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Flexible robot posture measurement method and device

A pose measurement and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor movement flexibility, limited movement space, unsuitable for unstructured environments, etc., to increase hardware costs and reduce Cost, effect of widespread application

Active Publication Date: 2019-08-13
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For this reason, an object of the present invention is to solve the problem that the existing intelligent charging robot has limited movement space, poor movement flexibility and is not suitable for an unstructured environment, and how to improve the charging efficiency under the premise of ensuring measurement stability. Reduce the cost of pose measurement while docking accuracy, thereby providing a flexible robot pose measurement method and device that can improve accuracy and save costs

Method used

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  • Flexible robot posture measurement method and device
  • Flexible robot posture measurement method and device
  • Flexible robot posture measurement method and device

Examples

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Embodiment 1

[0048] This embodiment provides a flexible robot, such as figure 1 Shown is a schematic diagram of the flexible robot of this embodiment. As can be seen from the figure, the flexible robot of this embodiment includes a flexible robot body, a vision measuring device 3, and a flexible robot end effector 4. The flexible robot body includes a base 1 and a flexible machine Arm 2, in this embodiment, the end effector of the flexible robot is a charging head docking device, that is, a charging socket, and the vision measurement device may be a monocular camera, which is used to collect the vision measurement image of the target 5, and this function can be realized. All of the visual measuring equipment are within the protection scope of this embodiment.

[0049] In this embodiment, by introducing a flexible robot, the existing smart charging robot has limited movement space, poor movement flexibility, and is not suitable for an unstructured environment, thereby increasing the working spa...

Embodiment 2

[0052] The second embodiment of the present invention provides a method for measuring the pose of a flexible robot. figure 2 This is an implementation flowchart of a flexible robot pose measurement method provided by an embodiment of the present invention, such as figure 2 As shown, the method can include the following steps:

[0053] S1: Acquire the charging head image: Collect the charging head image through the visual measuring device on the end effector of the flexible robot, such as figure 1 The object shown in the figure, namely the appearance characteristics of the charging head, can be seen that its surface has six coplanar cylinders. Therefore, the image of the charging head in this embodiment includes multiple circular cross-sections, that is, the circle in this embodiment. surface.

[0054] After the collected charging head image, the template image is obtained, and then the collected charging head image is template matched according to the template matching algorithm t...

Embodiment 3

[0151] Such as Figure 7 As shown, the structure block diagram of a flexible robot pose measurement device provided by this embodiment includes:

[0152] Acquiring the charging head image module: used to collect the charging head image through the visual measurement device on the end effector of the flexible robot. The charging head image includes multiple circular surfaces, and the circular surface is the cross section of the cylinder on the charging head.

[0153] The charging head image ellipse fitting module: used to perform ellipse fitting on a circular surface according to the least squares ellipse fitting method to obtain multiple ellipses.

[0154] Obtain the initial pose information module: solve the pose of any two ellipses, obtain multiple sets of reference pose information, select the effective reference pose information according to the constraint conditions, and obtain the initial pose information of the flexible robot according to the effective reference pose informatio...

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Abstract

The invention discloses a flexible robot posture measurement method and relates to the field of robot vision measurement. According to the flexible robot posture measurement method, the initial posture information is obtained, extended kalman filtering is performed on measured data, so that the relative posture information of a flexible robot and a charging head is obtained, and the expected speedof the tail end of a mechanical arm is calculated according to the relative posture information, and then motions of all joints of the flexible robot are planned, so that precise aligning to the charging head is performed; and by means of introducing of the flexible robot, the working space of a charging robot is enlarged and the movement flexibility of the charging robot is improved, furthermore, the multiple-freedom-degree redundancy of the flexible robot is quite suitable for an unstructured measurement environment, and influence of past-time historical cumulative measurement data on the subsequent motion process of the flexible robot is added to the measurement result through the extended kalman filtering, the corrected posture information after compensation is obtained, the flexiblerobot posture measurement method and a device have high calculation accuracy, addition of the hardware cost is not needed, the posture information can be obtained just needing one camera, the measuring system cost is reduced, and the posture measurement accuracy is improved.

Description

Technical field [0001] The invention relates to the field of robot vision measurement, in particular to a method and device for measuring the pose of a flexible robot. Background technique [0002] Nowadays, autonomous fast charging of vehicles, airplanes and other transportation tools has become a research hotspot. Intelligent charging robots recognize the charging heads of vehicles, airplanes and other equipment through the movement of manipulators. This is an emerging direction in the industrial manufacturing field in recent years. Visual autonomous recognition and pose measurement methods to complete the task of intelligent autonomous charging. [0003] In order to complete the task of intelligent autonomous charging, the first technical difficulty to be solved is: accurate identification and accurate measurement of the charging head. However, because the measurement target to be charged is in an unstructured environment, and the charging head is relatively far from the robot,...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1653B25J19/0095
Inventor 徐文福彭键清刘天亮梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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