CN107192331A - A kind of workpiece grabbing method based on binocular vision - Google Patents
A kind of workpiece grabbing method based on binocular vision Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The present invention relates to a kind of workpiece grabbing method based on binocular vision, comprise the following steps：(1) binocular vision system is demarcated；(2) left and right cameras gathers image and image is corrected simultaneously；(3) workpiece of positioning left images is recognized using template matching algorithm；(4) three-dimensional pose of workpiece is calculated according to the identification location information of left and right cameras image workpiece；(5) industrial robot according to the three-dimensional pose information of workpiece to the automatic crawl of workpiece.The present invention have the advantages that real-time and strong applicability, crawl accurately, operating efficiency it is high.
Description
Technical field
The present invention relates to the technical field of machine vision, more particularly to a kind of workpiece grabbing side based on binocular vision
Method.
Background technology
Continued to develop with industry is manufactured, people require automation to improve constantly, traditional manufacture method (artificial behaviour
Make or simple machinery production) constantly it is challenged.Industrial robot is the multi-joint manipulator or many towards industrial circle
The installations of the free degree, it can perform work automatically, be to lean on self power and control ability to realize one kind of various functions
Machine, can receive mankind commander, thus receive increasingly extensive use in industrial circle, but industrial robot is general now
The program operation according to advance layout is required for, it is necessary to which the complicated debugging of early stage, is unsatisfactory for more neatly flexible production.
In recent years, the dangerous work environment or artificial vision that machine vision is unsuitable for manual work at some are difficult to meet
It is required that occasion, machine in normal service vision substitutes artificial vision.Meanwhile, in the repeated industrial processes of high-volume, use machine
Device visible detection method can greatly improve the efficiency and automaticity of production.Thus, in manufacture production, regarded using machine
Feel that guided robot operation is increasingly becoming a kind of main trend.
In the industrial production, workpiece automatic loading/unloading, the process such as workpiece automatic sorting or automatic equipment is required for work
Part is captured exactly.It is that can workpiece by accurate crawl ground most critical skill and can workpiece be identified and located exactly
One of art link.Existing method gathers workpiece image using monocular-camera, and workpiece is identified and positioned, then workpiece
Posture information sends industrial robot to, allows robot subsequent treatment, but monocular vision cannot get the three-dimensional information of workpiece, so
This is suitable only for smaller to thickness and consistent good workpiece and captured, and versatility is not strong.Using vision collecting image, workpiece
It is likely to be different in the visual field for appearing in industrial camera, therefore image recognition algorithm will solve the workpiece contracting in image
Put, rotate or problem that brightness is inconsistent, existing recognizer method still can not solve these problems well.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of real-time and strong applicability, crawl it is accurate,
The high workpiece grabbing method based on binocular vision of operating efficiency.
To achieve the above object, technical scheme provided by the present invention is：It comprises the following steps：
(1) binocular vision system is demarcated；
(2) left and right cameras gathers image and image is corrected simultaneously；
(3) workpiece of positioning left images is recognized using template matching algorithm；
(4) three-dimensional pose of workpiece is calculated according to the identification location information of left and right cameras image workpiece；
(5) industrial robot according to the three-dimensional pose information of workpiece to the automatic crawl of workpiece.
Further, step (1) demarcation binocular vision system is comprised the following steps that：
1) single camera calibration：Single camera calibration is made to each video camera using scaling board, its distortion of camera is determined
Coefficient and video camera internal reference matrix, with correcting image, export orthoscopic image；
2) Camera calibration：Adjust the angle and distance between left and right cameras, it is ensured that the image line alignment of output；
3) stereo calibration：Demarcated using scaling board, recognize focal length of camera f, left and right camera centre-to-centre spacing T, and left and right
Principal point (the c that chief ray intersects with the plane of delineationx, cy) and (c 'x, c 'y) etc. parameter；Know after these parameters, as shown in Fig. 2 order
Z is the depth coordinate of point P in three dimensions, OlAnd OrFor the coordinate system of left and right cameras, (x, y) and (x ', y ') is point P on a left side
The imager coordinate of right video camera, i.e. parallax d=x-x ', by triangle geometrical relationship, can obtain below equation：
It can obtainSo as to the three-dimensional coordinate for the P for drawing space.
4) three-dimensional correction：Binocular vision system is corrected by Bouguet algorithms so that two cameras are mathematically complete
It is placed in parallel, and the c of left and right camerax, cyIt is identical with f；
5) re-projection matrix:According to parameter obtained above, according to Fig. 2 triangle geometrical relationship, 4X4 re-projection is obtained
Matrix Q：
Using left camera coordinate system as world coordinate system, the parallax that a left imager coordinate point p (x, y) associates with it is given
D=x-x ', x ' be p points in the abscissa of right imaging coordinate system, pass through
Obtain the three-dimensional coordinate (X/W, Y/W, Z/W) of p points.
Further, it is left using vision software bag halcon deformable template matching operator identification positioning in step (3)
Workpiece in right image, is comprised the following steps that：
(1 offline image of the collection comprising workpiece and the image for intercepting workpiece portion；
(2 are fabricated to template file using halcon instruments the workpiece portion of interception；
(3 position the workpiece of image using the template file ONLINE RECOGNITION created, and export workpiece in left images
Profile and center.
Further, step (4) asks for comprising the following steps that for workpiece three-dimensional pose：
1) center of workpiece) is asked for：By the workpiece template matches center of left images, pass through the weight in step (1)
Projection matrix Q obtains three-dimensional coordinate of the workpiece centre position in left camera coordinate system；
2) normal orientation of workpiece) is asked for：By the various match points of the workpiece profile of left images, by step (1)
Re-projection matrix Q is fitted the space plane of workpiece profile, asks for the normal vector of the plane.
Further, step (5) is comprised the following steps that：
((1 hand and eye calibrating：Left camera coordinate system phase is asked for using Tsai hand and eye calibrating algorithm offline using scaling board
To robot base target position orientation relation X；
((2 utilize position orientation relation X, and the three-dimensional world coordinate system of workpiece is converted into the basis coordinates of industrial robot；
((the online pose according to workpiece under basis coordinates of 3 industrial robots carries out trajectory planning, automatic grabbing workpiece.
Compared with prior art, this programme principle and advantage is as follows：
To workpiece identification and positioning, pedestal target three-dimensional pose information of the workpiece in industrial robot, industrial machine are drawn
People carries out the automatic grabbing workpiece of trajectory planning according to the three-dimensional pose information of workpiece, and versatility is good；Image recognition location algorithm is adopted
Use deformable template matching algorithm, workpiece scales in the picture, rotate or brightness it is inconsistent when, additionally it is possible to work
Part recognizes positioning exactly；And biocular systems, it is measurable go out workpiece accurate three-dimensional pose information, thus in measurement process
In, to putting without any constraint for workpiece, with strong robustness, and speed is fast, meets industrial requirement of real-time.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the workpiece grabbing method based on binocular vision in the embodiment of the present invention；
Fig. 2 is the schematic diagram of camera calibration in the embodiment of the present invention.
Embodiment
With reference to specific embodiment, the invention will be further described：
Referring to shown in accompanying drawing 1, a kind of workpiece grabbing method based on binocular vision described in the present embodiment, including following step
Suddenly：
(1) binocular vision system is demarcated, comprised the following steps that：
1) single camera calibration：Single camera calibration is made to each video camera using scaling board, its distortion of camera is determined
Coefficient and video camera internal reference matrix, with correcting image, export orthoscopic image；
2) Camera calibration：Adjust the angle and distance between left and right cameras, it is ensured that the image line alignment of output；
3) stereo calibration：Demarcated using scaling board, recognize focal length of camera f, left and right camera centre-to-centre spacing T and left and right master
Principal point (the c that light intersects with the plane of delineationx, cy) and (c 'x, c 'y)；
4) three-dimensional correction：Binocular vision system is corrected by Bouguet algorithms so that two cameras are mathematically complete
It is placed in parallel, and the c of left and right camerax, cyIt is identical with f；
5) re-projection matrix:According to obtained parameter, 4X4 re-projection matrix Q is obtained：
Using left camera coordinate system as world coordinate system, the parallax that a left imager coordinate point p (x, y) associates with it is given
D=x-x ', x ' be p points in the abscissa of right imaging coordinate system, pass through
Obtain the three-dimensional coordinate (X/W, Y/W, Z/W) of p points.
(2) left and right cameras gathers image and image is corrected simultaneously；
(3) workpiece of positioning left images is recognized using template matching algorithm：
The workpiece in left images is positioned using vision software bag halcon deformable template matching operator identification, specifically
Step is as follows：
(1 offline image of the collection comprising workpiece and the image for intercepting workpiece portion；
(2 are fabricated to template file using halcon instruments the workpiece portion of interception；
(3 position the workpiece of image using the template file ONLINE RECOGNITION created, and export workpiece in left images
Profile and center.
(4) three-dimensional pose of workpiece is calculated according to the identification location information of left and right cameras image workpiece, specific steps are such as
Under：
1) center of workpiece) is asked for：By the workpiece template matches center of left images, obtain workpiece centre position and exist
The three-dimensional coordinate of left camera coordinate system；
2) normal orientation of workpiece) is asked for：By the various match points of the workpiece profile of left images, the sky of workpiece profile is fitted
Between plane, ask for the normal vector of the plane.
(5) industrial robot is comprised the following steps that according to the three-dimensional pose information of workpiece to the automatic crawl of workpiece：
((1 hand and eye calibrating：Left camera coordinate system phase is asked for using Tsai hand and eye calibrating algorithm offline using scaling board
To robot base target position orientation relation X；
((2 utilize position orientation relation X, and the three-dimensional world coordinate system of workpiece is converted into the basis coordinates of industrial robot；
((the online pose according to workpiece under basis coordinates of 3 industrial robots carries out trajectory planning, automatic grabbing workpiece.
The present embodiment draws pedestal target three-dimensional pose information of the workpiece in industrial robot to workpiece identification and positioning,
Industrial robot carries out the automatic grabbing workpiece of trajectory planning according to the three-dimensional pose information of workpiece, and versatility is good；Image recognition is determined
Position algorithm uses deformable template matching algorithm, workpiece scales in the picture, rotate or brightness it is inconsistent when, also
Positioning can be recognized exactly to workpiece；And biocular systems, it is measurable go out workpiece accurate three-dimensional pose information, thus survey
During amount, to putting without any constraint for workpiece, with strong robustness, and speed is fast, meets industrial requirement of real-time.
Examples of implementation described above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.
Claims (5)
1. a kind of workpiece grabbing method based on binocular vision, it is characterised in that：Comprise the following steps：
(1) binocular vision system is demarcated；
(2) left and right cameras gathers image and image is corrected simultaneously；
(3) workpiece of positioning left images is recognized using template matching algorithm；
(4) three-dimensional pose of workpiece is calculated according to the identification location information of left and right cameras image workpiece；
(5) industrial robot according to the three-dimensional pose information of workpiece to the automatic crawl of workpiece.
2. a kind of workpiece grabbing method based on binocular vision according to claim 1, it is characterised in that：The step
(1) demarcation binocular vision system is comprised the following steps that：
1) single camera calibration：Single camera calibration is made to each video camera using scaling board, its distortion of camera coefficient is determined
With video camera internal reference matrix, with correcting image, orthoscopic image is exported；
2) Camera calibration：Adjust the angle and distance between left and right cameras, it is ensured that the image line alignment of output；
3) stereo calibration：Demarcated using scaling board, recognize focal length of camera f, left and right camera centre-to-centre spacing T and left and right chief ray
Principal point (the c intersected with the plane of delineationx, cy) and (c 'x, c 'y)；
4) three-dimensional correction：Binocular vision system is corrected by Bouguet algorithms so that two cameras are mathematically substantially parallel
Place, and the c of left and right camerax, cyIt is identical with f；
5) re-projection matrix:According to obtained parameter, 4X4 re-projection matrix Q is obtained：
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Using left camera coordinate system as world coordinate system, the parallax d=that a left imager coordinate point p (x, y) associates with it is given
X-x ', x ' be p points in the abscissa of right imaging coordinate system, pass through
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Obtain the three-dimensional coordinate (X/W, Y/W, Z/W) of p points.
3. a kind of workpiece grabbing method based on binocular vision according to claim 1, it is characterised in that：The step
(3) in, using the workpiece in vision software bag halcon deformable template matching operator identification positioning left images, specific step
It is rapid as follows：
(1 offline image of the collection comprising workpiece and the image for intercepting workpiece portion；
(2 are fabricated to template file using halcon instruments the workpiece portion of interception；
(3 position the workpiece of image using the template file ONLINE RECOGNITION created, and export profile of the workpiece in left images
And center.
4. a kind of workpiece grabbing method based on binocular vision according to claim 1, it is characterised in that：The step
(4) comprising the following steps that for workpiece three-dimensional pose is asked for：
1) center of workpiece) is asked for：By the workpiece template matches center of left images, obtain workpiece centre position and taken the photograph on a left side
The three-dimensional coordinate of camera coordinate system；
2) normal orientation of workpiece) is asked for：By the various match points of the workpiece profile of left images, the space of fitting workpiece profile is put down
Face, asks for the normal vector of the plane.
5. a kind of workpiece grabbing method based on binocular vision according to claim 1, it is characterised in that：The step
(5) comprise the following steps that：
((1 hand and eye calibrating：Left camera coordinate system is asked for respect to machine using Tsai hand and eye calibrating algorithm offline using scaling board
Device people's pedestal target position orientation relation X；
((2 utilize position orientation relation X, and the three-dimensional world coordinate system of workpiece is converted into the basis coordinates of industrial robot；
((the online pose according to workpiece under basis coordinates of 3 industrial robots carries out trajectory planning, automatic grabbing workpiece.
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