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Method for rapid calibrating hand-eye relationship of single eye vision sensor of welding robot

A welding robot and monocular vision technology, which is applied in the direction of manipulators, welding equipment, auxiliary welding equipment, etc., can solve problems such as simple and fast calibration, achieve maximum use value, simplify calculation and complexity, and reduce calibration errors. Effect

Inactive Publication Date: 2009-04-22
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method has the advantages of accurate positioning and high reliability, but it also has the disadvantages of moving the end effector of the robot during the calibration process, and performing multiple image acquisitions and multiple calibrations.
Can not meet the requirements of simple and fast calibration in actual production application

Method used

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  • Method for rapid calibrating hand-eye relationship of single eye vision sensor of welding robot
  • Method for rapid calibrating hand-eye relationship of single eye vision sensor of welding robot

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Embodiment Construction

[0016] like figure 1 As shown, the welding robot monocular vision sensor of the present invention includes: a miniature CCD camera 1 , a light reduction and filtering system 2 , a motor drive system 3 and a mounting bracket 4 . The connection relationship is as follows: the miniature CCD camera 1, the light reduction and filter system 2 and the motor drive system 3 are all arranged on the mounting bracket 4, and the light reduction and filter system 2 includes a light reduction lens 5, a filter lens 6 and a lens holder 7. The movable connecting rod 8, the driving arm 9, the dimming lens 5 and the filter lens 6 are overlapped and arranged on the lens holder 7, and are connected with the driving arm 9 through the movable connecting rod 8, and the driving arm 9 is directly connected to the motor drive system. The output shaft of the deceleration device 11 is connected, and can be driven by the output shaft to rotate forward / reversely; the motor drive system 3 includes a drive mot...

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Abstract

The present invention relates to a monocular vision sensor of a welding robot used for the technical field of welding and cutting, and a rapid calibrating method of the relationship between the hands and the eyes of the robot. A minitype CCD camera, the dimming and filtering systems, and a motor driving system of the sensor are arranged on an installation bracket. In the dimming and filtering systems, the dimming lens and the filtering lens are overlapped and arranged on a lens bracket, wherein the connection is realized by means of a movable connecting bar and a driving arm. A driving motor of the motor driving system is connected with a decelerator. The driving arms of the dimming and filtering system are directly connected with an output shaft of the decelerator. In the present invention, the internal and external parameters of the camera are calibrated, at the same time, the world coordinate system is coincident with the coordinate system of the robot, thereby, the denotation of the external parameters of the camera under the world coordinate system is changed into the denotation under the coordinate system of the terminal control point of the welding robot, so as to complete the calibrating of the relationship between the hands and the eyes of the robot.

Description

[0001] The present invention is based on the patent application number: 2004100528574, the patent application name is: "Welding robot monocular vision sensor and its hand-eye relationship rapid calibration method", the patent applicant is: Shanghai Jiaotong University, and the patent application date is: July 2004 Patent divisional application dated 15th. technical field [0002] The invention relates to a welding robot vision sensor and a calibration method thereof, in particular to a hand-eye relationship rapid calibration method of a welding robot monocular vision sensor. For welding and cutting fields. Background technique [0003] At present, there are many kinds of sensing methods applied to welding robots. Among these sensing methods, due to the advantages of large amount of information, non-contact, fast, high precision and high degree of automation, the visual sensing method is widely used in welding work. It has become a research hotspot in robotic welding sensors...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00B25J13/00B23K37/00
Inventor 林涛朱振友陈善本陈文杰陈希章
Owner SHANGHAI JIAOTONG UNIV
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