Visual identification device and method for robot positioning
A robot positioning and visual recognition technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problems of complex image processing methods and inability to complete tasks accurately, so as to improve anti-interference and accuracy and ensure accuracy performance, reducing interference
Inactive Publication Date: 2016-10-19
宁夏巨能机器人股份有限公司
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Problems solved by technology
In traditional industrial robot applications, the robot only operates according to a fixed program, and the initial pose and end pose of the object are specified in advance; when the working environment of the robot changes or the target object changes or even the environmental conditions are unknown, with The robot control system with traditional sensors has many limitations, and even cannot accurately complete the predetermined tasks. The introduction of visual devices to the robot, on the one hand, allows the robot to imitate the human visual ability to perceive the external environment, and second, it can achieve non-contact Pose measurement, thirdly, it improves the intelligence of the robot and the ability of the robot to adapt and self-learn to a certain extent; among them, in the process of visual recognition, its image processing method is the most critical, and the image processing method in the prior art is relatively complicated , and cannot well form a recognition system
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[0018] Such as figure 1 The visual recognition device for robot positioning shown includes an image acquisition module, an image processing module with pre-stored standard images and a servo control system;
[0019] Such as figure 2 As shown, the visual identification device for robot positioning of the present invention is identified by the following identification method, which includes the following steps:
[0020] In the first step, the image information is collected by the image acquisition module to the image processing module for image processing;
[0021] The second step is image enhancement; image enhancement is performed on the image collected in the first step, which includes histogram enhancement, histogram averaging and contrast enhancement; the histogram of the image is an important statistical feature of the image, which can be considered as an image Approximation of the gray density function; according to the random process theory, the image can be regarded ...
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The invention discloses a visual identification device for robot positioning. The visual identification device comprises an image collection module, an image processing module in which a standard image is pre-stored, and a servo control system. The visual identification method comprises the following steps of 1) image collection; 2) image enhancement; 3) image filtering in which an image obtained in the step 2) is filtered by a median filtering algorithm; 4) edge detection; 5) image segmentation; and 6) compared identification. According to the visual identification device and method, the image processing method is improved to improve the anti-interference performance and accuracy of the visual identification system; algorithms related to image processing are relatively mature in the prior art, and can be referenced directly, and the system accuracy is ensured; and via a series of pretreatment, interference in the collection process is reduced, images can be identified via compared identification, and the accuracy is improved.
Description
technical field [0001] The invention relates to a visual recognition device, in particular to a visual recognition device for robot positioning and a recognition method thereof, belonging to the technical field of numerical control machine tools. Background technique [0002] Intelligent robots are the product of the development of industrial robots from non-intelligent to intelligent, from low-intelligence to high-intelligence. Its intelligent feature is that it has the function of coordinating with the external world, objects, environment and people. In this regard, vision, followed by robot vision, is the embodiment of simulating human vision on robots, so robot vision is considered to be the most important sensory ability of robots. Machine vision is generally defined as automatically acquiring and analyzing images to obtain data describing a scene or controlling certain actions. Its essence is to enable computers to have the ability to recognize surrounding environment...
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Inventor 宋明安孙洁刘学平李志博同彦恒麻辉
Owner 宁夏巨能机器人股份有限公司
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