CN205334203U - Monocular vision positioning system based on go up unloading robot - Google Patents
Monocular vision positioning system based on go up unloading robot Download PDFInfo
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- CN205334203U CN205334203U CN201620029310.0U CN201620029310U CN205334203U CN 205334203 U CN205334203 U CN 205334203U CN 201620029310 U CN201620029310 U CN 201620029310U CN 205334203 U CN205334203 U CN 205334203U
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Abstract
The utility model relates to an automated manufacturing field, through the accurate positioning of monocular vision principle realization work piece, four degree of freedom arm completed workpiece's of guide rotation type upper and lower material action. Monocular vision positioning system based on go up unloading robot includes four degree of freedom robot mechanical arms, four degree of freedom robot mechanical arm ends below is equipped with the sucking disc, the work piece is absorb to the sucking disc below, the below of work piece is equipped with ring illuminator, the ring illuminator inboard is equipped with camera and PLC controller, ring illuminator and camera be positive face up setting all. The utility model discloses introduce the poor compensation of thickness between scaling board and work piece, realize the accurate measurement, the installation position of camera is arbitrary, need not to carry on the manual regulation, and the operation is convenient, by the azimuthal measurement of monocular vision principle realization work piece, the system is with low costs, fast.
Description
Technical field
This utility model relates to automated manufacturing field, realizes being accurately positioned of workpiece by monocular vision principle, guides rotary four-degree-of-freedom mechanical arm to complete the feeding, discharge action of workpiece。
Background technology
Along with development and the application of automatic producing technology, machine vision also highlights day by day at the importance of automatic field。It plays an important role in product quality detection, Classification and Identification, shape and the task such as size detection and position sensing。
In automated production process, the feeding, discharge action of workpiece is often realized by industrial robot。The loading and unloading process of workpiece needs to be accurately placed in precalculated position workpiece, and machine vision technique solves the orientation problem of workpiece well, thus guiding industrial robot to carry out loading and unloading action。
Utility model content
This utility model is by single camera vision system application to rotary four-degree-of-freedom robot。It is accurately positioned workpiece, to guide rotary four-degree-of-freedom robot to realize the loading and unloading action of workpiece by single camera vision system。This robot system loading and unloading action quickly, accurately, considerably improves production efficiency。
Technical solutions of the utility model are as follows:
Monocular vision alignment system based on loading and unloading robot, including four-degree-of-freedom robot arm, described four-degree-of-freedom robot arm end is connected with sucker, described sucker is connected with scaling board, described scaling board be connected with annular light source, being provided with camera and PLC inside described annular light source, described annular light source and camera all face up setting。
Described four-degree-of-freedom robot arm can along front and back, upper and lower two rectilinear directions move, the end of described four-degree-of-freedom robot arm can be rotated, and the root of described four-degree-of-freedom robot arm also can be rotated。
Described annular light source is annular low angle LED vision light source。
This utility model has the beneficial effects that: 1) introduce scaling board and visual system is carried out parameter calibration, utilizes the thickness difference between scaling board and workpiece to compensate measuring parameter, it is achieved accurately to measure；2) installation position of camera arbitrarily, without manually adjusting, operation facility；3) being realized workpiece azimuthal measurement by monocular vision principle, system cost is low, speed is fast。
Accompanying drawing explanation
Below in conjunction with drawings and Examples, this utility model is further illustrated。
Fig. 1 is this utility model structural representation。
Fig. 2 is the coordinate projection figure that this utility model is defined。
Fig. 3 is this utility model thickness compensation schematic diagram。
Fig. 4 is this utility model workpiece camera image schematic diagram。
Wherein: 1, four-degree-of-freedom robot arm；2, sucker；3, scaling board；4, annular light source；5, camera。
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail。
Consult Fig. 1 to Fig. 4。
Monocular vision alignment system based on loading and unloading robot, including four-degree-of-freedom robot arm 1, described four-degree-of-freedom robot arm 1 end is connected with sucker 2, described sucker 2 is connected with scaling board 3, described scaling board 3 be connected with annular light source 4, being provided with camera 5 and PLC inside described annular light source 4, described annular light source 4 and camera 5 all face up setting。
Described four-degree-of-freedom robot arm 1 can along front and back, upper and lower two rectilinear directions move, be expressed as at Fig. 1X and, the end of described four-degree-of-freedom robot arm 1 can be rotated Δ, the root of described four-degree-of-freedom robot arm 1 also can be rotated。
Utility model works principle is: robot system first target bearing according to workpieceJudge feeding or blanking position whether beyond mechanical arm can and space。If target bearing be positioned at robot can and space within, system is by the present orientation according to workpieceWith target bearingAutomatically required translational movement is calculated、And the anglec of rotation、, the corresponding amount of movement needed for mechanical arm and corner coordinate are as shown in Figure 2。
Specifically comprise the following steps that
Step 1, four-degree-of-freedom robot arm 1 grabbing workpiece from the job library of stacking, piling controlling organization upwards pushes the distance of a thickness of workpiece, it is ensured that four-degree-of-freedom robot arm 1 can be correctly completed grasping movement next time。
Step 2, the inside and outside parameter demarcated between visual system and this system and robot coordinate system。
Shoot scaling board including a. camera and be in one group of image under diverse location, and by this group image calibration camera internal parameter；
B. traveling probe is to each angle point of scaling board, it is thus achieved that the robot coordinate of each angle point；Shot scaling board image by camera again and calculate the camera coordinates of scaling board in conjunction with monocular vision principle。By the angle point coordinate in the two coordinate system, it may be determined that the relative position relation of calibration for cameras and industrial robot。
C. industrial robot captures scaling board and mobile to camera fields of view, the outer parameter of calibration system, namely determines the position relationship between scaling board additional coordinate system and camera coordinates system。
D. by the thickness difference of workpiece Yu scaling board, the relative position relation in step 2-c is compensated, namely by the position relationship of this thickness difference and scaling board and camera, it is determined that the relative position relation of camera and workpiece calibration plane。Thickness compensation principle is as shown in Figure 3。
Step 3, such as Fig. 4, by the image information of workpiece lower edge, extract workpiece centreWith another point on azimuth direction。The camera system coordinate of some M, N can be calculated according to monocular vision principle。
Step 4, by the calibration result of step 2, according to coordinate transform formula, the camera coordinates of some M, N is converted into robot coordinate system's coordinate then the Z=0 plane by a M and N projection to robot coordinate system, it is determined that correspondence orientation, work spindle direction0 and the coordinate of geometric center point。
Step 5, present orientation information according to workpiece pointAzimuth information with feeding target location, translational movement needed for calculating robotAnd rotation amount、。The translational movement of Z-directionThen the feeding action specific requirement according to workpiece is calculated。
Step 6, the robot determined according to step 5 translational movement、And rotation amount、, replace scaling board with workpiece, mechanical arm workpiece be positioned over target bearing。After completing, mechanical arm repeats the feeding action of workpiece。
Above-mentioned drawings and Examples are merely to illustrate this utility model, and any art those of ordinary skill is to its suitably change done or modifies, or use other flower pattern instead and make this technical change, all should be regarded as without departing from this utility model patent category。
Claims (3)
1. based on the monocular vision alignment system of loading and unloading robot, it is characterized in that: include four-degree-of-freedom robot arm (1), described four-degree-of-freedom robot arm (1) end is connected with sucker (2), described sucker (2) is connected with scaling board (3), described scaling board (3) be connected with annular light source (4), described annular light source (4) inner side is provided with camera (5) and PLC, described annular light source (4) and camera (5) and all faces up setting。
2. the monocular vision alignment system based on loading and unloading robot according to claim 1, it is characterized in that: described four-degree-of-freedom robot arm (1) can along front and back, upper and lower two rectilinear directions move, the end of described four-degree-of-freedom robot arm (1) can be rotated, and the root of described four-degree-of-freedom robot arm (1) also can be rotated。
3. the monocular vision alignment system based on loading and unloading robot according to claim 1, it is characterised in that: described annular light source (4) is annular low angle LED vision light source。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201620029310.0U CN205334203U (en) | 2016-01-13 | 2016-01-13 | Monocular vision positioning system based on go up unloading robot |
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| CN201620029310.0U CN205334203U (en) | 2016-01-13 | 2016-01-13 | Monocular vision positioning system based on go up unloading robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111054841A (en) * | 2019-12-26 | 2020-04-24 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic feeding method for stamping parts |
| CN114619489A (en) * | 2022-04-01 | 2022-06-14 | 西南交通大学 | System and method for recognizing and correcting coordinates of mechanical arm conveyed object based on image processing |
-
2016
- 2016-01-13 CN CN201620029310.0U patent/CN205334203U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111054841A (en) * | 2019-12-26 | 2020-04-24 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic feeding method for stamping parts |
| CN114619489A (en) * | 2022-04-01 | 2022-06-14 | 西南交通大学 | System and method for recognizing and correcting coordinates of mechanical arm conveyed object based on image processing |
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