CN104626169A - Robot part grabbing method based on vision and mechanical comprehensive positioning - Google Patents
Robot part grabbing method based on vision and mechanical comprehensive positioning Download PDFInfo
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- CN104626169A CN104626169A CN201410817853.4A CN201410817853A CN104626169A CN 104626169 A CN104626169 A CN 104626169A CN 201410817853 A CN201410817853 A CN 201410817853A CN 104626169 A CN104626169 A CN 104626169A
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Abstract
The invention relates to industrial automation control, and provides a novel robot part grabbing method based on vision and mechanical comprehensive positioning. The robot part grabbing method aims at solving the problems that in current industrial control, when a robot grabs parts in a traditional mode, it is required that the placement positions and the placement angles of the parts must be fixed, and different positioning tool devices are required for the different-size parts in different shapes. The method specifically includes the following steps: 1, a vision system of a robot collects digital image information of a to-be-grabbed part and transmits the digital image information to a processing module; 2, the processing module carries out comparing matching on the received digital image information with a pre-stored image matching model of the to-be-grabbed part, and the rotating angle of the to-be-grabbed part and the coordinates of the center point of the part in a world coordinate system are obtained; 3, the processing module adjusts grabbing claws of the robot according to the rotating angle and the coordinates of the center point of the part in the world coordinate system to grab the to-be-grabbed part. The novel robot part grabbing method is suitable for the robot for industrial automation.
Description
Technical field
The present invention relates to industrial automatic control, particularly the robot of a kind of view-based access control model and mechanical integrated location captures part method.
Background technology
At present, transfer robot is widely used in industrial every field, and the crawl of part is an important step in robot transport engineering.Traditional robot adopts the working method of teaching playback, by teaching planning robot moving line and action, then reproduces the content of teaching.Require that the putting position of part and angle must be fixed when adopting traditional approach to capture part, the part of different size and shape needs different positioning tool equipment, and cost is high, efficiency is low, automaticity is low, and flexible low.
Summary of the invention
Capture the deficiency existing for part for employing conventional machines people, the robot that the present invention proposes a kind of view-based access control model and mechanical integrated location captures the method for part, and the concrete steps of the method are as follows:
A. robotic vision system acquisition is treated the digital image information of crawl part and is transferred to processing module;
B. the digital image information of reception is carried out contrast with the images match model waiting to capture part prestored and mates by processing module, obtains the anglec of rotation waiting to capture part and the coordinate of Central of the parts point in world coordinate system;
C. processing module according to the described anglec of rotation and Central of the parts point the Coordinate Adjusting robot cleft hand in world coordinate system treat capture part capture.
Particularly, the anglec of rotation that step B obtains waiting to capture part comprises the steps:
B1. processing module carries out pretreatment to digital image information, obtains the edge contour waiting to capture part;
B2. according to wait to capture part images match model and described in wait that capturing the edge contour of part calculates the anglec of rotation waiting to capture part.
Particularly, step B obtains the concrete grammar of the coordinate of Central of the parts point in world coordinate system and is:
B3. calculated the most parcel rectangle of part by described edge contour, calculate the XY coordinate of central point in image coordinate system of rectangle;
B4. according to the XY coordinate of described central point in image coordinate system, by camera calibration in world coordinate system, on adjustment robot cleft hand, the plan-position of mechanical contact, makes it be in directly over Central of the parts;
B5. the height adjusting mechanical contact makes its contact part, and when mechanical contact touches part, sensor on mechanical contact produces triggering signal and by triggering signal transmissions to processing module;
B6. processing module records according to triggering signal the height that mechanical contact declines, and according to the initial position of mechanical contact, calculates the Z axis coordinate of part in world coordinate system.
A kind of preferred scheme is that described vision system is camera.
The invention has the beneficial effects as follows: compared with traditional approach, adopt the mode of vision and mechanical integrated location to capture part, without the need to accurate mechanical pre-determined bit, decrease the positioning tool equipment of different part, reduce hardware cost, improve automaticity and the degree of flexibility of equipment.Adopt common camera replacement technical grade CCD to realize the two-dimensional localization of part, reduce hardware cost, improve automaticity and the degree of flexibility of equipment.Adopt mechanical contact triggering mode simultaneously, obtain the elevation information of part to realize the three-dimensional localization of part, reduce the amount of calculation of image processing algorithm, improve stability and the positioning precision of equipment.
Accompanying drawing explanation
Fig. 1 is the flow chart that the view-based access control model of embodiment and the robot of mechanical integrated location capture the method for part.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is further described, it should be noted that embodiment is only used to help reader to understand technical conceive of the present invention better, not in order to limit the protection domain of the claims in the present invention.
The present invention is directed to when robot in existing Industry Control adopts traditional approach to capture part and require that the putting position of part and angle must be fixed, the part of different size and shape needs different positioning tool equipment, cost is high, efficiency is low, automaticity is low, and the flexible problem such as low, there is provided the robot of a kind of new view-based access control model and mechanical integrated location to capture the method for part, the method specifically comprises the steps:
Step one, robotic vision system acquisition are treated the digital image information of crawl part and are transferred to processing module;
The digital image information of reception is carried out contrast with the images match model waiting to capture part prestored and mates by step 2, processing module, obtains the anglec of rotation and the coordinate of Central of the parts point in world coordinate system for the treatment of crawl part;
Step 3, processing module according to the described anglec of rotation and Central of the parts point the Coordinate Adjusting robot cleft hand in world coordinate system treat capture part capture.
Embodiment
With an example, technical scheme of the present invention is described below, the robot of view-based access control model of the present invention and mechanical integrated location captures the flow chart of the method for part as shown in Figure 1.
1) first according to part to be captured, crawl item number is set, according to the mechanical claw hand that the different choice of item number is suitable, and reads the standardized element Matching Model matched with this item number.Standardized element Matching Model is carried out off-line training to standardized element and is obtained under off-line state, after reading, standardized element model information is carried out storage for subsequent use.
2) camera is started, gather the digital image information waiting to capture part, and by the digital picture that collects by communication port transfers to computer, computer in this step is generally be built in robot, in particular cases, also robot and computer can be separated, but now robot must possess communication function.
3) to step 2) in the digital image information obtained carry out pretreatment operation, take out the edge contour of part.
4) the most parcel calculating part by the edge contour of part is rectangle, calculates the center point coordinate (X of rectangle
p, Y
p), utilize the standard picture template of part and image to carry out matching primitives, obtain the anglec of rotation θ of part
p.
5) by camera calibration, by step 4) in the part pixel coordinate that obtains transferred world coordinates (X in robot coordinate system to
r, Y
r, θ
r).
6) according to step 5) two-dimensional coordinate (X of part that obtains
r, Y
r), first regulate mechanical contact two dimensional surface position to make it be in directly over Central of the parts point.Then, regulate the height of mechanical contact to make it contact part, when mechanical contact touches part, the sensor in contact front produces triggering signal, after controller receives the triggering signal of mechanical contact, and the height Z that record mechanical contact declines
h, according to the initial position of mechanical contact, calculate the Z axis coordinate Z of part in world coordinate system
r.
7) according to the coordinate (X of part
r, Y
r, Z
r, θ
r), the pose of adjustment mechanical claw hand, realizes the accurate crawl of part.
Claims (4)
1. the robot of view-based access control model and mechanical integrated location captures the method for part, it is characterized in that, comprises the steps:
A. robotic vision system acquisition is treated the digital image information of crawl part and is transferred to processing module;
B. the digital image information of reception is carried out contrast with the images match model waiting to capture part prestored and mates by processing module, obtains the anglec of rotation waiting to capture part and the coordinate of Central of the parts point in world coordinate system;
C. processing module according to the described anglec of rotation and Central of the parts point the Coordinate Adjusting robot cleft hand in world coordinate system treat capture part capture.
2. the robot of view-based access control model as claimed in claim 1 and mechanical integrated location captures the method for part, it is characterized in that, the anglec of rotation that step B obtains waiting to capture part comprises the steps:
B1. processing module carries out pretreatment to digital image information, obtains the edge contour waiting to capture part;
B2. according to wait to capture part images match model and described in wait that capturing the edge contour of part calculates the anglec of rotation waiting to capture part.
3. the robot of view-based access control model as claimed in claim 2 and mechanical integrated location captures the method for part, and it is characterized in that, the concrete grammar that step B obtains the coordinate of Central of the parts point in world coordinate system is:
B3. calculated the most parcel rectangle of part by described edge contour, calculate the XY coordinate of central point in image coordinate system of rectangle;
B4. according to the XY coordinate of described central point in image coordinate system, by camera calibration in world coordinate system, on adjustment robot cleft hand, the plan-position of mechanical contact, makes it be in directly over Central of the parts;
B5. the height adjusting mechanical contact makes its contact part, and when mechanical contact touches part, sensor on mechanical contact produces triggering signal and by triggering signal transmissions to processing module;
B6. processing module records according to triggering signal the height that mechanical contact declines, and according to the initial position of mechanical contact, calculates the Z axis coordinate of part in world coordinate system.
4. the robot of the view-based access control model as described in Claims 1-4 any one and mechanical integrated location captures the method for part, it is characterized in that, described vision system is camera.
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