Three-dimensional positioning system and method of workpiece based on point cloud data

A technology of point cloud data and three-dimensional positioning, which is applied in image data processing, manufacturing tools, computer parts, etc., can solve the problems of wasting time and achieve the effect of fast and accurate assembly actions

Active Publication Date: 2021-10-15
LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing robot control is to fix the assembly point and the position of the robot, so as to measure and formulate the positional relationship in advance to achieve accurate in-position movement. However, once the workpiece to be assembled deviates, it needs to be readjusted, wasting a lot of time

Method used

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  • Three-dimensional positioning system and method of workpiece based on point cloud data
  • Three-dimensional positioning system and method of workpiece based on point cloud data
  • Three-dimensional positioning system and method of workpiece based on point cloud data

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Embodiment Construction

[0041] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0042] A 3D workpiece positioning system based on point cloud data, such as figure 1 As shown, it includes an assembly robot 1 and an assembly robot control mechanism 6, the assembly end of the assembly robot 1 is provided with an attitude sensor 1a and a force sensor 1b, and a depth camera 1c is provided in the assembly scene, preferably at the assembly end of the assembly robot 1 superior;

[0043] The system also includes a prediction mechanism 2, a force analysis mechanism 3, and a visual analysis mechanism 4. The data input end group of the prediction mechanism 2 is connected to the output end of the posture sensor 1a and the output end of the force sensor 1b, and the data of the prediction mechanism 2 The output terminal group is connected to the data input terminal group of the force analysis mechanism 3, the data input terminal group of...

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Abstract

The invention discloses a workpiece three-dimensional positioning system and method based on point cloud data. The data of the depth camera is converted into the position information of the assembly point through the visual analysis mechanism, so as to obtain the real-time accurate position relationship, regardless of whether the workpiece to be assembled changes its position or not. , can provide accurate position information for subsequent robot actions, and realize fast and accurate assembly actions.

Description

technical field [0001] The invention relates to the technical field of assembly robot control, in particular to a three-dimensional workpiece positioning system and method based on point cloud data. Background technique [0002] For the consideration of fully automatic assembly, whether the control of the robot in the assembly process is accurate or not directly affects the assembly result. The assembly and the workpiece to be assembled are set as a set, and the two must be completely fitted before the assembly is complete, such as the common hole shaft assembly. , the hole is the workpiece to be assembled, and the shaft is the assembly. To fully insert the shaft into the hole requires accurate positioning of the center of the hole, and at the same time accurately controls the manipulator to move the shaft to the center of the hole to complete the assembly. [0003] Most of the existing robot control is to fix the assembly point and the position of the robot, so as to measur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/08B25J13/08G06K9/00G06T7/00G06T7/73
Inventor 刘长春张尽力全旭松陈海平徐旭叶郎曹庭分易聪之蒋晓东
Owner LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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