Robot operation trajectory acquisition method based on line laser sensor

A laser sensor and robot technology, applied in the field of robots, can solve the problems of inconsistent line direction, low efficiency, unstable processing quality, etc., and achieve the effect of improving automation level and improving operation efficiency

Active Publication Date: 2019-05-10
716TH RES INST OF CHINA SHIPBUILDING INDAL CORP +2
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Problems solved by technology

[0003] In the field of sewing complex leather materials, almost all manufacturers currently use manual sewing machines for sewing. The sewing path is usually a space curve, which requires high levels of operators, and the processing quality is unstable. Defects such as inconsistent direction
In addition, since the leather to be sewed is usually relatively soft, even if the same piece of leather is placed on

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  • Robot operation trajectory acquisition method based on line laser sensor
  • Robot operation trajectory acquisition method based on line laser sensor
  • Robot operation trajectory acquisition method based on line laser sensor

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Embodiment Construction

[0042] In order to make the technical solutions and advantages of the present invention clearer, the implementation method of the present invention will be further described below in conjunction with the accompanying drawings.

[0043] combine Figure 1-4 , a method for obtaining robot operation trajectory based on a line laser sensor, taking a certain high-grade leather bag sewing process as an example, comprising the following steps:

[0044] (1) Install the line laser sensor at the end of the robot through the end flange and calibrate the hand-eye relationship matrix between the outgoing line laser sensor and the coordinate system of the robot end flange;

[0045] (2) The scanning trajectory of the manual teaching line laser sensor requires that on the scanning trajectory, each laser line intersects with the working path, and try to ensure that the laser line is perpendicular to the sewing path during the scanning process;

[0046] (3) After the online laser sensor moves a...

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Abstract

The invention relates to a robot operation trajectory acquisition method based on a line laser sensor. The method comprises the following steps that an to-be-operated path of a robot is scanned by using the line laser sensor, contour data of a laser line are extracted according to a certain sampling frequency, finally an operation trajectory of the robot is automatically generated according to thecontour sampling information on the whole path and position information of the robot, and the operation trajectory comprises information such as the operation position, the operation posture and theoperation speed of the robot. According to the method, the operation efficiency of the robot on a complex path can be improved, and the automation level of the robot during working can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for acquiring robot operation tracks based on a line laser sensor. Background technique [0002] Welding work is the main work in the sub-manufacturing of ships. At present, manual welding is still the main welding method, and due to the large error in the pre-sequence processing, it is difficult to realize the automatic welding of robots by using the teaching method. Taking the welding of ship segmented T-sections as an example, the ideal trajectory of the groove operation center should be a straight line. However, there are various curves of different shapes in the actual situation, and the robot welding trajectory simply taught cannot be used universally. Therefore, there is a need for a method for automatically generating different robot operation trajectories according to different T-shaped groove shapes. [0003] In the field of sewing complex leather m...

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
Inventor 马韬李帅张乐乐孟庆瑞陈卫彬闫文奇
Owner 716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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