Robot laser cleaning path planning system and method based on computer vision

A technology of laser cleaning and path planning, which is applied to chemical instruments and methods, cleaning methods and tools, manipulators, etc., to achieve broad application prospects and improve work efficiency

Pending Publication Date: 2019-08-13
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As the most promising new cleaning method at present, laser cleaning has the characteristics of high efficiency, green pollution-free, non-damage, non-contact cleaning, etc., but how to effectively improve the automation of laser cleaning tasks is a difficult problem facing the current industry

Method used

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  • Robot laser cleaning path planning system and method based on computer vision
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  • Robot laser cleaning path planning system and method based on computer vision

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Embodiment Construction

[0028] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] Please refer to figure 1 , which is a structural diagram of the manipulator teaching system in the present invention. In a manipulator teaching system proposed in the present invention, the system includes a visual motion capture module, a computer workstation, a teaching device and a manipulator, wherein:

[0030] 1. Visual capture module:

[0031] The visual motion capture module includes 8 infrared cameras, and each camera is fixed by a pan-tilt bracket, and the distance of each camera from the ground is 2.5 meters; Arranged in the field in a square shape, the radius of the square is 3 meters long, and the center of each infrared camera is aligned with the operating area of ​​the workpiece table; on the other...

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PUM

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Abstract

The invention discloses a robot laser cleaning path planning system and method based on computer vision. The system comprises a vision motion capturing module, a computer work station, a mechanical arm, a laser cleaning device arranged at the tail end of the mechanical arm, a depth camera and a demonstration device. The demonstration method based on computer vision is adopted, a user finishes pathplanning through the demonstration device, and a robot is guided to conduct laser cleaning on a target workpiece in a human-machine cooperation manner. The method is applied to small workpiece assembly line work, and the work efficiency can be improved; and for to-be-machined large workpieces, the demonstration efficiency can be improved, meanwhile, the experience of people is sufficiently combined, and the problem that in the real complex environment, the error rate of an automatic vision recognition method is high is solved.

Description

technical field [0001] The invention relates to the field of robot technology and application, and more specifically, relates to a method of using machine vision to plan a robot laser cleaning path. Background technique [0002] With the rapid development of rail transit, the output of subways and high-speed trains has greatly increased. Aluminum alloy and steel are the main materials for the production of rail transit, and the connection method used in high-speed rail is mainly welding. Therefore, in order to avoid weld defects and improve welding quality, it is often necessary to repair some complex structures in the process of manufacturing and maintenance. The material is rusted, oiled and painted removed, and the welding material is cleaned before welding. [0003] With the improvement of production technology and requirements, traditional treatment methods such as mechanical grinding and chemical corrosion have disadvantages such as long cleaning process, low efficien...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B7/00B08B13/00B25J9/00B25J9/16B25J11/00
CPCB08B7/0042B08B13/00B25J9/16B25J9/1697B25J9/1664B25J11/00B25J9/0081
Inventor 徐迟刘翊洪鑫关泽彪
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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