CN109202802A - 一种用于卡合装配的视觉引导系统及方法 - Google Patents
一种用于卡合装配的视觉引导系统及方法 Download PDFInfo
- Publication number
- CN109202802A CN109202802A CN201811354361.0A CN201811354361A CN109202802A CN 109202802 A CN109202802 A CN 109202802A CN 201811354361 A CN201811354361 A CN 201811354361A CN 109202802 A CN109202802 A CN 109202802A
- Authority
- CN
- China
- Prior art keywords
- image
- snap
- fit
- workpiece
- vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000002708 enhancing effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 4
- 238000003709 image segmentation Methods 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000005314 correlation function Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 239000011159 matrix material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811354361.0A CN109202802B (zh) | 2018-11-14 | 2018-11-14 | 一种用于卡合装配的视觉引导系统及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811354361.0A CN109202802B (zh) | 2018-11-14 | 2018-11-14 | 一种用于卡合装配的视觉引导系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109202802A true CN109202802A (zh) | 2019-01-15 |
CN109202802B CN109202802B (zh) | 2020-10-16 |
Family
ID=64996676
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811354361.0A Active CN109202802B (zh) | 2018-11-14 | 2018-11-14 | 一种用于卡合装配的视觉引导系统及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109202802B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110355567A (zh) * | 2019-08-07 | 2019-10-22 | 江苏汇博机器人技术股份有限公司 | 基于相机的机器人装配方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60151711A (ja) * | 1984-01-19 | 1985-08-09 | Hitachi Ltd | ロボツト手先視覚座標系較正方式 |
JP2000288974A (ja) * | 1999-04-08 | 2000-10-17 | Fanuc Ltd | 画像処理機能を持つロボット装置 |
CN103134427A (zh) * | 2013-03-07 | 2013-06-05 | 苏州吉视电子科技有限公司 | 圆环零件识别装置和方法 |
CN105563481A (zh) * | 2014-11-11 | 2016-05-11 | 沈阳新松机器人自动化股份有限公司 | 一种用于轴孔装配的机器人视觉引导方法 |
CN105930854A (zh) * | 2016-04-19 | 2016-09-07 | 东华大学 | 一种机械臂视觉系统 |
CN106926241A (zh) * | 2017-03-20 | 2017-07-07 | 深圳市智能机器人研究院 | 一种基于视觉引导的双臂机器人装配方法及系统 |
-
2018
- 2018-11-14 CN CN201811354361.0A patent/CN109202802B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60151711A (ja) * | 1984-01-19 | 1985-08-09 | Hitachi Ltd | ロボツト手先視覚座標系較正方式 |
JP2000288974A (ja) * | 1999-04-08 | 2000-10-17 | Fanuc Ltd | 画像処理機能を持つロボット装置 |
CN103134427A (zh) * | 2013-03-07 | 2013-06-05 | 苏州吉视电子科技有限公司 | 圆环零件识别装置和方法 |
CN105563481A (zh) * | 2014-11-11 | 2016-05-11 | 沈阳新松机器人自动化股份有限公司 | 一种用于轴孔装配的机器人视觉引导方法 |
CN105930854A (zh) * | 2016-04-19 | 2016-09-07 | 东华大学 | 一种机械臂视觉系统 |
CN106926241A (zh) * | 2017-03-20 | 2017-07-07 | 深圳市智能机器人研究院 | 一种基于视觉引导的双臂机器人装配方法及系统 |
Non-Patent Citations (1)
Title |
---|
张宪民: "《机器人技术及其应用》", 30 April 2017, 机械工业出版社 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110355567A (zh) * | 2019-08-07 | 2019-10-22 | 江苏汇博机器人技术股份有限公司 | 基于相机的机器人装配方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109202802B (zh) | 2020-10-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111089569B (zh) | 一种基于单目视觉的大型箱体测量方法 | |
WO2022188379A1 (zh) | 服务于电力机器人的人工智能系统及方法 | |
CN105729468B (zh) | 一种基于多深度摄像机增强的机器人工作台 | |
CN110842914B (zh) | 基于差分进化算法的手眼标定参数辨识方法、系统及介质 | |
CN107590835B (zh) | 一种核环境下机械臂工具快换视觉定位系统与定位方法 | |
CN105225269B (zh) | 基于运动机构的三维物体建模系统 | |
CN103529855B (zh) | 一种旋转可调式双目视觉的目标识别定位装置及其在农业果实采摘机械的应用 | |
CN106737665B (zh) | 基于双目视觉和sift特征匹配的机械臂控制系统及实现方法 | |
CN108335331B (zh) | 一种钢卷双目视觉定位方法及设备 | |
CN106384115B (zh) | 一种机械臂关节角度检测方法 | |
WO2021109575A1 (zh) | 基于融入全局视觉和局部视觉的机器人视觉引导方法和装置 | |
CN108053449A (zh) | 双目视觉系统的三维重建方法、装置及双目视觉系统 | |
CN110400315A (zh) | 一种缺陷检测方法、装置及系统 | |
CN112067233B (zh) | 一种用于风洞模型六自由度运动捕获方法 | |
CN111784778A (zh) | 基于线性求解非线性优化的双目相机外参标定方法和系统 | |
CN109903299A (zh) | 一种条件式生成对抗网络的异源遥感图像配准方法及装置 | |
CN104766345B (zh) | 基于衣服特征点的身体扫描及运动捕捉方法 | |
CN112132874A (zh) | 无标定板异源图像配准方法、装置、电子设备及存储介质 | |
CN111985420B (zh) | 一种基于机器视觉的配电站无人化巡查方法 | |
CN103707300A (zh) | 机械手装置 | |
CN205466320U (zh) | 一种基于多镜头的智能机械手 | |
CN109202802A (zh) | 一种用于卡合装配的视觉引导系统及方法 | |
CN114750154A (zh) | 一种配网带电作业机器人的动态目标识别定位与抓取方法 | |
CN111368637B (zh) | 一种基于多掩模卷积神经网络的搬运机器人识别目标方法 | |
CN203636826U (zh) | 机械手装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230504 Address after: No. 7 Yingxi South Road, Shizhong District, Jinan City, Shandong Province, 250004 Patentee after: Jinan ZhongFuture Industrial Development Co.,Ltd. Address before: 250061, No. ten, No. 17923, Lixia District, Ji'nan City, Shandong Province Patentee before: SHANDONG University |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A visual guidance system and method for clamping assembly Effective date of registration: 20231228 Granted publication date: 20201016 Pledgee: Shandong Shanke Finance Leasing Co.,Ltd. Pledgor: Jinan ZhongFuture Industrial Development Co.,Ltd. Registration number: Y2023980075023 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |