Robot hand-eye positioning algorithm based on mechanical arm visual positioning system

A visual positioning and robot hand technology, applied in the direction of electrical program control, digital control, etc., can solve the problems of waste of resources, low efficiency, large errors, etc., and achieve the effect of precise physical coordinates and high algorithm efficiency

Inactive Publication Date: 2016-01-27
HEFEI TUXUN ELECTRONICS TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a robot hand-eye positioning algorithm based on the visual positioning system of the mechanical arm to solve various problems such as large errors, low efficiency, and waste of resources caused by traditional manual mobile machinery.

Method used

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  • Robot hand-eye positioning algorithm based on mechanical arm visual positioning system
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  • Robot hand-eye positioning algorithm based on mechanical arm visual positioning system

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Embodiment Construction

[0025] Such as Figure 6 , 7 As shown, the robotic arm visual positioning system includes two industrial cameras 1 and 2, two light sources 3 and 4, a robotic arm system, a computer control center 5, and a target vehicle 7 to be checked; the robotic arm system includes a robotic arm 6, Mechanical arm 6 is made up of big arm and small arm two parts, the position that mechanical arm moves is controlled by the deflection angle of large arm and small arm respectively, and computer control center 5 is located in the control room, and computer control center 5 is connected with two cameras 1 and 2, The mechanical arm system is controlled and connected; the two light sources 3 and 4 are paired with the two cameras 1 and 2 respectively, the primary camera 1 and the light source 3 are fixed, the target vehicle 7 to be inspected is located within the field of view of the primary camera 1, and the secondary The camera 2 and the light source 4 are located at the end of the mechanical arm...

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Abstract

The invention discloses a robot hand-eye positioning algorithm based on a mechanical arm visual positioning system, and is used for mechanical arm movement processing in mechanical arm visual positioning. Connection of a camera coordinate system and a physical coordinate system is rapidly established according to the characteristics of the camera coordinate system, and the physical coordinate system of any position can be established according to the requirements of the onsite field so that accurate coordinate conversion parameters can be obtained. The finally obtained physical coordinates are accurate, algorithm efficiency is high, a mechanical arm moves in the shortest path, and the final movement position meets the requirement indicators.

Description

technical field [0001] The invention relates to the field of robot arm movement, in particular to a robot hand-eye positioning algorithm based on a robot arm visual positioning system. Background technique [0002] With the continuous development of modern industry, the intelligence, automation and informatization of industrial production have become the general trend. The application fields of intelligent robot arms are becoming more and more extensive, and the market demand is gradually expanding. Autonomous identification and positioning technology of intelligent robot arm is a technology that often needs to be used. At present, there is still a lack of related methods with high recognition accuracy and efficiency in visual recognition and positioning in a large scale. Among them, how to establish the connection between the camera system and the physical coordinates, and how to quickly and accurately move the robotic arm to the target position has become one of the keys ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 郑飞高山林闫锋陆平李志亮江玉清
Owner HEFEI TUXUN ELECTRONICS TECH
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