Robot rapid positioning method for curved surface components

Abstract

The invention relates to a robot rapid positioning method for curved surface components. The robot rapid positioning method is characterized by comprising the following steps that (1) a conversion model between a robot flange, an end effector and a coordinate system of a vision measuring system is established by measuring reference points through a laser tracker to obtain calibration parameters; (2) triangular auxiliary reflecting targets are stuck at the corner points of the curved surface components, images of the curved surface components are acquired by the vision measuring system, two-dimensional pixel point coordinates of the auxiliary reflecting targets are extracted, and three-dimensional coordinates of the reflecting targets in the coordinate system of the vision measuring systemare calculated; and (3) the current pose parameters of a robot are calculated according to the visual measurement coordinates and calibration parameters of the curved surface components, and the motion amount of the robot is calculated by comparing with a target pose. The robot rapid positioning method improves the reliability of hand-eye calibrated parameters; positioning of information for the curved surface components is fast and accurate; and the robot rapid positioning method can be widely used for rapid positioning of the aviation and automobile curved surface parts and the like.

Description

technical field [0001] The invention relates to a robot technology, in particular to a robot positioning technology, in particular to a fast robot positioning method for curved surface components. Background technique [0002] Industrial robots have been widely used in the automotive and electronics industries, but most of them use offline programming to control the robot's pose, and cannot locate the target by active identification and positioning, so the scope of use is extremely limited; and in military fields such as aerospace, due to its With the characteristics of special working environment and complex object features, the application range of robot vision is narrow. At present, high-end and intelligentization are becoming research hotspots in the field of industrial robots, and the positioning of industrial robots assisted by machine vision has a very broad application prospect in the field of aerospace. [0003] There have been some research results in the field of...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the positioning accuracy of existing robots using monocular vision is not high, and the use of structured light scanning positioning is greatly affected by the environment, and to invent a robot facing curved surface components that has high positioning accuracy and is not affected by the environment Binocular Vision Positioning Method

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