Composite AGV visual positioning grabbing system

Abstract

The invention discloses a composite AGV visual positioning grabbing system which comprises a power module and a PLC control module, wherein the input end of the power module is connected with an AGV body module in a matched mode, and the tail end of the AGV body module is provided with a visual sensor module and a red light compensation module in a matched mode. A red light compensation module isinstalled on the right side of the visual sensor module in a matched mode, the input end of the PLC control module is connected with the output end of a data processing module in a matched mode, and an AGV industrial personal computer module is connected to the left side of the robot module in a matched mode. According to the composite AGV visual positioning grabbing system, the thought that a previous system corrects the positions of the workpieces is changed, a robot coordinate system is replaced to be corrected, for the system with multiple workpiece grabbing points, correction does not need to be conducted on the positions of the workpieces one by one any more, correction only needs to be conducted once, the number of teaching points and the capacity of a program language can be greatly reduced, the working intensity is reduced, and the working phase rate is improved.

Description

technical field [0001] The invention relates to the technical field related to robot positioning, in particular to a composite AGV visual positioning and grasping system. Background technique [0002] As an unmanned automatic transportation equipment, AGV can carry a certain amount of mass and run autonomously along the planned path, arrive at the designated place, and complete a series of predetermined tasks. It has been obtained in the automated logistics transportation system and flexible production organization system. widely used. Robot manipulator compound AGV is a new type of robot with two functions of hands and feet. In the world of robots in the past, general-purpose industrial robots are called manipulators, which are used to replace the functions of human arms, and AGVs are used to replace human legs and feet. The function of the composite AGV is the mode of hands and feet. [0003] In the existing composite AGV visual positioning and grasping system, the insta...

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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a composite AGV visual positioning and grasping system, which solves the problem of the composite AGV visual positioning and grasping system proposed in the above-mentioned background technology. The installation position of the camera is affected by the surrounding environment of the workpiece and the shape of the robot. It is likely that due to the position interference of the surrounding system, it is impossible to find a suitable installation position and a suitable size of the camera, and the camera will be affected by the surrounding light environment when shooting the workpiece or the work station in an open environment. The recognition accuracy will be greatly affected in the light environment

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