CN111015664A - Intelligent identification method based on CCD camera - Google Patents
Intelligent identification method based on CCD camera Download PDFInfo
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- CN111015664A CN111015664A CN201911369932.2A CN201911369932A CN111015664A CN 111015664 A CN111015664 A CN 111015664A CN 201911369932 A CN201911369932 A CN 201911369932A CN 111015664 A CN111015664 A CN 111015664A
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an intelligent identification method based on a CCD camera, which comprises the following steps: moving the CCD camera to a point position I; determining the type of an object to be identified by adopting a CCD camera, acquiring a grabbing point with the identified object, and acquiring a pixel coordinate point of the grabbing point; moving the CCD camera to a point II; determining coordinate values of the point location I and the point location II under a camera coordinate system and a robot coordinate system; determining the coordinate value of the point location III in a camera coordinate system through a CCD camera; and determining the coordinate value of the point position III in the robot coordinate system. The recognition method provided by the invention is based on the CCD camera, can accurately capture the grabbing point without additionally designing a jig and a mechanical device so as to drive the robot to grab, has a simple and stable algorithm, and saves a large amount of customized jigs, machined parts and labor cost.
Description
Technical Field
The invention relates to the field of intelligent identification, in particular to an intelligent identification method based on a CCD camera.
Background
Traditional transport scheme adopts the location, and mechanical positioning scheme is fixed with the future, perhaps fixes a position through anchor clamps, goes to fixed position to get and puts, and often the design cost is very high, and is not general moreover, changes the product at every turn and probably need change a lot of tools, and the cost is very high, and ubiquitous manual assembly among the industry at present, transportation such as transport need formulate very complicated mechanical structure and replace the manual work, and based on this kind of application scene, research and development a neotype automatic identification technique is compelled at the forefront.
Disclosure of Invention
In view of the above, the present invention provides an intelligent recognition method based on a CCD camera, which saves a lot of customized jigs, machining parts and labor costs.
The purpose of the invention is realized by the following technical scheme:
an intelligent identification method based on a CCD camera comprises the following steps:
moving the CCD camera to a point position I;
determining the type of an object to be identified by adopting a CCD camera, acquiring a grabbing point with the identified object, and acquiring a pixel coordinate point of the grabbing point;
moving the CCD camera to a point II;
determining coordinate values of the point location I and the point location II under a camera coordinate system and a robot coordinate system;
determining the coordinate value of the point location III in a camera coordinate system through a CCD camera;
and determining the coordinate value of the point position III in the robot coordinate system.
Further, the determination of the kind of the object to be recognized is based on the basic contour curved surface of the object to be recognized.
Further, the method for acquiring the pixel coordinate point comprises the following steps: the method comprises the steps of distinguishing different communication thresholds of an object to be identified in a threshold processing mode, further selecting an interval of a communication domain, determining an external rectangle according to the maximum values of the interval in a first direction and a second direction of a camera coordinate system, and determining the intersection point of two diagonal lines of the external rectangle as a pixel coordinate point.
Further, the method for obtaining the coordinate value of the point location III in the robot coordinate system includes the following steps:
the method comprises the following steps: obtaining an included angle between the camera coordinate system and the robot coordinate system;
step two: obtaining an included angle between a connecting line of the point location III and the point location II in the camera coordinate system and a first direction of the camera coordinate system;
step three: obtaining an included angle between a connecting line of the point location III and the point location II and a first direction of the robot coordinate system under the robot coordinate system through triangulation;
step four: obtaining the offset of the robot coordinate system;
step five: and adding the offset to the current coordinate value of the robot. Further, the first step specifically comprises:
α＝Ax-Aj
Ax＝arctan((Y1-Y3)/(X1-X3))
Aj＝arctan((Y4-Y2)/(X4-X2))
α, forming an included angle between the camera coordinate system and the robot coordinate system;
Ax: under the camera coordinate system, an included angle between a connecting line of the point position I and the point position II and a first direction of the camera coordinate system is formed;
Aj: under the camera coordinate system, an included angle between a connecting line of the point position I and the point position II and a first direction of the robot coordinate system is formed;
the point positions of the point position I under the camera coordinate system and the robot coordinate system are respectively (X)1，Y1) And (X)2，Y2)；
The point positions of the point position II under the camera coordinate system and the robot coordinate system are respectively (X)3，Y3) And (X)4，Y4)。
Further, the second step is specifically:
A3＝A2+α
A2＝arctan((Y5-Y3)/(X5-X3))；
wherein: (X)5，Y5) Is the coordinate value of the point location III in the camera coordinate system, A2Is the angle between the connecting line of the point location III and the point location II in the camera coordinate system and the first direction of the camera coordinate system.
Further, the third step is specifically:
x＝L·cos(A2+α)
y＝L·sin(A2+α)
wherein: and L is the distance between the point II and the point III.
The invention has the beneficial effects that:
the recognition method provided by the invention is based on the CCD camera, can accurately capture the grabbing point without additionally designing a jig and a mechanical device so as to drive the robot to grab, has a simple and stable algorithm, and saves a large amount of customized jigs, machined parts and labor cost.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or embodiments described below.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of the structure of an object A;
FIG. 2 is a picture of an object A after thresholding;
FIG. 3 is a schematic diagram of a second coordinate system and a third coordinate system;
FIG. 4 is a flow chart of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
Hereinafter, the first direction is an X-axis direction and the second direction is a Y-axis direction.
The embodiment provides an intelligent recognition method based on a CCD camera, as shown in fig. 4, where an object to be recognized is an object a, the structure of the object a is shown in fig. 1, and the recognition method specifically includes:
the CCD camera is moved to a point position I which is any point position, and the coordinate value (X) of the point position I under the robot coordinate system can be obtained at the moment2，Y2)。
The method comprises the steps of shooting an object A by a CCD camera, determining the type of the object A, collecting a basic contour curved surface of the object, and determining a grabbing point of the object A according to the uniformity of the same kind of objects of the object and the dissimilarity of different kinds of objects, wherein the grabbing point is a point position under an object coordinate system A.
As shown in fig. 2, according to the capture point, different communication thresholds of the object a are distinguished in a threshold processing manner, and then an interval of a communication domain is selected, and a circumscribed rectangle is determined by a maximum value of the interval in a first direction and a second direction, and an intersection point of two diagonal lines of the circumscribed rectangle is used to obtain a pixel coordinate point of the object to be recognized, where the pixel coordinate point is a point location in a camera coordinate system.
As shown in fig. 3, the CCD camera is moved to the point location II, the coordinate of the point location II in the camera coordinate system coincides with the pixel coordinate point, and the coordinate value of the point location I in the camera coordinate system can be obtained by shooting with the CCD camera, and the point location II is the center point of the camera in the robot coordinate system, so that the coordinate value of the point location II in the robot coordinate system can also be obtained. Therefore, the coordinate values of the point location I in the camera coordinate system and the robot coordinate system are (X)1，Y1) And (X)2，Y2) The coordinate values of point II in the camera coordinate system and the robot coordinate system are (X)3，Y3) And (X)4，Y4)。
According to (X)1，Y1)、(X2，Y2)、(X3，Y3) And (X)4，Y4) Determining the included angle between the camera coordinate system and the robot coordinate system, wherein α is Ax-Aj
Ax＝arctan((Y1-Y3)/(X1-X3))
Aj＝arctan((Y4-Y2)/(X4-X2))
α, the included angle between the camera coordinate system and the robot coordinate system;
Ax: under a camera coordinate system, an included angle between a connecting line of the point position I and the point position II and a first direction of the camera coordinate system;
Aj: and under a camera coordinate system, the connecting line of the point position I and the point position II forms an included angle with the first direction of the robot coordinate system.
According to actual requirements, a CCD camera is used for shooting to determine a point location III, wherein the point location III is a point location to which the robot moves, and the coordinate of the point location III at the moment is a coordinate value (X) in a camera coordinate system5，Y5) The point needs to be converted into a coordinate value in the robot coordinate system, specifically:
obtaining an included angle between a connecting line of the point location III and the point location II in the camera coordinate system and a first direction of the camera coordinate system, specifically: a. the3＝A2+α
A2＝arctan((Y5-Y3)/(X5-X3))；
Wherein: a. the2Is the angle between the connecting line of the point location III and the point location II in the camera coordinate system and the first direction of the camera coordinate system.
The offset of point location III in the robot coordinate system is determined by the following equation.
x＝L·cos(A2+α)
y＝L·sin(A2+α)
Wherein: and L is the distance between the point II and the point III.
And adding the offset to the current point location of the robot in the robot coordinate system to obtain a coordinate value of the point location III in the robot coordinate system.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (7)
1. An intelligent identification method based on a CCD camera is characterized in that: the identification method specifically comprises the following steps:
moving the CCD camera to a point position I;
determining the type of an object to be identified by adopting a CCD camera, acquiring a grabbing point with the identified object, and acquiring a pixel coordinate point of the grabbing point;
moving the CCD camera to a point II;
determining coordinate values of the point location I and the point location II under a camera coordinate system and a robot coordinate system;
determining the coordinate value of the point location III in a camera coordinate system through a CCD camera;
and determining the coordinate value of the point position III in the robot coordinate system.
2. The identification method according to claim 1, characterized in that: the determination of the kind of the object to be recognized is based on the basic contour surface of the object to be recognized.
3. The identification method according to claim 2, characterized in that: the method for acquiring the pixel coordinate point comprises the following steps: the method comprises the steps of distinguishing different communication thresholds of an object to be identified in a threshold processing mode, further selecting an interval of a communication domain, determining an external rectangle according to the maximum values of the interval in a first direction and a second direction of a camera coordinate system, and determining the intersection point of two diagonal lines of the external rectangle as a pixel coordinate point.
4. The identification method according to claim 3, characterized in that: the method for obtaining the coordinate value of the point location III in the robot coordinate system includes the following steps:
the method comprises the following steps: obtaining an included angle between the camera coordinate system and the robot coordinate system;
step two: obtaining an included angle between a connecting line of the point location III and the point location II in the camera coordinate system and a first direction of the camera coordinate system;
step three: obtaining an included angle between a connecting line of the point location III and the point location II and a first direction of the robot coordinate system under the robot coordinate system through triangulation;
step four: obtaining the offset of the robot coordinate system;
step five: and adding the offset to the current coordinate value of the robot.
5. The identification method according to claim 4, characterized in that: the first step is specifically as follows:
α＝Ax-Aj
Ax＝arctan((Y1-Y3)/(X1-X3))
Aj＝arctan((Y4-Y2)/(X4-X2))
α, forming an included angle between the camera coordinate system and the robot coordinate system;
Ax: under the camera coordinate system, an included angle between a connecting line of the point position I and the point position II and a first direction of the camera coordinate system is formed;
Aj: under the camera coordinate system, an included angle between a connecting line of the point position I and the point position II and a first direction of the robot coordinate system is formed;
the point positions of the point position I under the camera coordinate system and the robot coordinate system are respectively (X)1，Y1) And (X)2，Y2)；
The point positions of the point position II under the camera coordinate system and the robot coordinate system are respectively (X)3，Y3) And (X)4，Y4)。
6. The identification method according to claim 4, characterized in that: the second step is specifically as follows:
A3＝A2+α
A2＝arctan((Y5-Y3)/(X5-X3))；
wherein: (X)5，Y5) Is the coordinate value of the point location III in the camera coordinate system, A2Is the angle between the connecting line of the point location III and the point location II in the camera coordinate system and the first direction of the camera coordinate system.
7. The identification method according to claim 6, characterized in that: the third step is specifically as follows:
x＝L·cos(A2+α)
y＝L·sin(A2+α)
wherein: and L is the distance between the point II and the point III.
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