CN107030687A - Position bias detecting method and module, crawl position calibration method, grasping system - Google Patents
Position bias detecting method and module, crawl position calibration method, grasping system Download PDFInfo
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- CN107030687A CN107030687A CN201610081316.7A CN201610081316A CN107030687A CN 107030687 A CN107030687 A CN 107030687A CN 201610081316 A CN201610081316 A CN 201610081316A CN 107030687 A CN107030687 A CN 107030687A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40014—Gripping workpiece to place it in another place
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Abstract
The present invention relates to automated manufacturing technical field, a kind of position bias detecting method and module, crawl position calibration method, grasping system are disclosed.In the present invention, crawl position calibration method is comprised the steps of：It is located at the detection image of the workpiece to be taken of current location by the camera capture positioned at default crawl position；The central point of workpiece to be taken is recognized from detection image；Judge whether the central point of workpiece to be taken and the central point of detection image meet preparatory condition；If being unsatisfactory for preparatory condition, judge to shift, then detection image is mapped to the preset coordinate region of preset coordinate system；The workpiece centre point coordinates of the central point of workpiece to be taken and the central point of detection image in preset coordinate system and picture centre point coordinates are obtained respectively；The calibration parameter of workpiece grabbing position is calculated according to workpiece centre point coordinates and picture centre point coordinates.The present invention automatic calibration can capture path in the case where skew occurs in the location of workpiece to be taken, exactly grabbing workpiece.
Description
Technical field
The present invention relates to automated manufacturing technical field, more particularly to a kind of position bias detecting method and mould
Block, crawl position calibration method, grasping system.
Background technology
With the development of science and technology, application of the robot in the field of manufacturing is more and more.With manpower into
This rise year by year and human resources it is increasingly in short supply, it is more next in the field of Electronic products manufacturing etc.
More robots start to play a role.
Production, test link in mobile phone etc., can use manipulator to replace being accomplished manually some repeatability
Stronger work.Such as at some production work stations, manipulator can be according to preset path from Workpiece carrier
Workpiece to be processed is captured in disk and target operation station is transferred to.Generally, manipulator is in default crawl position
Workpiece to be processed of the crawl positioned at predeterminated position from Workpiece carrier disk；Generally, by work to be processed
The position of workpiece is set as the default position of workpiece when the central point of part is overlapped with the central point of Workpiece carrier disk
Put, thus manipulator being capable of accurately and reliably grabbing workpiece.
However, in actual production, due in transportation vibration, accident collision etc. some are unpredictable
Situation occur, the physical location for treating grabbing workpiece in Workpiece carrier disk and its in the pre- of Workpiece carrier disk
If position is likely to occur skew, manipulator is caused to capture workpiece to be processed exactly.And work to be processed
The phenomenon of putting position skew of the part in Workpiece carrier disk is difficult to be inherently eliminated, so general at present
Aid in correcting the problem of workpiece to be processed putting position is offset by way of increasing manpower.But, should
The mode of kind can increase production cost, and manually operation is difficult to avoid that the generation for omitting phenomenon, so can not
Fundamentally solve the accuracy problem of manipulator material grasping.
The content of the invention
It is an object of the invention to provide a kind of position bias detecting method and module, crawl position calibration side
Method, grasping system, enabling whether the position that automatic detection goes out workpiece to be taken shifts, it is possible to
Detecting when the position for taking workpiece shifts, the crawl path of automatic calibration machine tool hand, so that
Manipulator can, exactly grabbing workpiece automatic in the case where skew occurs in the location of workpiece to be taken, have
Beneficial to reduction production cost.
In order to solve the above technical problems, embodiments of the present invention provide a kind of position offset detection side
Method, for detecting whether the current location of workpiece to be taken shifts relative to predeterminated position；The position
Bias detecting method is comprised the steps of：It is located at by the camera capture positioned at default crawl position described
The detection image of the workpiece to be taken of current location；Wherein, positioned at the manipulator energy of the default crawl position
To be taken workpiece of enough crawls positioned at the predeterminated position；The workpiece to be taken is recognized from the detection image
Central point；Judge whether the central point of workpiece to be taken meets pre- with the central point of the detection image
If condition；If meeting preparatory condition, judge that the current location is not sent out relative to the predeterminated position
Raw skew；Otherwise, it is determined that the current location shifts relative to predeterminated position.
Embodiments of the present invention additionally provide a kind of crawl position calibration method, comprise the steps of：Profit
With foregoing position bias detecting method, judge the current location of the workpiece to be taken relative to
Whether the predeterminated position shifts；If shifting, the detection image is mapped into default seat
Mark the preset coordinate region of system；In the central point and the detection image that obtain the workpiece to be taken respectively
Workpiece centre point coordinates of the heart point in the preset coordinate system and picture centre point coordinates；According to the work
Part center point coordinate calculates the calibration parameter of the workpiece grabbing position with described image center point coordinate.
Embodiments of the present invention additionally provide a kind of position offset detection module, for detecting workpiece to be taken
Current location whether shifted relative to predeterminated position；The position offset detection module is included：Phase
The camera and processor of connection；The camera is used in the capture of default crawl position positioned at described current
The detection image of the workpiece to be taken of position；Wherein, the manipulator positioned at the default crawl position can be grabbed
Fetch bit is in the workpiece to be taken of the predeterminated position；The processor is used to recognize institute from the detection image
The central point of workpiece to be taken is stated, and judges central point and the center of the detection image of the workpiece to be taken
Whether point meets preparatory condition；If meeting preparatory condition, the processor judges that the current location is relative
Do not shifted in the predeterminated position；Otherwise, the processor judge the current location relative to
The predeterminated position shifts.
Embodiments of the present invention additionally provide a kind of grasping system, comprising：Workpiece carrier disk, manipulator
And foregoing position offset detection module；The manipulator is connected to the processor and for grabbing
Take the workpiece to be taken；The Workpiece carrier disk is used to carry the workpiece to be taken.
Embodiment of the present invention in terms of existing technologies, passes through the camera positioned at default crawl position
Capture and recognizes from detection image workpiece to be taken positioned at the detection image of the workpiece to be taken of current location
Central point, is judging when the central point of workpiece is taken and the central point of detection image meets preparatory condition,
Judge that current location does not shift relative to predeterminated position, then manipulator is grabbed according to predetermined movement path
Take workpiece to be taken, and judging that the central point of workpiece to be taken and the central point of detection image be unsatisfactory for presetting
During condition, judge that current location shifts relative to predeterminated position, so as to when shifting,
Detection image is mapped to the preset coordinate region of preset coordinate system, and obtains the center of workpiece to be taken respectively
Workpiece centre point coordinates and image center seat of the point with the central point of detection image in preset coordinate system
Mark, and then calculate according to workpiece centre point coordinates and picture centre point coordinates the calibration of workpiece grabbing position
Parameter, so as to adjust the crawl path of manipulator so that manipulator grabs workpiece to be taken exactly.
Preferably, the step of central point of the workpiece to be taken is recognized from the detection image, comprising with
Lower sub-step：The contour pattern of the workpiece to be taken is recognized from the detection image；Calculate the profile
The corresponding circumscribed geometric figure of figure；The central point of the circumscribed geometric figure is obtained as the work to be taken
The central point of part.So as to quickly determine the central point position of workpiece to be taken.
Preferably, the preparatory condition is included：The central point of the workpiece to be taken and the detection image
Central point is overlapped.So as to quickly judge whether shift.
Preferably, the preset coordinate region is the origin Central Symmetry on the preset coordinate system
Coordinates regional；Described image center point coordinate is the origin of the preset coordinate system.Consequently facilitating
Quickly obtain calibration parameter.
Brief description of the drawings
Fig. 1 is the flow chart according to first embodiment of the invention position bias detecting method；
Fig. 2 is the flow chart according to invention second embodiment crawl position calibration method；
Fig. 3 is the structured flowchart according to the 3rd embodiment position offset detection module of invention；
Fig. 4 is the structured flowchart according to the 4th embodiment grasping system of invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this hair
Bright each embodiment is explained in detail.However, it will be understood by those skilled in the art that
In each embodiment of the invention, in order that reader more fully understands the application and to propose many technologies thin
Section.But, even if many variations and modification without these ins and outs and based on following embodiment,
Each claim of the application technical scheme claimed can also be realized.
The first embodiment of the present invention is related to a kind of position bias detecting method, for detecting workpiece to be taken
Current location whether shifted relative to predeterminated position.Wherein, predeterminated position is default machinery
Hand captures the target location of workpiece to be taken, for example, can be the central point of Workpiece carrier disk where workpiece to be taken
Position, the current location of workpiece to be taken is actual placement position of the workpiece to be taken in Workpiece carrier disk
Put.Idiographic flow is as shown in figure 1, the position bias detecting method comprises the steps of 101 to step
106：
Step 101：Camera is moved to default crawl position.
In present embodiment, camera can be arranged at the predeterminated position of manipulator, wait to take capturing every time
Camera is driven together to be moved to default crawl position before workpiece, when manipulator is moved to default crawl position
Put, and the manipulator positioned at default crawl position can capture the workpiece to be taken positioned at predeterminated position.Specifically
Ground, when camera is together moved to default crawl position with manipulator, the detection image of camera capture
Central point meet preparatory condition with the central point of workpiece positioned at predeterminated position；For the ease of calculating and sentencing
It is disconnected, preparatory condition can be set as：The central point of workpiece to be taken and the central point weight of the detection image
Close.It is emphasized that preparatory condition refers to the central point and detection image of the workpiece positioned at predeterminated position
The relation that is met of central point.
Certainly, present embodiment is not specifically limited for preparatory condition；According to camera camera site
Difference, preparatory condition can also be different；For example, preparatory condition can also be：The central point of detection image
There is a certain distance between the central point of the workpiece of workpiece to be taken.
Step 102：It is located at the work to be taken of current location by the camera capture positioned at default crawl position
The detection image of part.
Before workpiece to be taken is captured every time, start camera, obtain the 2-3 detections for including workpiece to be taken
The position of workpiece to be taken is its actual putting position in Workpiece carrier disk in image, detection image.
Step 103：The central point of workpiece to be taken is recognized from detection image.
Specifically, the step of central point of workpiece to be taken is recognized from detection image includes sub-step 1031
To sub-step 1033：
Sub-step 1031：The contour pattern of workpiece to be taken is recognized from detection image.
In practical application, the color and workpiece the to be taken face of itself for placing the region of workpiece to be taken can be caused
Color has higher contrast, consequently facilitating identifying the contour pattern of workpiece to be taken from detection image.
Specifically, first, tonal range and pre-set dimension parameter are preset；Secondly, according to default gray scale model
Enclose and detection image is carried out in gray proces, i.e., the image after gray proces, retain gray scale in default ash
Gray level image part in the range of degree, and lose gray level image portion of the gray scale not in default tonal range
Point.Again, judge in the detection image after gray proces with the presence or absence of the figure for meeting pre-set dimension parameter
Region.If in the presence of the graphics field for meeting pre-set dimension parameter to be identified as to the profile diagram of workpiece to be taken
Shape.
Sub-step 1032：Calculate the corresponding circumscribed geometric figure of contour pattern.
The corresponding circumscribed figure of contour pattern can be the boundary point and and profile diagram for crossing contour pattern respectively
The geometric figure that the tangent intersection of shape is constituted.In this step, it can try one's best and be configured to circumscribed geometric figure
The figure of rule, such as circle, rectangle, equilateral polygon etc..
Sub-step 1033：The central point for obtaining circumscribed geometric figure is used as the central point of workpiece to be taken.
For example can using the geometric center point of regular figure as workpiece to be taken central point.
It should be noted that in other embodiment, detection image can also be obtained by other steps
In workpiece to be taken central point, method of the present embodiment for workpiece centre point to be taken in detection image
It is not specifically limited.
Step 104：Judge whether the central point of workpiece to be taken and the central point of detection image meet default bar
Part.If meeting preparatory condition, step 105 is performed；If being unsatisfactory for preparatory condition, step 106 is performed.
Specifically, the preparatory condition in present embodiment is included：The central point and detection image of workpiece to be taken
Central point overlap, consequently facilitating the quick current location for judging workpiece to be taken relative to predeterminated position whether
Shift.Further, the center of the preparatory condition also central point comprising workpiece to be taken and detection image
Pre-determined distance, that is, skew of the current location relative to predeterminated position of workpiece to be taken are smaller than between point
Amount is less than pre-determined distance, so as to think that it is smaller that the current location for working as workpiece exists relative to predeterminated position
During skew, manipulator is still able to accurate grabbing workpiece.
Step 105：Judge that current location does not shift relative to predeterminated position.
Workpiece to be taken can be captured according to default path.
Step 106：Judge that current location shifts relative to predeterminated position.Illustrate directly to capture and wait to take
It will be difficult to accurately capture workpiece to be taken during workpiece.
Compared with prior art, the current location that can automatically identify workpiece to be taken is relative for present embodiment
Whether shifted in predeterminated position, be accurately to capture workpiece to be taken to lay the first stone, and advantageously reduce
Cost of labor.
Second embodiment of the present invention is related to a kind of crawl position calibration method, as shown in Fig. 2 comprising
Following steps 201 are to step 204：
Step 201：Judge whether the current location of workpiece to be taken shifts relative to predeterminated position.Tool
Body can be judged using position bias detecting method as described in the first embodiment.If occurring inclined
Move, then perform step 202；If conversely, not offseting, manipulator is captured according to preset path to be waited to take
Workpiece.
Step 202：Detection image is then mapped to the preset coordinate region of preset coordinate system.This embodiment party
In formula, preset coordinate region is the centrosymmetric coordinates regional of origin on preset coordinate system；Figure
Inconocenter point coordinates is the origin of preset coordinate system.I.e. the origin of preset coordinate system is schemed with detection
The origin of picture is overlapped, so that, be conducive to simplifying the calculating of subsequent correction parameter.
Step 203：The central point of workpiece to be taken and the central point of detection image are obtained respectively in preset coordinate
Workpiece centre point coordinates and picture centre point coordinates in system.In present embodiment, picture centre point coordinates
The as origin of preset coordinate system, and workpiece centre point coordinates is then the certain point in preset coordinate system
Coordinate.When the current location of workpiece shifts relative to predeterminated position, then workpiece centre point coordinates
Not in origin.
Step 204：Workpiece grabbing position is calculated according to workpiece centre point coordinates and picture centre point coordinates
Calibration parameter.In present embodiment, due to the origin that picture centre point coordinates is preset coordinate system,
Therefore, workpiece centre point coordinates is calibration parameter.I.e. manipulator is moved to workpiece centre from origin
Point coordinates is captured.And when heart point coordinates is not the origin of preset coordinate system in the picture, then can root
Calculated according to picture centre point coordinates and workpiece centre point coordinates and workpiece is moved to by picture centre point coordinates
The displacement vector of center point coordinate is as calibration parameter, so that control machinery hand is moved to according to calibration parameter
Workpiece centre point coordinates captures workpiece to be taken.
Present embodiment in terms of existing technologies, can when detecting the location of workpiece and shifting
Calibration parameter is automatically generated, and according to calibration parameter adjustment crawl path, so that accurate grabbing workpiece.
The step of various methods are divided above, be intended merely to describe clear, one is can be merged into when realizing
Step is split to some steps, is decomposed into multiple steps, as long as comprising identical logical relation,
All in the protection domain of this patent；To adding inessential modification in algorithm or in flow or drawing
Enter inessential design, but do not change the core design of its algorithm and flow all in the protection model of the patent
In enclosing.
Third embodiment of the invention is related to a kind of position offset detection module, for detecting workpiece to be taken
Whether current location shifts relative to predeterminated position, as shown in figure 3, comprising：The shooting being connected
Head and processor.
Camera is used for the detection image positioned at the workpiece to be taken of current location in default crawl position capture,
The workpiece to be taken positioned at predeterminated position can be captured by being wherein located at the manipulator of default crawl position.
Processor is included：Identification module and judge module.Identification module, which is used to recognize from detection image, to be treated
Take the central point of workpiece.Judge module is used to judge the central point of workpiece to be taken and the central point of detection image
Whether preparatory condition is met.If judge module judges that the central point of workpiece and the central point of detection image are expired
Sufficient preparatory condition, then judge that current location does not shift relative to predeterminated position, whereas if sentencing
Disconnected module judges that the central point of workpiece and the central point of detection image are unsatisfactory for preparatory condition, then judges to work as
Front position shifts relative to predeterminated position.Preparatory condition can be the central point and detection image of workpiece
Central point whether overlap.
It is seen that, present embodiment is the system embodiment corresponding with first embodiment, this implementation
Mode can work in coordination implementation with first embodiment.The relevant technical details mentioned in first embodiment
In the present embodiment still effectively, in order to reduce repetition, repeat no more here.Correspondingly, this implementation
The relevant technical details mentioned in mode are also applicable in first embodiment.
It is noted that each module involved in present embodiment is logic module, in reality
In, a logic unit can be one of a physical location or a physical location
Point, it can also be realized with the combination of multiple physical locations.In addition, the innovative part in order to protrude the present invention,
Not by with solving technical problem relation proposed by the invention less close list in present embodiment
Member is introduced, but this is not intended that in present embodiment and other units are not present.
Four embodiment of the invention is related to a kind of grasping system, as shown in figure 4, comprising：Workpiece carrier
Disk, manipulator and the position offset detection module as described in the 3rd embodiment.Manipulator is connected to place
Manage device and for capturing workpiece to be taken.Workpiece carrier disk is used to carry workpiece to be taken.
Specifically, detection module includes camera and the processor being connected with camera.Work to be taken
Part is positioned over Workpiece carrier disk, and processor control machinery hand carries camera and is moved to default crawl position,
Camera obtains the detection image for including workpiece to be taken.Processor identifies workpiece to be taken from detection image
The center point coordinate of workpiece, and judge whether the central point of workpiece and the central point of detection image meet default
Condition.Preparatory condition is, for example, that the central point of workpiece is overlapped with the central point of detection image, and is being unsatisfactory for
During preparatory condition, judge that the current location of workpiece shifts relative to predeterminated position.
When processor shifts in the current location for judging workpiece relative to predeterminated position, detection is schemed
As mapping to the preset coordinate region of preset coordinate system, and central point and the detection of workpiece to be taken are obtained respectively
Workpiece centre point coordinates of the central point of image in preset coordinate system and picture centre point coordinates.It is default to sit
In marking region and for example being the centrosymmetric coordinates regional of origin on preset coordinate system, image
Heart point coordinates can be the origin of preset coordinate system.Processor is according to workpiece centre point coordinates and image
Center point coordinate is calculated in the calibration parameter of workpiece grabbing position, present embodiment, due to image center
Coordinate is the origin of preset coordinate system, therefore workpiece centre point coordinates is calibration parameter.Manipulator
According to calibration parameter adjustment crawl target location, workpiece to be taken is captured, so that the current location in workpiece is inclined
When moving predeterminated position, grasping system can automatically, accurately capture workpiece to be taken, advantageously reduce it is artificial into
This.
It will be understood by those skilled in the art that the respective embodiments described above are to realize that the present invention's is specific
Embodiment, and in actual applications, can to it, various changes can be made in the form and details, without inclined
From the spirit and scope of the present invention.
Claims (8)
1. a kind of position bias detecting method, it is characterised in that the present bit for detecting workpiece to be taken
Put relative to whether predeterminated position shifts；The position bias detecting method is comprised the steps of：
By the camera capture positioned at default crawl position positioned at the workpiece to be taken of the current location
Detection image；Wherein, the manipulator positioned at the default crawl position can be captured positioned at the default position
The workpiece to be taken put；
The central point of the workpiece to be taken is recognized from the detection image；
Judge whether the central point of workpiece to be taken meets default bar with the central point of the detection image
Part；
If meeting preparatory condition, judge that the current location does not occur partially relative to the predeterminated position
Move；Otherwise, it is determined that the current location shifts relative to predeterminated position.
2. position bias detecting method according to claim 1, it is characterised in that from the inspection
The step of central point of the workpiece to be taken is recognized in altimetric image, includes following sub-step：
The contour pattern of the workpiece to be taken is recognized from the detection image；
Calculate the corresponding circumscribed geometric figure of the contour pattern；
The central point for obtaining the circumscribed geometric figure is used as the central point of the workpiece to be taken.
3. position bias detecting method according to claim 1, it is characterised in that passing through position
The step of the camera capture of default crawl position is positioned at the detection image of the workpiece to be taken of current location
Before, also comprise the steps of：
The camera is moved to the default crawl position.
4. position bias detecting method according to claim 1, it is characterised in that described default
Condition is included：The central point of the workpiece to be taken is overlapped with the central point of the detection image.
5. a kind of crawl position calibration method, it is characterised in that comprise the steps of：
Using the position bias detecting method described in any one in Claims 1-4 4, treated described in judgement
Take whether the current location of workpiece shifts relative to the predeterminated position；
If shifting, the detection image is mapped to the preset coordinate region of preset coordinate system；
The central point of workpiece to be taken is obtained respectively with the central point of the detection image described default
Workpiece centre point coordinates and picture centre point coordinates in coordinate system；
The workpiece grabbing position is calculated according to the workpiece centre point coordinates and described image center point coordinate
The calibration parameter put.
6. crawl position calibration method according to claim 5, it is characterised in that described default
Coordinates regional is the centrosymmetric coordinates regional of origin on the preset coordinate system；Described image
Center point coordinate is the origin of the preset coordinate system.
7. a kind of position offset detection module, it is characterised in that the present bit for detecting workpiece to be taken
Put relative to whether predeterminated position shifts；The position offset detection module is included：What is be connected takes the photograph
As head and processor；
The camera is used in default crawl position capture positioned at the workpiece to be taken of the current location
Detection image；Wherein, the manipulator positioned at the default crawl position can be captured positioned at the default position
The workpiece to be taken put；
The processor is used for the central point that the workpiece to be taken is recognized from the detection image, and judges
Whether the central point of the workpiece to be taken meets preparatory condition with the central point of the detection image；
If meeting preparatory condition, the processor judges that the current location does not have relative to the predeterminated position
Shift；Otherwise, the processor judges that the current location occurs relative to the predeterminated position
Skew.
8. a kind of grasping system, it is characterised in that include：Workpiece carrier disk, manipulator and such as power
Profit requires the position offset detection module described in 7；
The manipulator is connected to the processor and for capturing the workpiece to be taken；
The Workpiece carrier disk is used to carry the workpiece to be taken.
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