Three-dimensional vision grasping method of mobile robot for unmanned fdm additive manufacturing

Abstract

The invention discloses a mobile robot three-dimensional visual grabbing method for unmanned FDM additive manufacturing. A synchronous navigation and positioning technological scheme based on SLAM is adopted, cost of a mobile scheme is greatly lowered, and the expandability of a mobile grabbing scheme is improved. Coarse positioning is conducted on the positions of a movable platform and a printer platform by the adoption of the visual SLAM synchronous navigation and positioning technology; a mechanical arm is fixed to the movable platform, by the adoption of an RGBD three-dimensional visual based matching method, matching operation is conducted on two-dimensional RGB images and three-dimensional depth information, accurate secondary positioning of a to-be-grabbed 3D printed part is achieved, and then grabbing of the printed part is completed. The mobile robot three-dimensional visual grabbing method for unmanned FDM additive manufacturing improves the automation degree of FDM printing and storage, improves robustness, self-adaptability and expandability of grabbing, can achieve unmanned three-dimensional printing and is broad in application.

Description

technical field [0001] The invention relates to the flexibility and automation of the additive manufacturing production line, the three-dimensional vision and perception of robots, and the field of mobile robots, and is a set of grasping technology solutions suitable for unmanned three-dimensional printing factories. Background technique [0002] With the development of science and technology, human society has higher and higher requirements for the personalization and customization of products, the cycle of product replacement is getting shorter and shorter, and the complexity of products is also increasing. Additive manufacturing as a kind of The emerging manufacturing process without too many intermediate links has attracted widespread attention. Additive manufacturing can manufacture parts with complex shapes through layer-by-layer superimposed process methods, which can greatly save manpower; the networked printer can also respond to the service of remote clients throug...

AI Technical Summary

Problems solved by technology

The use of a robotic arm fixed next to the printer can increase the automation level of unloading printed parts, but at the same time it will greatly increase the equipment cost. It is undoubtedly a huge cost to have a backup robotic arm next to each printer

[0004] In order to improve the flexibility and intelligence of the FDM 3D printing process, a mobile robot with hand-eye-foot coordination can be used instead of manpower to unload printed parts; Manual teaching can realize the precise positioning of the moving position of the robotic arm and complete the grasping of parts at fixed positions, but the cost of the implementation is high and the laying of the mobile guide rail is limited by the site environment, and the movement or posture change of the grasped object will affect The accuracy of grasping; the technical solution based on the AGV smart car and laying magnetic strips and QR codes on the ground can significantly reduce the configuration cost of mobile robots and reduce the requirements for the environment compared with the mobile solution of laying sliding guide rails, but the number of printers The scalability of the printing system will still be limited by the laid magnetic track, which will affect the scalability of the entire printing system

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