Robot positioning device and method based on novel visual guidance

Abstract

The invention discloses a robot positioning device and method based on novel visual guidance. A system device comprises a line structured light self-scanning device, a robot module and an upper computer. The line structured light self-scanning device comprises an industrial camera, a laser and a galvanometric scanner. The robot module comprises a robot body and a robot controller. A system methodis a method for joint calibration of a robot hand-eye relationship and a tool coordinate system. By use of the method, a system enables the industrial robot to locate a target object in a random posture. The robot positioning device and method can be applied to the tasks of grabbing and carrying by the robot.

Description

technical field [0001] The invention relates to an industrial robot positioning system device and method, in particular to a robot positioning device and method based on a novel visual guidance. Background technique [0002] For most robot application scenarios, it is necessary to know the pose of the target object in advance to complete the corresponding task. At present, in the industrial application of robots, the working path of the robot is mostly planned by manual teaching or offline programming. However, this method strictly limits the starting and ending poses of the target object, and can only be mechanically repeated in advance. The planned path and different working objects need to be taught separately to obtain the corresponding teaching files. The highly structured working environment seriously restricts the work efficiency, flexibility and intelligence of the robot, and cannot meet the requirements of the flexible production system. [0003] Robot vision has b...

AI Technical Summary

Problems solved by technology

[0005] (1) Robot positioning method based on binocular stereo vision: This method can realize fast and non-contact three-dimensional positioning of target objects, but it is difficult to match the corresponding points of binocular vision, and can only be applied to target objects with significant characteristics;

[0006] (2) Workpiece fixed camera: The guidance system based on two-dimensional vision can only be applied to the occasion of non-positioning horizontal transmission, and cannot realize three-dimensional vision guidance

The invention patent application can realize fast, non-contact three-dimensional positioning of the target object, but it is difficult to match the corresponding points of the binocular vision, and it can only be applied to the target object with distinctive features, which is not widely applicable

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