Clip positioning system based on binocular vision

Abstract

The utility model discloses a cartridge holder positioning system based on binocular vision. The cartridge holder positioning system comprises a first vision camera, a second vision camera, a three-axis manipulator, an industrial personal computer and a vibration disc. The first visual camera is positioned above the vibration disc and is higher than the top end of the three-axis manipulator; the second visual camera is located above the vibration disc and is higher than the top end of the three-axis manipulator; the material taking end of the three-axis mechanical arm is located above the vibration disc. And the industrial personal computer can calculate and calibrate the coordinates of the cartridge holder and control the movement of the three-axis manipulator. According to the utility model, the coordinate position of the cartridge clip is obtained through the two visual cameras, the coordinate position of the cartridge clip in the vibration disc can be accurately obtained, and then the path of grabbing the cartridge clip of the three-axis manipulator is accurately obtained according to the coordinate position of the three-axis manipulator relative to the vibration disc, so that the feeding positioning precision of the cartridge clip can be effectively improved; and therefore, the loading efficiency of the cartridge holder is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of magazine production, in particular to a magazine positioning system based on binocular vision. Background Art

[0002] In the prior art, in mechanical equipment for loading magazines, the magazine needs to be turned over by a vibration plate and then positioned by a visual camera, so that a three-axis robot can take out the magazine and put it into the processing station of the loading equipment.

[0003] The existing method of magazine positioning is to calibrate the magazine coordinates in the vibration plate through a monocular camera. Due to the thickness of the magazine and the influence of visual depth of field, the magazine positioning is often inaccurate, thus affecting the grasping efficiency of the three-axis robot.

[0004] Therefore, how to improve the positioning accuracy of the magazine to improve the grasping efficiency of the three-axis manipulator is a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] One purpose of the utility model is to provide a magazine positioning system based on binocular vision, which can effectively improve the positioning accuracy of the magazine.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A binocular vision-based magazine positioning system includes: a first vision camera, a second vision camera, a three-axis manipulator, an industrial computer, and a vibration plate;

[0008] The first visual camera is located above the vibration plate and is positioned higher than the top of the three-axis manipulator. The first visual camera is used to measure and calibrate the coordinate position of the clip on the vibration plate;

[0009] The second visual camera is located above the vibration plate and is positioned higher than the top of the three-axis manipulator. The second visual camera is used to measure and calibrate the coordinate position of the clip on the vibration plate.

[0010] The material taking end of the three-axis manipulator is located above the vibration plate;

[0011] The industrial computer is connected to the first visual camera, the second visual camera, the three-axis manipulator and the vibration plate;

[0012] The industrial computer includes a coordinate system establishment module, which is used to establish a first visual camera coordinate system, a second visual camera coordinate system, a three-axis manipulator coordinate system and a vibration disk coordinate system according to the left-hand rule, wherein the coordinate origin of the first visual camera coordinate system is the projection point of the first visual camera on the vibration disk, the coordinate origin of the second visual camera coordinate system is the projection point of the second visual camera on the vibration disk, the coordinate origin of the three-axis manipulator coordinate system is the intersection of the axes of the three-axis manipulator working axes, and the coordinate origin of the vibration disk coordinate system is the geometric center point of the vibration disk;

[0013] The industrial computer further includes a coordinate processing module, which is used to obtain the coordinate position of the clip in the vibration disk coordinate system based on the coordinate position of the clip acquired by the first visual camera and the second visual camera and the vibration disk coordinate system;

[0014] The industrial computer further includes a path planning module, which is used to obtain a path for the three-axis manipulator to grasp the magazine according to the coordinate values ​​of the calibrated coordinates of the three-axis manipulator coordinate system in the vibration plate coordinate system.

[0015] In some embodiments, the magazine positioning system further includes a light source module, which is disposed directly below the vibration plate and is used to provide background light to the first visual camera and the second visual camera.

[0016] In some embodiments, the coordinate origin of the vibration plate coordinate system is equidistant from the coordinate origin of the first visual camera coordinate system and the coordinate origin of the second visual camera coordinate system in the x-axis direction.

[0017] In some embodiments, a suction cup is provided at the picking end of the three-axis manipulator, and the suction cup is used to absorb the magazine from the vibration plate.

[0018] In some embodiments, the second visual camera is located on the right side of the first visual camera, and the material picking end of the three-axis manipulator is located on the left side of the first visual camera.

[0019] Compared with the existing technology, the above technical solution has the following advantages:

[0020] The present invention provides a binocular vision-based magazine positioning system, comprising: a first visual camera, a second visual camera, a three-axis manipulator, an industrial computer, and a vibrating plate. The industrial computer is capable of calculating and calibrating the coordinates of the magazine and controlling the movement of the three-axis manipulator. The present invention uses two visual cameras to obtain the coordinate position of the magazine, accurately determining its coordinate position on the vibrating plate. Based on the coordinate position of the three-axis manipulator relative to the vibrating plate, the three-axis manipulator accurately determines the path for grasping the magazine. This effectively improves the magazine loading positioning accuracy and, in turn, the magazine loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1 A schematic structural diagram of a binocular vision-based magazine positioning system provided in a specific embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the coordinate system and partitions of a magazine positioning system based on binocular vision provided by a specific embodiment of the present invention;

[0024] Figure 3 A magazine pattern matching parameter diagram of a magazine positioning system based on binocular vision is provided in a specific embodiment of the present invention.

[0025] The reference numerals are as follows:

[0026] 1-first vision camera, 2-second vision camera, 3-three-axis manipulator, 4-vibration plate, 5-magnetic clip, 51-magnetic clip contour template. DETAILED DESCRIPTION

[0027] 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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0028] Please refer to Figure 1-Figure 3 .

[0029] The embodiment of the present invention provides a binocular vision-based magazine 5 positioning system, comprising: a first vision camera 1, a second vision camera 2, a three-axis manipulator 3, an industrial computer and a vibration plate 4; wherein the first vision camera 1 is located above the vibration plate 4, and its position height is higher than the top of the three-axis manipulator 3, and the first vision camera 1 is used to measure, calibrate and calibrate the coordinate position of the magazine 5 on the vibration plate 4; the second vision camera 2 is located above the vibration plate 4, and its position height is higher than the top of the three-axis manipulator 3, and the second vision camera 2 is used to measure, calibrate and calibrate the coordinate position of the magazine 5 on the vibration plate 4, and the magazine 5 positioning system further comprises a light source module, which is arranged directly below the vibration plate 4 and is used to provide background light to the first vision camera 1 and the second vision camera 2; the material picking end of the three-axis manipulator 3 is located above the vibration plate 4, the second vision camera 2 is located to the right of the first vision camera 1, and the material picking end of the three-axis manipulator 3 is located between the first vision camera 1 and the bottom of the first vision camera 1. On the left side, a suction cup is provided at the material-picking end of the three-axis manipulator 3, which is used to absorb the magazine 5 from the vibration disk 4; the industrial computer is connected to the first visual camera 1, the second visual camera 2, the three-axis manipulator 3 and the vibration disk 4; the industrial computer includes a coordinate system establishment module, which is used to establish the first visual camera coordinate system, the second visual camera coordinate system, the three-axis manipulator coordinate system and the vibration disk coordinate system according to the left-hand rule, the coordinate origin of the first visual camera 1 coordinate system is the projection point of the first visual camera 1 on the vibration disk 4, the coordinate origin of the second visual camera coordinate system is the projection point of the second visual camera 2 on the vibration disk 4, the coordinate origin of the three-axis manipulator coordinate system is the intersection of the working axis of the three-axis manipulator 3, the coordinate origin of the vibration disk coordinate system is the geometric center point of the vibration disk 4, and the coordinate origin of the vibration disk coordinate system is equidistant from the coordinate origin of the first visual camera 1 coordinate system and the coordinate origin of the second visual camera coordinate system in the x-axis direction.

[0030] The industrial computer also includes a coordinate processing module, which is used to obtain the coordinate position of the clip 5 in the vibration disk coordinate system based on the coordinate position of the clip 5 obtained by the first visual camera 1 and the second visual camera 2 and the vibration disk coordinate system; the industrial computer also includes a path planning module, which is used to obtain the path of the three-axis manipulator 3 to grasp the clip 5 based on the coordinate value of the calibrated coordinates of the three-axis manipulator coordinate system in the vibration disk coordinate system.

[0031] The utility model uses two visual cameras to obtain the coordinate position of the magazine 5, and can accurately obtain the coordinate position of the magazine 5 in the vibration plate 4. Then, according to the coordinate position of the three-axis manipulator 3 relative to the vibration plate 4, the path of the three-axis manipulator 3 to grab the magazine 5 is accurately obtained. Therefore, the loading positioning accuracy of the magazine 5 can be effectively improved, thereby improving the loading efficiency of the magazine 5.

[0032] The working principle of the binocular vision-based magazine positioning system provided by the present invention is as follows:

[0033] The vibration plate 4 vibrates to turn the magazine 5 over, and performs matching calculation based on the magazine outline template 51 to form a matching array [d 1, d2, d3......], each matching array contains the angle θ 1i , coordinates (x 1i o 1i y 1i z 1i ), coordinates (x 2i o 2i y 2i z 2i ), matching success rate k1, where: matching array d1 contains {θ 1i , coordinates (x 1i o 1i y 1i z 1i ), coordinates (x 2i o 2i y 2i z 2i ), k1} three parameters;

[0034] Sort the matching array according to the success rate k1, remove the clips 5 with k1 values ​​less than 0.8, and determine the grabbing priority of the flipped clips 5 based on the sorting of the matching array;

[0035] Extract the captured clip 5 in the coordinate system (x 1i o 1i y 1i z 1i ) and the coordinate system (x 2i o 2i y 2i z 2i ) in the coordinate system (x 4i o 4i y 4i z 4i ) in the value;

[0036] Determine the coordinate value of the captured magazine at x 4i The positive and negative values ​​of the direction, if it is a positive value, the clip position is in the vibration plate 4B area, if it is a negative value, the clip position is in the vibration plate 4A area;

[0037] According to the depth of field principle, if the clip 5 is in area A, the points A and B obtained by the first visual camera 1 are in the coordinate system (x 4i o 4i y 4i z 4i) is the calibration value, and the coordinate values ​​of point A and point B obtained by the second visual camera 2 are the calibration values; if the clip 5 is in area B, the coordinate values ​​of point A and point B obtained by the second visual camera 2 are in the coordinate system (x 4i o 4i y 4i z 4i ) are calibration values, and the coordinate values ​​of point A and point B obtained by the first visual camera 1 are calibration values;

[0038] Calculate the calibration error of the magazine. If the magazine is in area A, the difference between the absolute values ​​of the coordinates of points A and B of the magazine obtained by the second vision camera 2 and the absolute values ​​of the coordinates of points A and B of the magazine obtained by the first vision camera 1 is the error correction value; if the magazine is in area B, the difference between the absolute values ​​of the coordinates of points A and B of the magazine obtained by the first vision camera 1 and the absolute values ​​of the coordinates of points A and B of the magazine obtained by the second vision camera 2 is the error correction value;

[0039] Through the coordinate transformation matrix, the coordinate values ​​of the calibration coordinates of the three-axis manipulator 3 coordinate system (x3o3y3z3) in the vibration plate 4 coordinate system (x4o4y4z4) are solved, and the grasping path of the three-axis manipulator 3 to points A and B of the magazine is planned;

[0040] Repeat the above steps until all the clips in the matching array are captured.

[0041] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0042] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0043] The above describes in detail the binocular vision-based magazine positioning system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above examples is intended only to facilitate understanding of the method and core concept of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A magazine positioning system based on binocular vision, characterized in that: include: First vision camera, second vision camera, three-axis manipulator, industrial computer and vibration plate; The first visual camera is located above the vibration plate and is positioned higher than the top of the three-axis manipulator. The first visual camera is used to measure and calibrate the coordinate position of the clip on the vibration plate; The second visual camera is located above the vibration plate and is positioned higher than the top of the three-axis manipulator. The second visual camera is used to measure and calibrate the coordinate position of the clip on the vibration plate. The material taking end of the three-axis manipulator is located above the vibration plate; The industrial computer is connected to the first visual camera, the second visual camera, the three-axis manipulator and the vibration plate; The industrial computer includes a coordinate system establishment module, which is used to establish a first visual camera coordinate system, a second visual camera coordinate system, a three-axis manipulator coordinate system and a vibration disk coordinate system according to the left-hand rule, wherein the coordinate origin of the first visual camera coordinate system is the projection point of the first visual camera on the vibration disk, the coordinate origin of the second visual camera coordinate system is the projection point of the second visual camera on the vibration disk, the coordinate origin of the three-axis manipulator coordinate system is the intersection of the axes of the three-axis manipulator working axes, and the coordinate origin of the vibration disk coordinate system is the geometric center point of the vibration disk; The industrial computer further includes a coordinate processing module, which is used to obtain the coordinate position of the clip in the vibration disk coordinate system based on the coordinate position of the clip acquired by the first visual camera and the second visual camera and the vibration disk coordinate system; The industrial computer further includes a path planning module, which is used to obtain a path for the three-axis manipulator to grasp the magazine according to the coordinate values ​​of the calibrated coordinates of the three-axis manipulator coordinate system in the vibration plate coordinate system.

2. The binocular vision-based magazine positioning system according to claim 1, characterized in that: It also includes a light source module, which is arranged directly below the vibration plate and is used to provide background light for the first visual camera and the second visual camera.

3. The binocular vision-based magazine positioning system according to claim 2, characterized in that: The coordinate origin of the vibration plate coordinate system is equidistant from the coordinate origin of the first visual camera coordinate system and the coordinate origin of the second visual camera coordinate system in the x-axis direction.

4. The binocular vision-based magazine positioning system according to claim 3, characterized in that: A suction cup is provided at the material-retrieving end of the three-axis manipulator, and the suction cup is used to absorb the magazine from the vibration plate.

5. The binocular vision-based magazine positioning system according to claim 4, characterized in that: The second visual camera is located on the right side of the first visual camera, and the material picking end of the three-axis manipulator is located on the left side of the first visual camera.

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