Pose estimation method of robot system based on two-dimensional code correction

A robot system and pose estimation technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the loss of precision of the robot arm, the inability of the robot system to perform accurate positioning, and the deviation of the horizontal movement of the robot arm.

Active Publication Date: 2022-07-01
CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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Problems solved by technology

[0002] The traditional robot system only corrects the positioning of the center of the robot base or the center of the base. Since the working position of the robot system is the end tool of the robot arm, there will be a large horizontal distance between the end tool and the center of the base of the robot system. A small angular deviation of the center of the base, such as 0.2°, will cause a large horizontal movement deviation on the end tool of the robot arm (about 100mm when the arm length is 1.8 meters), making it impossible for the robot system to operate in the working area. Accurate positioning, all operations of the robot arm will lose precision

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  • Pose estimation method of robot system based on two-dimensional code correction
  • Pose estimation method of robot system based on two-dimensional code correction
  • Pose estimation method of robot system based on two-dimensional code correction

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Embodiment Construction

[0049] The present invention will be described in detail below with reference to specific embodiments.

[0050] The invention relates to a pose estimation method based on a two-dimensional code correction robot system. The robot system has a robot walking part, a robot control part, a robot arm part and a robot vision part. It should be pointed out that the present invention is applicable to all robot systems with machine vision, and the robot systems described below are only to illustrate the work flow and working principle of the present invention. The walking part of the robot is an AGV vehicle, which has the ability to move in the horizontal direction and rotate in the horizontal direction. The robot arm part is a 6-axis robot arm, and the robot arm has multiple degrees of freedom. The robot vision part is a visual device such as an industrial camera or a binocular camera, which is installed at the end of the robot arm and is fixed relative to the end, and adopts the eye-...

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Abstract

The invention relates to a position and attitude estimation method for correcting a robot system based on a two-dimensional code, which obtains the position information of the robot system in the world coordinate system; obtains the position and attitude of the tool end of the robot system in the robot base coordinate system; Image information; calculate the transformation matrix between the actual position of the robot system and the teaching position of the robot; use the transformation matrix to transform the workpiece coordinate system to generate a new workpiece coordinate system; convert the teaching pose into the new workpiece coordinate system; According to the new workpiece coordinate system, move the robot system to reach the corrected target position. The invention can achieve high-precision positioning of each part of the robot system, correct the position and attitude deviation of the robot system, and can make the accuracy reach 0.5mm.

Description

technical field [0001] The invention relates to the technical field of robot applications, in particular to a method for estimating pose and attitude of a robot system based on a two-dimensional code correction. Background technique [0002] The traditional robot system only corrects the positioning of the center of the robot base or the center of the base. Since the working position of the robot system is the end tool of the robot arm, there will be a large horizontal distance between the end tool and the center of the base of the robot system. A small angular deviation of the center of the base, such as 0.2°, will lead to a great deviation of the horizontal movement amount on the end tool of the robot arm (about 100mm when the arm length is 1.8 meters), making the robot system unable to operate in the work area. Accurate positioning, all operations of the robot arm will lose precision. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1697B25J19/023
Inventor 史时喜侯小祥朱健伟刘志勇闹加才让张国兴杨子亮
Owner CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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