Device and calibration method for calibrating multi-robot cooperative work coordinate system

A collaborative work, multi-robot technology, applied in the field of calibration, to achieve the effect of improved accuracy, high stability, and simple steps

Active Publication Date: 2021-11-02
JIHUA LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The advantage of this type of method is that it is fast and simple, but because it contains many human operations, it is only suitable for occasions where the accuracy is not high

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  • Device and calibration method for calibrating multi-robot cooperative work coordinate system
  • Device and calibration method for calibrating multi-robot cooperative work coordinate system
  • Device and calibration method for calibrating multi-robot cooperative work coordinate system

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Embodiment Construction

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0041] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating ...

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Abstract

The invention discloses a device and a calibration method for calibrating a multi-robot cooperative work coordinate system. A deformation sensor and an active capacitive calibration ball are used to collect data entirely by the calibration device. Compared with the calibration by naked eyes, the accuracy is greatly improved; The sensor is a conventional sensor, which is easy to replace. According to the use scene to distinguish the accuracy requirements, select the appropriate sensor to assemble the optimal cost-effective calibration device; this method has simple steps, can automatically complete the calibration operation, and can achieve rapid calibration for multi-robot collaboration; this device Small and portable, suitable for different production occasions; this method will not cause fatigue to personnel, suitable for repeated calibration, no operation errors, and high stability; this calibration ball can be assembled to the end of the robot by custom means, and can be calibrated with the help of suction calibration target The tool coordinate system is calibrated, thereby obtaining higher accuracy of the tool coordinate system; the customized calibration ball can be used as a standard workpiece to assist the robot to perform various precision tests with the touch pad.

Description

technical field [0001] The invention relates to the technical field of calibration, in particular to a device and a calibration method for calibrating a multi-robot cooperative work coordinate system. Background technique [0002] With the continuous development of modern industrial manufacturing technology, multi-robot collaboration has become a research hotspot in the field of robotics. As one of the key technologies, the calibration of multi-robot systems has also received great attention. The cost performance of its calibration tools and the ease of use of calibration methods have become an important problem in the current robotics industry research. [0003] The current robot system calibration methods are generally divided into two categories: one is to calibrate with the help of external advanced equipment such as laser trackers or dual cameras. This type of equipment has high precision and high reliability, but the calibration process is complicated and the price is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B7/004G01B11/00B25J9/16
CPCB25J9/1682B25J9/1694G01B7/004G01B11/002
Inventor 岑洎涛赵天光易京亚马章宇
Owner JIHUA LAB
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