A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Building block recognition and alignment method for masonry robot
The invention discloses a building block recognition and alignment method for a building robot, and relates to the technical field of image processing, and the method comprises the steps: installing a depth camera on an end effector of a mechanical arm of the robot, and capturing a building block image through the depth camera; processing the building block image through image processing software; analyzing the processed image, and identifying the shape, the size, the position and the direction of the building block; and according to the shape, the size, the position and the direction of the building block, the action of a mechanical arm is planned, the lifting height and the placing position are determined, and the building block is aligned with the target position. According to the method, the shape and the key point of the building block are effectively identified from the image by utilizing digital image processing and computer vision technologies, Hough transform and a Harris corner detector. The robot can quickly and accurately determine the position and the direction of the building block, and it is ensured that the building block can be accurately placed at the preset position.
本发明公开了一种砌筑机器人砌块识别与对齐方法，涉及图像处理技术领域，包括：在机器人机械臂末端执行器上安装深度相机，通过所述深度相机捕捉砌块图像；通过图像处理软件对所述砌块图像进行处理；对处理后的图像进行分析，识别砌块的形状、大小、位置和方向；根据所述砌块的形状、大小、位置和方向，规划机械臂的动作，确定提升高度和放置位置，并使砌块与目标位置对齐。本发明利用数字图像处理和计算机视觉技术，霍夫变换和Harris角点检测器，有效地从图像中识别出砌块的形状和关键点。机器人能够快速准确地确定砌块的位置和方向，确保砌块能够被精确地放置到预定位置。
Building block recognition and alignment method for masonry robot
The invention discloses a building block recognition and alignment method for a building robot, and relates to the technical field of image processing, and the method comprises the steps: installing a depth camera on an end effector of a mechanical arm of the robot, and capturing a building block image through the depth camera; processing the building block image through image processing software; analyzing the processed image, and identifying the shape, the size, the position and the direction of the building block; and according to the shape, the size, the position and the direction of the building block, the action of a mechanical arm is planned, the lifting height and the placing position are determined, and the building block is aligned with the target position. According to the method, the shape and the key point of the building block are effectively identified from the image by utilizing digital image processing and computer vision technologies, Hough transform and a Harris corner detector. The robot can quickly and accurately determine the position and the direction of the building block, and it is ensured that the building block can be accurately placed at the preset position.
本发明公开了一种砌筑机器人砌块识别与对齐方法，涉及图像处理技术领域，包括：在机器人机械臂末端执行器上安装深度相机，通过所述深度相机捕捉砌块图像；通过图像处理软件对所述砌块图像进行处理；对处理后的图像进行分析，识别砌块的形状、大小、位置和方向；根据所述砌块的形状、大小、位置和方向，规划机械臂的动作，确定提升高度和放置位置，并使砌块与目标位置对齐。本发明利用数字图像处理和计算机视觉技术，霍夫变换和Harris角点检测器，有效地从图像中识别出砌块的形状和关键点。机器人能够快速准确地确定砌块的位置和方向，确保砌块能够被精确地放置到预定位置。
Building block recognition and alignment method for masonry robot
一种砌筑机器人砌块识别与对齐方法
ZHANG GUANGJIN (author) / ZHANG HAOTIAN (author) / ZHANG FUDONG (author) / YE SHUGUANG (author) / LIN WEI (author) / DUAN BING (author) / JIN KAI (author)
2024-12-31
Patent
Electronic Resource
Chinese
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