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Hierarchical positioning method used for industrial robot and applied to industrial environment

A technology of industrial robots and positioning methods, which is applied in the direction of instruments, computer components, character and pattern recognition, etc., can solve the problems of low precision and long time-consuming positioning, so as to improve the overall matching accuracy, reduce wrong matching, and speed up the overall matching speed Effect

Inactive Publication Date: 2018-05-29
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] In view of this, the purpose of the present invention is to provide a layered positioning method for industrial robots in an industrial environment. A new layered target object is proposed to solve the problems of long time consumption and low precision when positioning an industrial robot for grabbing objects. positioning method

Method used

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  • Hierarchical positioning method used for industrial robot and applied to industrial environment
  • Hierarchical positioning method used for industrial robot and applied to industrial environment
  • Hierarchical positioning method used for industrial robot and applied to industrial environment

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Embodiment Construction

[0036] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] In the industrial environment, aiming at the time-consuming and low-precision positioning problems of industrial robots when grabbing objects, a layered positioning method that combines the MeanShift algorithm and the improved SURF algorithm is proposed to quickly and accurately locate objects. First, according to the image information of the target object collected by the binocular vision system, the MeanShift algorithm is used for preliminary processing to cut out the target image information; then the improved SURF algorithm is used to match and filter the feature point pairs of the target area; finally, the matched features The point pair is processed by the principle of triangulation measurement to obtain the three-dimensional coordinates of the object.

[0038] Such as figure 1 As shown, it is a system block diagram of the pre...

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Abstract

The invention relates to a hierarchical positioning method used for an industrial robot and applied to an industrial environment and belongs to the object positioning field. The method includes the following steps that: S1, the image information of an object to be positioned is acquired according to a binocular vision system; S2, the image information of the object is preliminarily processed through using the MeanShift algorithm, and target image information is obtained through segmentation; S3, as for the target image information, interest point pair matching and screening are performed on atarget region through using an improved SURF algorithm; and S4, the three-dimensional coordinates of points are calculated through using a triangulation algorithm according to interest point pairs which are obtained through matching and screening, and the three-dimensional coordinates of the object can be precisely located. The invention provides the novel hierarchical target object positioning method according to the problems of long time consumed during the object grabbing operation of the industrial robot and low-precision positioning; the influence of unrelated points on an overall resultcan be avoided; overall matching accuracy is improved; and overall matching speed is increased.

Description

technical field [0001] The invention belongs to the field of object positioning and relates to a layered positioning method for industrial robots in an industrial environment. Background technique [0002] With the popularization of industrialization, people have higher and higher requirements for the performance of industrial robots. In the past two decades, industrial robots have been widely used in multiple industrial environments such as cigarette pack palletizing, logistics classification, and industrial production. Picking and placing operations are one of the main tasks of industrial robots. The grasping method of industrial robots usually adopts pre-drawing points and then repeating operations. This method has poor robustness and cannot cope with some unexpected situations in the industry and the working situation is single. The flexible application of industrial robots in industry. The introduction of the visual sensor effectively improves the robustness of indust...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/46
CPCG06V20/10G06V10/245G06V10/443G06V10/462
Inventor 张毅张瀚杨利达汪宇翔戴健春
Owner CHONGQING UNIV OF POSTS & TELECOMM
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