Automatic detection method and system based on collaborative robot
An automatic detection and robot technology, applied in the field of visual 3D measurement, can solve the problems of unstable stitching results, time-consuming and labor-consuming marking points, increased costs, etc., and achieve stable and reliable stitching results, fast calculation speed, and improved efficiency.
Pending Publication Date: 2022-05-06
新拓三维技术(深圳)有限公司
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Problems solved by technology
Among them, for the production line, it is time-consuming, labor-intensive and cost-intensive to manually paste the marker points for each part in the batch inspection process; feature splicing also exists. When the two point clouds have no common features, the splicing results are unstable and inconsistent. Reliable problem, which cannot be effectively solved by existing methods
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[0067] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.
[0068] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection may be for both a fixed function and a circuit / signal communication function.
[0069] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships sh...
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The invention discloses an automatic detection method and system based on a collaborative robot. The method comprises the following steps: calibrating internal and external parameters of a camera of a binocular structured light three-dimensional scanner; performing hand-eye calibration based on the collaborative robot; performing turntable calibration based on a single-shaft turntable; teaching the rotation angles of six joint shafts of the collaborative robot and the single-shaft rotary table, obtaining the viewpoint pose of the first part on the single-shaft rotary table, scanning on the current pose to obtain a point cloud, and teaching all path points until the point cloud of the complete first part is obtained; aligning the point clouds obtained by each time of teaching in the same coordinate system, and splicing the point clouds obtained by multiple times of teaching based on the collaborative robot and the single-axis turntable; creating a scanning template for the first part, wherein path point information, scanning parameters and packaging parameters are stored in the scanning template; and loading the scanning template to carry out template automatic detection. According to the invention, mark points do not need to be pasted, and detection of all parts can be completed only by scanning the template and teaching of the first part.
Description
technical field [0001] The invention relates to the technical field of visual 3D measurement, in particular to an automatic detection method and system based on a collaborative robot. Background technique [0002] Compared with traditional two-dimensional information, the digitization of three-dimensional information can more accurately express the shape and texture characteristics of objects; with the continuous development of sensor and computer technology, various three-dimensional reconstruction methods have been successfully promoted and applied. Among them, the surface structured light technology is widely used in the size and deviation detection of parts because of its non-contact, non-destructive measurement, fast single-frame scanning speed and high precision, so as to guide the part processing and mold manufacturing process. [0003] With the rapid development of the manufacturing industry, the industry needs more rapid and accurate detection solutions, especially ...
Claims
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IPC IPC(8): B25J9/16G06T7/73G06T7/80G06T17/00
CPCG06T7/80G06T7/73G06T17/00B25J9/1653B25J9/163B25J9/161B25J9/1664B25J9/1661B25J9/1679G06T2207/10028
Inventor 任茂栋周皓骏唐正宗乔根赵建博
Owner 新拓三维技术(深圳)有限公司