Calculation method of industrial robot coordinates based on plane vision

Abstract

The invention relates to the technical field of industrial robot manufacturing, in particular to a method for calculating coordinates of an industrial robot based on plane vision. After the industrialrobot is dragged to a working point position, image acquisition is carried out through visual software, a visual coordinate system is established according to the acquired image information, and thevisual coordinate system is defined as O-XYZ; and an industrial robot coordinate system is established according to the determination of the visual coordinate system, and the industrial robot coordinate system is defined as O-X'Y'Z'. The established industrial robot coordinate system only translates and does not rotate relative to the visual coordinate system, only coordinate compensation parameters X0, Y0 and Z0 need to be calculated, complex matrix calculation is not needed to determine the coordinates of the industrial robot, and visual coordinate conversion to the coordinates of the industrial robot can be realized through simple basic calculation, so that the method for calculating the coordinates of the industrial robot based on plane vision is simplified, and non-programmer operation is easy.

Description

technical field [0001] This application relates to the technical field of industrial robot manufacturing, and specifically proposes a calculation method for industrial robot coordinates based on plane vision. Background technique [0002] In the process of actually determining the coordinate positioning based on vision, it is necessary to calculate the complex conversion relationship between the robot coordinate system and the visual coordinate system, which is cumbersome in programming and requires complex matrix operations. For ordinary technologies without this knowledge It is difficult for personnel to understand, and there are many obstacles in actual operation. The national patent announcement number is CN108444454A, which discloses a robot positioning method based on a three-dimensional array of infrared lamps. During the robot's progress, the infrared imaging device installed on the robot takes images of the three-dimensional array of infrared lamps passing by on th...

AI Technical Summary

Problems solved by technology

[0002] In the process of actually determining the coordinate positioning based on vision, it is necessary to calculate the complex conversion relationship between the robot coordinate system and the visual coordinate system, which is cumbersome in programming and requires complex matrix operations. For ordinary technologies without this knowledge It is difficult for personnel to understand, and there are many obstacles in actual operation

The national patent announcement number is CN108444454A, which discloses a robot positioning method based on a three-dimensional array of infrared lamps. During the robot's progress, the infrared imaging device installed on the robot takes images of the three-dimensional array of infrared lamps passing by on the route of the robot, determines the area where the three-dimensional array of infrared lamps is located based on the image of the three-dimensional array of infrared lamps, and acquires For the absolute position and absolute direction angle of the robot, the relative direction angle is determined by the encoder and the inertial sensor arranged on the robot, and the absolute position and the absolute direction angle of the robot are verified. The robot positioning method of the three-dimensional array of infrared lamps has the defect that non-programming ordinary technicians are difficult to operate

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