Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Workpiece grasping method based on machine vision

A machine vision and workpiece technology, applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve problems affecting robot gripping, workpiece outer contour deformation, and reduce robot gripping efficiency, so as to improve gripping efficiency and wide application range Effect

Active Publication Date: 2019-12-31
HOHAI UNIV CHANGZHOU
View PDF4 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the position and attitude of the workpiece cannot be accurately positioned, the gripping efficiency of the robot will be reduced
Machining and installation errors and when the equipment is running, the upper surface of the workpiece due to vibration is not parallel to the imaging surface of the camera, resulting in deformation of the outer contour of the workpiece, which affects the gripping of the robot

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Workpiece grasping method based on machine vision
  • Workpiece grasping method based on machine vision
  • Workpiece grasping method based on machine vision

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] In order to better understand the essence of the present invention, the present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

[0026] The invention discloses a workpiece grasping method based on machine vision, which is suitable for the technical field of industrial robot grasping. The specific steps are as follows: figure 1 , figure 2 Shown:

[0027] Step 1: Use an industrial camera and a strip light source to collect images of the workpiece, and perform grayscale processing on the collected workpiece images to obtain a grayscale image of the workpiece, as shown in image 3 shown. Gaussian blurring is used to denoise the grayscale image of the workpiece. The grayscale image of the workpiece after denoising is obtained by the threshold segmentation method to obtain a binary image, and the image morphology operation is performed on the obtained binary image to further filter the noise. Using the edge d...

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

No PUM Login to View More

Abstract

The invention discloses a workpiece grasping method based on machine vision, and belongs to the technical field of industrial robot grasping, comprising offline operation steps and real-time online operation steps. The offline operation steps comprise: collecting a workpiece image to obtain a workpiece edge contour, calculating a workpiece center point, optimizing to obtain an accurate workpiece outer contour, and calculating a positioning point and an initial angle beta of the workpiece. A database is formed according to the workpiece edge contour and the corresponding initial angle beta thereof. The online operation steps comprise: collecting a workpiece real-time image to obtain a workpiece edge contour and meanwhile calculating an initial angle beta' of the current workpiece. The workpiece edge contour obtained in real time is matched with the workpiece contour in the database to obtain a relative rotation angle of a robot tail end joint gripping the workpiece and a rotation direction of the robot tail end joint. The invention provides the workpiece grasping method based on machine vision, which enables a robot to accurately position the workpiece and perform effective grasping.

Description

technical field [0001] The invention relates to a workpiece grasping method based on machine vision, and belongs to the technical field of industrial robot grasping. Background technique [0002] With the application and development of robotics and vision technology, more and more intelligent robotic systems are gradually replacing manual labor to complete repetitive and complicated tasks. With the development of image processing technology and chip technology, machine vision has become the most important tool for robots to provide their autonomous intelligence. The loading and unloading of workpieces processed by machine tools is labor-intensive and repetitive work. Using robots instead of manual labor can not only achieve round-the-clock uninterrupted work and provide production capacity. During the loading and unloading of the robot system, the robot needs to accurately locate the position and posture of the workpiece. The position of the workpiece can be limited mechan...

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
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/04B25J9/16G06T7/13G06T7/136G06T5/00
CPCB25J19/04B25J9/16B25J9/1612G06T7/13G06T7/136G06T2207/30164G06T5/80
Inventor 谭治英费仲文赵宝来徐孝彬
Owner HOHAI UNIV CHANGZHOU
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com