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Robot positioning method, device, system and computer equipment

A positioning method and robot technology, applied in the field of three-dimensional scanning, can solve the problems of no solution, accurate positioning of the measured object, and inability to guarantee the positioning accuracy.

Active Publication Date: 2022-08-09
杭州思锐迪科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method requires CAD data and measurement features to align, and when the difference between the digital model and the actual object is large, the positioning accuracy cannot be guaranteed
[0003] Aiming at the problem in related technologies that it is impossible to accurately locate the measured object without a standard digital model, no effective solution has been proposed yet

Method used

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  • Robot positioning method, device, system and computer equipment
  • Robot positioning method, device, system and computer equipment
  • Robot positioning method, device, system and computer equipment

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Embodiment Construction

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0042] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, the present application can also be applied to the present application according to these drawings without any creative effort. other similar situations. In addition, it will also be appreciated t...

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Abstract

The present application relates to a positioning method, device, system, computer equipment and storage medium for a robot. By acquiring the marked points of the surface to be measured and the point cloud data of the surface to be measured in the coordinate system of the scanner, the relationship between the robot end and the scanner is obtained. According to the coordinate transformation relationship between the robot end and the scanner and the mark points of the surface to be measured in the scanner coordinate system, the point cloud data of the surface to be measured in the robot coordinate system is obtained, and the hand-eye calibration is completed. The positioning of the object to be measured is completed, and the positioning of the object to be measured is completed without relying on the standard digital model.

Description

technical field [0001] The present application relates to the technical field of three-dimensional scanning, and in particular, to a robot positioning method, device, system, computer equipment and storage medium. Background technique [0002] In the field of 3D scanning, robots are often used in conjunction with scanners to locate the object to be measured. The existing positioning method first obtains the conversion relationship between the scanner and the robot end by calibrating the hand and eye of the robot and the scanner, and then uses the auxiliary tool (hard probe) clamped by the robot as the detector to measure the basic characteristics of the object to be measured. Finally, through the pre-provided CAD data, the measurement features and CAD standard features are aligned to achieve the purpose of positioning the object. This method requires CAD data and measurement features to align. When the difference between the digital model and the actual object is large, the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 王江峰许齐功蒋鑫巍
Owner 杭州思锐迪科技有限公司