Industrial robot sorting method based on active vision

Abstract

The invention discloses an industrial robot sorting method based on active vision. The industrial robot sorting method based on active vision is capable of accurately grabbing and stacking materials.An industrial robot drives a CCD industrial camera to carry out material search and matching in a material placement area, and obtain the position information of target materials; the industrial robotadjusts a shooting angle of the CCD industrial camera, enables the CCD industrial camera to shoot the image information of the target materials from different angles, carry out three-dimensional calibration, and then confirm the position information and the attitude information of the target materials; the industrial robot is controlled to grab the target materials according to the position information and the attitude information of the target materials; when the first target material is placed, the industrial robot is controlled to place the target material at initial stacking coordinates,and acquire the position information and the attitude information of the target material; and when the subsequent target materials are placed, the industrial robot is controlled to stack the subsequent target materials on the previous target material according to the position information and the attitude information of the previous target material until stacking for all the target materials is completed.

Description

technical field [0001] The invention relates to the technical field of designing sorting robots, in particular to a sorting method for industrial robots based on active vision. Background technique [0002] Traditional industrial robot sorting material position and posture measurement method (such as the sorting method with application number 201310610558.7): CCD industrial camera and light source are fixed in position, and can only obtain two-dimensional material information at one angle, and can only be passively located in a fixed area For identification and sorting, if the angle of the material changes, it will cause difficulties in visual recognition and difficulty in robot grasping, and it can only be completed by teaching during palletizing, which is difficult to adapt to complex and changeable working environments and tasks. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a sorting...

AI Technical Summary

Problems solved by technology

[0002] Traditional industrial robot sorting material position and posture measurement method (such as the sorting method with application number 201310610558.7): CCD industrial camera and light source are fixed in position, and can only obtain two-dimensional material information at one angle, and can only be passively located in a fixed area For identification and sorting, if the angle of the material changes, it will cause difficulties in visual recognition and robot grasping, and it can only be done by teaching during palletizing, which is difficult to adapt to complex and changeable working environments and tasks

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