Visual positioning method of mobile manipulator

Abstract

The invention discloses a visual positioning method of a mobile manipulator. The visual positioning method at least comprises the following steps: performing planar visual positioning by a camera, wherein the planar visual positioning comprises positioning of two translation degrees of freedom and one rotation degree of freedom; performing deep visual positioning compensation by a flexible mechanism, wherein the deep visual positioning comprises positioning of translation degree of freedom, preferably, the planar visual positioning comprises a step of obtaining an error of the translation degrees of freedom and an error of the rotation degree of freedom through a template matching mode. According to the visual positioning method, the technical problem of how to improve the robustness of the mobile manipulator is at least solved.

Description

technical field [0001] The embodiments of the present invention relate to the field of industrial technology, in particular to a visual positioning method for a mobile operating machine. Background technique [0002] In the process of repeatedly picking and placing workpieces, the mobile manipulator will cause positioning errors due to some internal factors or external interference, so that it cannot pick and place workpieces stably and reliably, and may even cause some accidents. Therefore, mobile manipulators are used in industrial material transportation. Need to use positioning to eliminate this error. In material transportation, for some specific workpieces, it is necessary to add specific materials (such as polyester sheets) to the clamping fingers to improve the friction with the surface of the workpiece and prevent accidents caused by the workpiece falling during transportation; however, due to Due to the effect of the clamping force, the workpiece may be bonded to ...

AI Technical Summary

Problems solved by technology

[0002] In the process of repeatedly picking and placing workpieces, the mobile manipulator will cause positioning errors due to some internal factors or external interference, so that it cannot pick and place workpieces stably and reliably, and may even cause some accidents. Therefore, mobile manipulators are used in industrial material transportation. Positioning is needed to eliminate this error in

In material transportation, for some specific workpieces, it is necessary to add specific materials (such as polyester sheets) to the clamping fingers to improve the friction with the surface of the workpiece and prevent accidents caused by the workpiece falling during transportation; however, due to Due to the action of the clamping force, the workpiece may be bonded to the added material of the finger, so that dragging occurs when the workpiece is placed or even cannot be separated from the clamping finger.

On the other hand, in the industry, the working surface is often inclined. At this time, the height of the workpiece is very important. If the workpiece is too high from the table when the clamping jaw is opened, it is likely to cause the workpiece to be placed incorrectly and fall. , which is often the case when the mobile manipulator works on multiple workbenches at the same time

In order to improve efficiency, the end effector of the mobile manipulator often operates multiple workpieces at the same time. At this time, if the end effector has a rotation angle error, it will bring a large position error to the edge workpiece, resulting in some workpieces not being placed in place.

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