DE2552927A1 - Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile - Google Patents

Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile

Info

Publication number
DE2552927A1
DE2552927A1 DE19752552927 DE2552927A DE2552927A1 DE 2552927 A1 DE2552927 A1 DE 2552927A1 DE 19752552927 DE19752552927 DE 19752552927 DE 2552927 A DE2552927 A DE 2552927A DE 2552927 A1 DE2552927 A1 DE 2552927A1
Authority
DE
Germany
Prior art keywords
component
centre
area
angular position
scanning
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.)
Pending
Application number
DE19752552927
Other languages
German (de)
Inventor
Heribert Dipl Phys Geisselmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE19752531682 external-priority patent/DE2531682A1/en
Application filed by Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority to DE19752552927 priority Critical patent/DE2552927A1/en
Publication of DE2552927A1 publication Critical patent/DE2552927A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G06V10/421—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation by analysing segments intersecting the pattern

Abstract

The optical sensing system for component identification allows angular position to be determined. A television camera scans the component and from the data obtained the centre of area is determined. A second stage involves the determination of the diameter of a number of circles tangential to the profile surfaces of the component. The component is scanned a second time with reference to the calculated centre of area to determine the co-ordinate position of a boundary contact with one of the reference circles. From the co-ordinate data the angular position is calculated.

Description

Optische Sensoren zur Erfassung vereinzelter Werkstücke mitOptical sensors for detecting individual workpieces with

Industrierobotern Wie bei der zu erweiternden Erfindung (Patentanmeldung P 25 31 682.9) wird die Lage des Werkstückes in zwei Schritten vermessen: Beim ersten Abtasten des Bildes mit der Fernsebkamera werden die Koordinaten X9 und y5 des Schwerpunktes 5 der von der Umrißlinie des Werkstüokes gebildeten Fläche aus den Fernsebsignalen errechnet. In einem zweiten Abtastvorgang wird die Umrißlinie des Werkstückes mit einem oder, wenn erforderlich, mehreren Kreisen geschnitten, die mit geeigneten Radien um den Schwerpunkt 5 gezogen werden. Industrial robots As with the invention to be expanded (patent application P 25 31 682.9) the position of the workpiece is measured in two steps: With the first Scanning the image with the television camera will be the X9 and Y5 coordinates of the center of gravity 5 of the area formed by the outline of the work piece from the television signals calculated. In a second scanning process, the outline of the workpiece is included one or, if necessary, several circles cut with appropriate Radii are drawn around the center of gravity 5.

Bei dieser Erweiterung der Erfindung wird bei der zweiten Abtastung eine zusätzliche und aufwendige Abtastvorrichtung dadurch vermieden, daß bei jedem Schnittpunkt (, y) einer Fernsebzeile mit der Umrißlinie des Werkstückes der Abstand r zu dem sobon bekannten Schwerpunkt errechnet wird. Es gilt: r2=(x-xS)2+(y-ys)2. Ist dieser Abstand r gleich dem Radius R eines um den Schwerpunkt 5 gezogenen Kreises, werden die Koordinaten dieses Punktes in Polarkoordinaten eines Koordinatensystems umgereohnet, das im Schwerpunkt 5 seinen 0-Punkt hat. Diese Koordinaten, und zwar pro entsprechendem Schnittpunkt ein Winkel, werden gespeichert und in einem anschließenden Rechenvorgang nach Winkelgröße geordnet. Durch Vergleich der nach der Umordnung erhaltenen Winkelfolge mit der in einer vorausgegangenen Lernphase gespeicherten Winkelfolge wird die Winkellage des zu vermessenden Werkstückes bestimmt.In this extension of the invention, the second scan an additional and expensive scanning device avoided in that each Intersection (, y) of a television line with the outline of the workpiece is the distance r is calculated for the so-called known center of gravity. The following applies: r2 = (x-xS) 2+ (y-ys) 2. If this distance r is equal to the radius R of a circle drawn around the center of gravity 5, the coordinates of this point are in polar coordinates of a coordinate system umgereohnet, which has its 0 point in the center of gravity 5. These coordinates, namely one angle per corresponding intersection are saved and used in a subsequent Calculation process sorted by angle size. By comparing those after the rearrangement obtained angle sequence with that stored in a previous learning phase Angular sequence, the angular position of the workpiece to be measured is determined.

Claims (1)

PatentanspruoI) Optischer Sensor zur Erfassung von auf einem Tisob vereinzelten Werkstücken naob Auflageart, Winkelorientierung und Lage unter Verwendung des Schwerpunktes der von der Umrißlinie umschlossenen Fläche und der Schnittpunkte von Kreisen um den Schwerpunkt mit der Umrißlinie da dur G h gek e n n z ei ch ne t, daß die Koordinaten des Flächenschwerpunktes während der ersten Bildabtastung durch Verwendung eines zeilenfömmig abtastenden Systems von Zählern und Recheneinheiten bestimmt werden und mit dem gleichen Abtastsystem in einer zweiten Abtastung die Koordinaten der Punkte, bei denen siob die Umrißlinie des Werkstückes mit einem oder mehreren um den Schwerpunkt gezogenen Kreisen schneidet, mittels einer Reshenvorschrift bestimmt werden.Patent claim) Optical sensor for detecting on a Tisob individual workpieces based on the type of support, angular orientation and position the center of gravity of the area enclosed by the outline and the points of intersection of circles around the center of gravity with the outline going through there t that the coordinates of the centroid during the first image scan by using a line-by-line scanning system of counters and arithmetic units be determined and with the same scanning system in a second scan the Coordinates of the points at which the contour line of the workpiece with a or intersects several circles drawn around the center of gravity, by means of a Reshen rule to be determined.
DE19752552927 1975-07-16 1975-11-26 Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile Pending DE2552927A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19752552927 DE2552927A1 (en) 1975-07-16 1975-11-26 Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19752531682 DE2531682A1 (en) 1975-07-16 1975-07-16 Position recognition system using optical sensor - determines location and orientation of objects by means of circular optical scanning
DE19752552927 DE2552927A1 (en) 1975-07-16 1975-11-26 Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile

Publications (1)

Publication Number Publication Date
DE2552927A1 true DE2552927A1 (en) 1977-06-02

Family

ID=5962604

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19752552927 Pending DE2552927A1 (en) 1975-07-16 1975-11-26 Component recognition by industrial robots - determines angular position of component by scanning for centre of area and determining dia. of circle tangential to profile

Country Status (1)

Country Link
DE (1) DE2552927A1 (en)

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