Dynamic path generation system based on visual overlay operation and generation method thereof

Abstract

The invention discloses a dynamic path generation system based on visual overlay operation and a generation method thereof, and relates to the technical field of dynamic vision, and the technical scheme is characterized in that the dynamic path generation system based on visual overlay operation comprises a workbench and a six-axis manipulator arranged on the workbench, a cantilever is fixed to the output end of the six-axis mechanical arm, a 2D color camera, a 3D binocular stereo camera and a needle head module are arranged on the cantilever, and the method further comprises a computer which can be in communication connection with the six-axis mechanical arm, the 2D color camera and the 3D binocular stereo camera. B, carrying out 2D edge identification; d, creating a point cloud; e, fitting the image; f, motion trail calibration; and G, the motion path of the six-axis manipulator is generated. According to the invention, a dynamically matched movement track effect is achieved, and the problem of low yield of a dispensing process caused by distortion and deformation of a product appearance in a movement path is solved.

Description

technical field [0001] The present invention relates to the technical field of dynamic vision, and more particularly, to a dynamic path generation system based on visual overlap operation and a generation method thereof. Background technique [0002] At present, in the assembly and bonding process of precision wearable devices such as smart watches, wristbands, glasses, and VR / AR glasses products, the products of such devices usually have irregular curvature, and the existing dispensing methods are difficult to guarantee the dispensing. The accuracy of the position can easily lead to poor product bonding or even scrapping, which greatly increases the production cost of the intelligent manufacturing and assembly industry. In the prior art, manual teaching is required to set the dispensing movement path, so different products need to be carried out differently. Teaching is time-consuming and labor-intensive, and there are large uncertain factors in manual operations, which can...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a dynamic path generation system and its generation method based on visual overlapping calculations, which overlap 2D and 3D images through a calibration algorithm to generate 3D points of a six-axis manipulator dispensing path The cloud map achieves the effect of dynamic matching motion trajectory, which overcomes the problem of low yield rate of dispensing process caused by the distortion and deformation of the product appearance, and through the setting of the first quality inspection and the second quality inspection, the six-axis The dynamic guidance and calibration of the manipulator path is more accurate

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