and position correction of a robot tray, aiming to solve the problems of low precision, cumbersome operation and high skill level required for personnel when performing visual positioning, and when the capillary, insulation furnace, and robot tray move in relative position due to maintenance, replacement of parts or routine operation, manual position correction and resetting are required, resulting in a low degree of automation and low production efficiency.
[0004] In order to solve the above technical problems, the present invention provides a method and device for automatic positioning and position correction of a robot pallet.
[0005] The first aspect disclosed in the present application provides an automatic positioning and position correction method for a robot tray, the method comprising: a robot tray equipped with a camera moves to a preset position, and the camera obtains an overall image of a capillary needle seat of a holding furnace at the preset position; the overall image is preprocessed, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; a designated needle on the capillary needle seat of the holding furnace is used as a standard reference object, and an initial coordinate position of the standard reference object is generated from the preprocessed image using a SURF feature point detection algorithm; the camera collects a real-time image of the capillary needle seat of the holding furnace in real time, and a current coordinate position of the standard reference object is generated from the real-time image using a SURF feature point detection algorithm; the position deviation value between the current coordinate position and the initial coordinate position is calculated in real time; when the position deviation value is not zero, it is determined that relative movement has occurred between the robot tray and the capillary needle seat of the holding furnace; the robot tray is corrected based on the position offset, and the robot tray is moved to the preset position.
[0006] Preferably, the method of generating the initial coordinate position of the standard reference object from the preprocessed image using the SURF feature point detection algorithm comprises the following steps: capturing the specific position of the standard reference object on the image; and generating the initial coordinate position of the standard reference object based on the specific position.
[0007] Preferably, the method of generating the current coordinate position of the standard reference object from the real-time image using the SURF feature point detection algorithm comprises the following steps: capturing the current specific position of the standard reference object on the real-time image; and generating the current coordinate position of the standard reference object based on the current specific position.
[0008] Preferably, before capturing the current specific position of the standard reference object on the real-time image, the method further includes: performing preprocessing steps of graying the real-time image, denoising the image, and increasing the image brightness and contrast by 20%.
[0009] In a second aspect disclosed in the present application, there is provided an automatic positioning and position correction device for a manipulator tray, the device being used to implement the above-mentioned automatic positioning and position correction method for a manipulator tray, the device comprising: an image acquisition module, the image acquisition module being used to move a manipulator tray equipped with a camera to a preset position, and the camera obtaining an overall image of a capillary needle seat of a heat preservation furnace at the preset position; a preprocessing module, the preprocessing module being used to preprocess the overall image, wherein the preprocessing comprises image graying, image denoising, and increasing the brightness and contrast of the image by 20%; an initial coordinate position generation module, the initial coordinate position generation module being used to use a designated needle on the capillary needle seat of the heat preservation furnace as a standard reference object, and utilizing the image to obtain an overall image of a capillary needle seat of a heat preservation furnace at the preset position; a preprocessing module, the preprocessing module being used to preprocess the overall image, wherein the preprocessing comprises image graying, image denoising, and increasing the brightness and contrast of the image by 20%; and a preprocessing module for generating an initial coordinate position. The initial coordinate position of the standard reference object is generated from the preprocessed image using the SURF feature point detection algorithm; an automatic positioning module, the automatic positioning module is used for the camera to collect the real-time image of the capillary needle seat of the insulation furnace in real time, and the current coordinate position of the standard reference object is generated from the real-time image using the SURF feature point detection algorithm; a deviation value calculation module, the deviation value calculation module is used to calculate the position deviation value between the current coordinate position and the initial coordinate position in real time; a judgment module, the judgment module is used to judge whether relative movement has occurred between the manipulator tray and the capillary needle seat of the insulation furnace when the position deviation value is not zero; a position correction module, the position correction module is used to correct the manipulator tray based on the position offset and move the manipulator tray to a preset position.
[0010] The third aspect disclosed in the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program: a manipulator tray equipped with a camera moves to a preset position, and the camera obtains an overall image of a capillary needle seat of a holding furnace at the preset position; the overall image is preprocessed, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; a designated needle on the capillary needle seat of the holding furnace is used as a standard reference object, and an initial coordinate position of the standard reference object is generated from the preprocessed image using a SURF feature point detection algorithm; the camera collects a real-time image of the capillary needle seat of the holding furnace in real time, and a current coordinate position of the standard reference object is generated from the real-time image using a SURF feature point detection algorithm; the position deviation value between the current coordinate position and the initial coordinate position is calculated in real time; when the position deviation value is not zero, it is determined that relative movement has occurred between the manipulator tray and the capillary needle seat of the holding furnace; the manipulator tray is corrected based on the position deviation value, and the manipulator tray is moved to the preset position.
[0011] The fourth aspect disclosed in the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the following steps when executed by a processor: a manipulator tray equipped with a camera moves to a preset position, and the camera obtains an overall image of the capillary needle seat of the insulation furnace at the preset position; the overall image is preprocessed, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; a designated needle on the capillary needle seat of the insulation furnace is used as a standard reference object, and an initial coordinate position of the standard reference object is generated from the preprocessed image using a SURF feature point detection algorithm; the camera collects a real-time image of the capillary needle seat of the insulation furnace in real time, and a current coordinate position of the standard reference object is generated from the real-time image using a SURF feature point detection algorithm; the position deviation value between the current coordinate position and the initial coordinate position is calculated in real time; when the position deviation value is not zero, it is determined that relative movement has occurred between the manipulator tray and the capillary needle seat of the insulation furnace; the manipulator tray is corrected based on the position deviation value, and the manipulator tray is moved to the preset position.
[0012] The beneficial effects of the present invention are: it is no longer necessary for personnel to perform visual positioning, and the accuracy is relatively high and the operation is relatively simple compared to personnel performing visual positioning. When the relative position between the manipulator tray and the capillary needle seat of the insulation furnace changes and the position is recalibrated, there is no cumbersome manual operation that affects the accuracy, and the degree of automation and production efficiency are relatively high. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0014] Figure 1 The present invention is a schematic diagram of the external structure of a method and device for automatic positioning and position correction of a robot pallet.
[0015] Figure 2 The present invention is a flow chart of a method for automatic positioning and position correction of a robot pallet.
[0016] Figure 3 The present invention is a structural schematic diagram of an automatic positioning and position correction device for a robot pallet.
[0017] Description of the reference numerals: holding furnace robot tray 10 , holding furnace capillary needle holder 20 , camera 30 . DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0019] like Figure 1 As shown, the purpose of the present invention is to provide a method and device for automatic positioning and position correction of a manipulator tray 10. When the manipulator tray 10 and the capillary needle seat 20 of the insulation furnace move in relative position due to maintenance, replacement of parts or routine operation, the camera 30 installed on the manipulator tray 10 is used to acquire images to calculate the coordinate position and position offset, thereby realizing automatic positioning and position correction, with relatively high accuracy and simple operation, thereby improving the degree of automation and production efficiency.
[0020] like Figure 2 As shown, an embodiment of the present application provides a method for automatic positioning and position correction of a robot pallet, the method comprising: The robot tray equipped with a camera moves to a preset position, and the camera obtains an overall image of the capillary needle seat of the insulation furnace at the preset position; Specifically, the resolution of the camera must be greater than 640×480, otherwise the image clarity is not enough to accurately capture the current coordinate position and the initial coordinate position on the capillary needle holder of the insulation furnace. In addition, the frame rate of the camera should not exceed 30fps, because too high a frame rate will cause the SURF feature point detection algorithm to capture real-time images with too high a delay, reducing the efficiency and accuracy of position correction. At the same time, the stability of the camera on the manipulator tray must be ensured, and no shaking, displacement or rotation in any direction can occur, otherwise it will greatly affect the accuracy of position correction, resulting in failure of automatic positioning and position correction. In this process, it must be ensured that the capillary needle holder of the insulation furnace and all its components are within the visible range of the camera as a whole, otherwise the SURF feature point detection algorithm will fail and the initial coordinate position cannot be accurately generated.
[0021] Preprocessing the overall image, wherein the preprocessing includes graying the image, denoising the image, and increasing the brightness and contrast of the image by 20%; Specifically, converting the image into a grayscale image during image preprocessing can reduce the size of the image and improve the execution speed of the SURF feature point detection algorithm. It can also reduce the elements contained in the image, avoid too many color image elements, prevent the target from being incomplete and the subject from being prominent, and improve the precision and accuracy of the SURF feature point detection algorithm.
[0022] A designated needle on the capillary needle holder of the holding furnace is used as a standard reference object, and the initial coordinate position of the standard reference object is generated from the preprocessed image using the SURF feature point detection algorithm; Specifically, the SURF feature point detection algorithm has the advantage of high precision and can accurately extract image features and accurately identify the position of target objects in the image in the form of feature points.
[0023] The camera collects the real-time image of the capillary needle seat of the holding furnace in real time, and uses the SURF feature point detection algorithm to generate the current coordinate position of the standard reference object from the real-time image; Specifically, the SURF feature point detection algorithm can quickly and accurately capture real-time images, and its fast image capture speed can make position correction faster and more sensitive.
[0024] Calculate the position deviation between the current coordinate position and the initial coordinate position in real time; When the position deviation value is not zero, it is determined that a relative movement occurs between the manipulator tray and the capillary needle seat of the insulation furnace; The robot pallet is corrected based on the position offset and the robot pallet is moved to a preset position, thereby reducing the collision problem caused by human operation errors.
[0025] Furthermore, the method of generating the initial coordinate position of the standard reference object from the preprocessed image using the SURF feature point detection algorithm includes the following steps: Capture the specific position of the standard reference object on the image; Based on the specific position, an initial coordinate position of the standard reference object is generated.
[0026] Furthermore, the method of generating the current coordinate position of the standard reference object from the real-time image using the SURF feature point detection algorithm includes the following steps: Capture the current specific position of the standard reference object on the real-time image; Based on the current specific position, a current coordinate position of the standard reference object is generated.
[0027] Furthermore, before capturing the current specific position of the standard reference object on the real-time image, the method further includes: performing preprocessing steps of graying the real-time image, denoising the image, and increasing the image brightness and contrast by 20%.
[0028] In summary, the automatic positioning and position correction method for a robot pallet provided in the embodiment of the present application has the following technical effects: 1. No longer need personnel to perform visual positioning. Compared with personnel performing visual positioning, it has higher accuracy and simpler operation; 2. When the relative position between the manipulator tray and the capillary needle seat of the insulation furnace changes and the position is recalibrated, there is no cumbersome manual operation that affects the accuracy, and the degree of automation and production efficiency are relatively high.
[0029] In summary, the automatic positioning and position correction method for the robot pallet improves the degree of automation and production efficiency during production operations, simplifies operations, and reduces human resource requirements.
[0030] Based on the same inventive concept as the method for automatic positioning and position correction of a robot pallet in the aforementioned embodiment, Figure 3 As shown, the present application provides an automatic positioning and position correction device for a robot pallet, the device comprising: An image acquisition module, wherein the image acquisition module is used to move a manipulator tray equipped with a camera to a preset position, and the camera obtains an overall image of the capillary needle seat of the insulation furnace at the preset position; A preprocessing module, the preprocessing module is used to preprocess the whole image, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; An initial coordinate position generating module, wherein the initial coordinate position generating module is used to use a designated needle on the capillary needle holder of the holding furnace as a standard reference object, and to generate an initial coordinate position of the standard reference object from a preprocessed image using a SURF feature point detection algorithm; An automatic positioning module, wherein the automatic positioning module is used for a camera to collect a real-time image of a capillary needle seat of a holding furnace in real time, and a SURF feature point detection algorithm is used to generate a current coordinate position of a standard reference object from the real-time image; A deviation value calculation module, wherein the deviation value calculation module is used to calculate the position deviation value between the current coordinate position and the initial coordinate position in real time; A determination module, wherein when the position deviation value is not zero, the determination module is used to determine that a relative movement occurs between the manipulator tray and the capillary needle seat of the insulation furnace; A position correction module is used to correct the robot tray based on the position offset and move the robot tray to a preset position.
[0031] Furthermore, the method of generating the initial coordinate position of the standard reference object from the preprocessed image using the SURF feature point detection algorithm includes the following steps: Capture the specific position of the standard reference object on the image; Based on the specific position, an initial coordinate position of the standard reference object is generated.
[0032] Furthermore, the method of generating the current coordinate position of the standard reference object from the real-time image using the SURF feature point detection algorithm includes the following steps: Capture the current specific position of the standard reference object on the real-time image; Based on the current specific position, a current coordinate position of the standard reference object is generated.
[0033] Furthermore, before capturing the current specific position of the standard reference object on the real-time image, the method further includes: performing preprocessing steps of graying the real-time image, denoising the image, and increasing the image brightness and contrast by 20%.
[0034] Through the above-mentioned detailed description of a method for automatic positioning and position correction of a robot pallet in this specification, those skilled in the art can clearly know an automatic positioning and position correction device for a robot pallet in this embodiment. Since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.
[0035] In one embodiment, a computer device is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: a manipulator tray equipped with a camera moves to a preset position, and the camera obtains an overall image of a capillary needle seat of a holding furnace at the preset position; the overall image is preprocessed, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; a designated needle on the capillary needle seat of the holding furnace is used as a standard reference object, and an initial coordinate position of the standard reference object is generated from the preprocessed image using a SURF feature point detection algorithm; the camera collects a real-time image of the capillary needle seat of the holding furnace in real time, and a current coordinate position of the standard reference object is generated from the real-time image using a SURF feature point detection algorithm; a position deviation value between the current coordinate position and the initial coordinate position is calculated in real time; when the position deviation value is not zero, it is determined that relative movement has occurred between the manipulator tray and the capillary needle seat of the holding furnace; the manipulator tray is corrected based on the position deviation value, and the manipulator tray is moved to the preset position.
[0036] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: a manipulator tray equipped with a camera moves to a preset position, and the camera obtains an overall image of a capillary needle seat of a holding furnace at the preset position; the overall image is preprocessed, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; a designated needle on the capillary needle seat of the holding furnace is used as a standard reference object, and an initial coordinate position of the standard reference object is generated from the preprocessed image using a SURF feature point detection algorithm; the camera collects a real-time image of the capillary needle seat of the holding furnace in real time, and a current coordinate position of the standard reference object is generated from the real-time image using a SURF feature point detection algorithm; a position deviation value between the current coordinate position and the initial coordinate position is calculated in real time; when the position deviation value is not zero, it is determined that relative movement has occurred between the manipulator tray and the capillary needle seat of the holding furnace; the manipulator tray is corrected based on the position deviation value, and the manipulator tray is moved to the preset position.
[0037] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0038] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for automatic positioning and position correction of a robot pallet, characterized in that: The method comprises: The robot tray equipped with a camera moves to a preset position, and the camera obtains an overall image of the capillary needle seat of the insulation furnace at the preset position; Preprocessing the overall image, wherein the preprocessing includes graying the image, denoising the image, and increasing the brightness and contrast of the image by 20%; A designated needle on the capillary needle holder of the holding furnace is used as a standard reference object, and the initial coordinate position of the standard reference object is generated from the preprocessed image using the SURF feature point detection algorithm; The camera collects the real-time image of the capillary needle seat of the holding furnace in real time, and uses the SURF feature point detection algorithm to generate the current coordinate position of the standard reference object from the real-time image; Calculate the position deviation between the current coordinate position and the initial coordinate position in real time; When the position deviation value is not zero, it is determined that a relative movement occurs between the manipulator tray and the capillary needle seat of the insulation furnace; The robot tray is corrected based on the position deviation value, and the robot tray is moved to a preset position.
2. The method according to claim 1, characterized in that The method of generating the initial coordinate position of the standard reference object from the preprocessed image using the SURF feature point detection algorithm includes the following steps: Capture the specific position of the standard reference object on the image; Based on the specific position, an initial coordinate position of the standard reference object is generated.
3. The method according to claim 1, characterized in that The method of generating the current coordinate position of the standard reference object from the real-time image using the SURF feature point detection algorithm includes the following steps: Capture the current specific position of the standard reference object on the real-time image; Based on the current specific position, a current coordinate position of the standard reference object is generated.
4. The method according to claim 3, characterized in that Before capturing the current specific position of the standard reference object on the real-time image, the method also includes: performing preprocessing steps of graying the real-time image, removing noise from the image, and increasing the image brightness and contrast by 20%.
5. An automatic positioning and position correction device for a robot pallet, characterized in that: The device comprises: An image acquisition module, wherein the image acquisition module is used to move a manipulator tray equipped with a camera to a preset position, and the camera obtains an overall image of the capillary needle seat of the insulation furnace at the preset position; A preprocessing module, the preprocessing module is used to preprocess the whole image, wherein the preprocessing includes image grayscale, image denoising, and increasing the brightness and contrast of the image by 20%; An initial coordinate position generating module, wherein the initial coordinate position generating module is used to use a designated needle on the capillary needle holder of the holding furnace as a standard reference object, and to generate an initial coordinate position of the standard reference object from a preprocessed image using a SURF feature point detection algorithm; An automatic positioning module, wherein the automatic positioning module is used for a camera to collect a real-time image of a capillary needle seat of a holding furnace in real time, and a SURF feature point detection algorithm is used to generate a current coordinate position of a standard reference object from the real-time image; A deviation value calculation module, wherein the deviation value calculation module is used to calculate the position deviation value between the current coordinate position and the initial coordinate position in real time; A determination module, wherein when the position deviation value is not zero, the determination module is used to determine that a relative movement occurs between the manipulator tray and the capillary needle seat of the insulation furnace; A position correction module is used to correct the robot tray based on the position offset and move the robot tray to a preset position.
6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method for automatic positioning and position correction of a robot pallet according to any one of claims 1 to 4 are implemented.
7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for automatic positioning and position correction of a robot pallet according to any one of claims 1 to 4 are implemented.