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Robot guidance system and method based on point cloud data

A point cloud data, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of wasting time and achieve the effect of fast and accurate assembly action

Active Publication Date: 2021-12-03
LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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  • Summary
  • Abstract
  • Description
  • Claims
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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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  • Robot guidance system and method based on point cloud data
  • Robot guidance system and method based on point cloud data
  • Robot guidance system and method based on point cloud data

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Embodiment Construction

[0042] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0043] A robot guidance system based on point cloud data, such as figure 1 As shown, including the assembly robot 1 and the assembly of the assembly, the assembly end of the assembly robot 1 is provided with a posture sensor 1a and a force sensor 1b, and a depth camera 1c is provided in the assembly scenario, preferably disposed in the assembly of the assembly robot 1. superior;

[0044] The system also includes a prediction mechanism 2, a force analyzer 3, a visual analysis mechanism 4, a handheral relationship processing mechanism 5, and the data input terminal of the prediction mechanism 2 connects the output terminal of the posture sensor 1a and the output terminal of the force sensor 1b. The data output terminal group of the prediction mechanism 2 is connected to the data input end group of the force analysis mechanism 3, and the data input term...

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Abstract

The invention discloses a robot guidance 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 position of the workpiece to be assembled is changed or not. Both can provide accurate position information for subsequent robot actions, and then calibrate the position through the hand-eye relationship processing mechanism, so that the assembly robot control mechanism can accurately formulate actions and realize fast and accurate assembly actions.

Description

Technical field [0001] The present invention relates to the field of assembling robot control technology, and in particular, there is a robot guidance system and method based on point cloud data. Background technique [0002] For automatic assembly consideration, the robot's control is precisely directly affecting the assembly result in assembly, and the assembly is set to stand up. The two need to be completely fitted, and the assembly is completed, such as common hole shaft assembly The holes are the workpiece, the shaft is the assembly, and the shaft is fully inserted into the hole to accurately position the hole of the hole, and also accurately control the manipulator to move the shaft to the center to complete the assembly. [0003] The existing robot control is mostly fixed to the position of the assembly point and the robot, thereby measuring and developing the positional relationship to achieve accurate in place, however, once a deviation occurs, it is necessary to re-adj...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/08B25J13/08B25J19/02
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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