Method for automatically tracking unilateral sewing laser visual sense paths of composite material three-dimensional structural member

Abstract

The invention discloses a method for automatically unilateral sewing laser visual sense paths of a tracking composite material three-dimensional structural member. The method comprises the following steps of performing demarcating with a three-stripe laser light source visual tracking system and performing real-time extraction on robot operation paths. According to the method disclosed by the invention, an eye-in-hand manner is adopted; laser stripes of a laser seam tracker are projected to the surface of a three-dimensional target, and corresponding three-dimensional position information is obtained, so that the relative pose relationship between the wrist of a robot and the laser visual sense system is determined; and the shape of a space curved surface character workpiece is matched bya laser visual system in a real-time manner, and the working path of the robot is extracted for tracking calculation. Compared with a conventional plane target, the method can effectively improve thedemarcating efficiency and the demarcating accuracy; the working plane of a three-stripe laser light source can be demarcated at the same time, and on the other side, the quick positioning of the space curved surface character workpiece and tracking requirement of unilateral sewing paths can be realized.

Description

technical field [0001] The invention belongs to the field of robot vision control, and in particular relates to an automatic tracking method of a laser vision path for single-side stitching of a composite material three-dimensional structure. Background technique [0002] At present, in the processing of composite materials by single-side sewing robots, it is often encountered in the robot programming work of the three-dimensional curved surface structure to be stitched. Because this kind of workpiece sewing process needs to define a large number of robot path points, the programming method of teaching and reproduction has the problem of low work efficiency. Although the offline programming method can effectively improve the programming efficiency of the robot, its planning object is usually an ideal three-dimensional model of the workpiece, which is difficult to meet the actual processing needs. Therefore, the robot sewing path tracking technology using laser vision control...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the use of the three-stripe laser vision path tracking sensor, designs a special target and develops a special vision system for hand-eye relationship calibration, and solves the problem of rapid calibration of the hand-eye relationship between the vision system and the unilateral sewing robot. On this basis, the present invention proposes A visual extraction technology of robot operation path on space curved surface workpiece, which is used to meet the requirements of automatic identification and automatic tracking of three-dimensional curved composite material prefabricated parts sewing path

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