CN104281832A - Visual identity industrial robot - Google Patents
Visual identity industrial robot Download PDFInfo
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- CN104281832A CN104281832A CN201310279305.6A CN201310279305A CN104281832A CN 104281832 A CN104281832 A CN 104281832A CN 201310279305 A CN201310279305 A CN 201310279305A CN 104281832 A CN104281832 A CN 104281832A
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- industrial robot
- visual identity
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- image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0006—Industrial image inspection using a design-rule based approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a visual identity industrial robot. The visual identity industrial robot is mainly applied to the field of intelligent control over industrial assembly lines and particularly applied to the environment with low manual operation efficiency or the environment not available for artificial vision to replace manual operation so that the working efficiency and achieving production automation can be improved. An embedded visual system is adopted, and the embedded visual system comprises an image acquisition part, a preprocessing part, a characteristic extracting and matching part and the like. The visual identity industrial robot is applied to intelligent control over the industrial assembly lines. The visual identity industrial robot is characterized in that target designation, image processing, module matching and profile recognition are adopted. Gray level images are adopted to control the automatic control cost of the industrial assembly lines, denoising is carried out with the methods such as a wavelet exchange method according to different noise types generated in the images, and for the pre-processed images, characteristic extraction is planned to be carried out on the basis of a Canny algorithm to obtain needed characteristic information.
Description
Art
Robot and image procossing integration, utilize the visual performance of computing machine and video camera simulation people, replaces manual work to increase work efficiency and the production automation.
Background technology
At present, machine vision has been widely used in the fields such as electronics, space flight, automobile, food, packaging, pharmacy.Industry sorting is one of field wherein received much concern.
In conventional production lines, the everything of robot and putting position need to carry out strict presetting.Once environment produces variation, substantial deviation sets by the motion of robot, produces very large grabbing error, cannot meet large batch of high-speed production.And machine vision used sorting system wherein to have degree of accuracy and the speed of height, and taking into full account the reliability of industry spot, is that technology in the past cannot be equal to.
Machine vision, from the starting time short decades till now, has been moved towards practical application from laboratory, and has been obtained significant progress in every field.Such as, Suez university develops a kind of sorting potato system of view-based access control model technology; Many four axle robots for the exploitation of emerging SCARA company can sort, carry some less regular workpiece; VMT company of Germany develops that having liquidates and presses material element location and position adjustment based on image processing machine people handling system etc.World vision market is increasing with the growth rate of annual 8.8%.In China, machine vision there has also been certain development, a lot of people proposes the various systematic study based on machine vision, as the PCB detecting based on machine vision, based on the fluid velocity quantitative research of machine vision, based on the coin image identification of machine vision, based on the printed matter defect recognition etc. of machine vision.
Along with the accumulation of academic research achievement, machine vision has become an independent educational project.And along with the high speed development of computer technology, the cost of Vision Builder for Automated Inspection reduces greatly.Had theoretical foundation and wide application prospect, the future development of machine vision is very bright.But due to theoretical and actually cannot to mate completely, the development of machine vision still has many limitation.The research of present stage much lacks solid theoretical direction, is more experimental.Therefore, machine vision still needs the input of a large amount of human and material resources.
Summary of the invention
The present invention is applicable industry streamline intelligentized control method field mainly, and particularly or artificial vision lower in manual operation efficiency is beyond one's reach environment, replaces manual work, to increase work efficiency and to realize the production automation.Adopt embedded vision system, comprise the parts such as Image Acquisition, pre-service, feature extraction and matching.
Technical scheme provided by the invention is, adopts target designation; Image procossing-module coupling and outline identification; Digital signal processing-utilize the basic theories of Digital Image Processing and the basic skills of image trace, realizes the contents such as Iamge Segmentation, images match, centroid tracking, gate tracking, related algorithm; Embedded system.
The invention has the beneficial effects as follows: utilize embedded system to replace typical Vision Builder for Automated Inspection by the control of computing machine as main processing controls center, realize industrial popular line intelligentized control method.Effectively reduce system cost, improve running efficiency of system, and easy for installation, flexible configuration, easy to carry.
Embedded vision system realizes whole Machine Vision Inspecting System, comprises Image Acquisition, pre-service, the parts such as feature extraction and matching.In Image Acquisition, consider industrial cost's control problem of actual industrial streamline Automated condtrol, intend adopting gray level image.For the pre-service of image, we intend adopting the methods such as wavelet transformation to carry out noise reduction according to the different noise classification occurred in image.And for pretreated image, intend carrying out feature extraction based on Canny algorithm thus obtaining the characteristic point information required for us.
Claims (4)
1. the present invention is a kind of visual identity industrial robot for industrial flow-line Automated condtrol, utilize the visual performance of computing machine and video camera simulation people, target is measured, follow the tracks of and identifies, target information is converted into digital signal, replace manual work, increase work efficiency and realize the production automation.
2. visual identity industrial robot digital signal processing according to claim 1, it is characterized in that: utilize the basic skills that the basic theories of Digital Image Processing and image are followed, build an embedded vision system, realize Iamge Segmentation, images match, centroid tracking, gate tracking, related algorithm.
3. visual identity industrial robot according to claim 1, is characterized in that: target designation, image procossing-module coupling and outline identification.
4. target measurement according to claim 1, it is characterized in that: establish template T to overlay translation on search graph S, according to subgraph Si, the reference point of j, i, j, T and Si is detected to points all in image, the similarity of j intersection is maximum according to similarity or exceed a certain division of a ci poem value determines whether object exists, and tries to achieve the position at object place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279305.6A CN104281832A (en) | 2013-07-04 | 2013-07-04 | Visual identity industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279305.6A CN104281832A (en) | 2013-07-04 | 2013-07-04 | Visual identity industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104281832A true CN104281832A (en) | 2015-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201310279305.6A Pending CN104281832A (en) | 2013-07-04 | 2013-07-04 | Visual identity industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106034218A (en) * | 2015-03-12 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | 2D visual identity device and identification method for automatic production line |
| CN106408602A (en) * | 2016-11-09 | 2017-02-15 | 东莞市珑骧电子科技有限公司 | CNC visual system image feature matching method |
| CN107291088A (en) * | 2016-10-20 | 2017-10-24 | 天津科技大学 | A kind of underwater robot image recognition and Target Tracking System |
| CN107457187A (en) * | 2017-08-24 | 2017-12-12 | 成都智畅信息科技发展有限公司 | A kind of express delivery problem part sorts service robot |
| CN107891153A (en) * | 2017-12-26 | 2018-04-10 | 深圳市富优驰科技有限公司 | A kind of full-automatic goods of furniture for display rather than for use equipment of MIM |
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| CN1721144A (en) * | 2004-07-13 | 2006-01-18 | 中国科学院自动化研究所 | A kind of fast tracking method and device based on color of object surface |
| CN101081455A (en) * | 2007-06-11 | 2007-12-05 | 南京航空航天大学 | Microvision servo-system of platinum aurum fiber drawing bushing nozzle arc welding robot and the method thereof |
| CN101566582A (en) * | 2008-04-23 | 2009-10-28 | 上海新先锋药业有限公司 | Medicine bottle label information online detection system in powder injection production based on mechanical vision |
-
2013
- 2013-07-04 CN CN201310279305.6A patent/CN104281832A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1721144A (en) * | 2004-07-13 | 2006-01-18 | 中国科学院自动化研究所 | A kind of fast tracking method and device based on color of object surface |
| CN101081455A (en) * | 2007-06-11 | 2007-12-05 | 南京航空航天大学 | Microvision servo-system of platinum aurum fiber drawing bushing nozzle arc welding robot and the method thereof |
| CN101566582A (en) * | 2008-04-23 | 2009-10-28 | 上海新先锋药业有限公司 | Medicine bottle label information online detection system in powder injection production based on mechanical vision |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106034218A (en) * | 2015-03-12 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | 2D visual identity device and identification method for automatic production line |
| CN107291088A (en) * | 2016-10-20 | 2017-10-24 | 天津科技大学 | A kind of underwater robot image recognition and Target Tracking System |
| CN106408602A (en) * | 2016-11-09 | 2017-02-15 | 东莞市珑骧电子科技有限公司 | CNC visual system image feature matching method |
| CN107457187A (en) * | 2017-08-24 | 2017-12-12 | 成都智畅信息科技发展有限公司 | A kind of express delivery problem part sorts service robot |
| CN107891153A (en) * | 2017-12-26 | 2018-04-10 | 深圳市富优驰科技有限公司 | A kind of full-automatic goods of furniture for display rather than for use equipment of MIM |
| CN107891153B (en) * | 2017-12-26 | 2024-04-19 | 东莞华晶粉末冶金有限公司 | Full-automatic goods of furniture for display rather than for use equipment of MIM |
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Application publication date: 20150114 |