关键词: 机器视觉, 自动化定位引导, n点透视相机模型, 多零位锚点

Abstract: At present, in workshops, parts fixed on fixtures were commonly guided and gripped by pre-teaching the motion trajectories of robotic arms, resulting in poor human-machine interaction and low levels of intelligence. Machine vision, as an effective means of non-contact sensing and measurement, was applied in industrial scenarios. Based on monocular vision pose measurement technology, a multi-camera PnP positioning model and robotic arm guiding model were established to achieve spatial perception and guided grasping of the parts. Additionally, a pre-calibration method was proposed using multi-zero anchors to compensate system errors between robotic arm and vision module, which effectively decreasing the positioning and guiding errors of large parts.

Key words: machine vision, automatic positioning and guiding, perspective-n-point(PnP) camera model, multi-zero anchor