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发明公开
CN107030687A 位置偏移检测方法及模块、抓取位置校准方法、抓取系统 无效 - 驳回

位置偏移检测方法及模块、抓取位置校准方法、抓取系统
摘要：
本发明涉及自动化制造技术领域，公开了一种位置偏移检测方法及模块、抓取位置校准方法、抓取系统。本发明中，抓取位置校准方法包含以下步骤：通过位于预设抓取位置的摄像头捕获位于当前位置的待取工件的检测图像；从检测图像中识别待取工件的中心点；判断待取工件的中心点与检测图像的中心点是否满足预设条件；若不满足预设条件，判定发生偏移，则将检测图像映射至预设坐标系的预设坐标区域；分别获取待取工件的中心点与检测图像的中心点在预设坐标系内的工件中心点坐标与图像中心点坐标；根据工件中心点坐标与图像中心点坐标计算工件抓取位置的校准参数。本发明能够在待取工件位置出现偏移的情况下自动校准抓取路径，准确地抓取工件。
摘要（英）：

The invention relates to the technical field of automatic manufacturing, and discloses a position offset detecting method and a module, a grabbing position calibrating method and a grabbing system. The grabbing position calibrating method comprises the following steps of: capturing a detecting image of a workpiece to be grabbed in a present position through a camera in a preset grabbing position; identifying the center point of the workpiece to be grabbed from the detecting image; judging if the center point of the workpiece to be grabbed and the center point of the detecting image meet preset conditions; judging the offset occurs and the detecting image is mapped to a preset coordinate area of a preset coordinate system if the preset conditions are not met; respectively obtaining a workpiece center point coordinate and an image center point coordinate of the center point of the workpiece to be grabbed and the center point of the detecting image in the preset coordinate system; and calculating calibrating parameters of a grabbing position of the workpiece according to the workpiece center point coordinate and the image center point coordinate. The grabbing position calibrating method can automatically calibrate a grabbing path under the position offset condition of the workpiece to be grabbed to accurately grab the workpiece.

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