Heavy-load multi-joint industrial robot high-precision positioning system and method

Abstract

The invention relates to the technical field of industrial robots, in particular to a heavy-load multi-joint industrial robot high-precision positioning system and method, and the system comprises an image collection module, an image extraction module, a route planning module, a communication module, a data storage module and a track monitoring module. According to the method, accurate moving coordinates can be generated through a high-precision image acquisition and extraction technology, so that the positioning accuracy of the heavy-load multi-joint industrial robot in a working environment is remarkably improved. The intelligent route planning module further optimizes the moving route and reduces the influence of positioning errors on the working efficiency. Meanwhile, the real-time performance and accuracy of the communication module ensure rapid transmission and execution of instructions, and the track monitoring and data storage function provides powerful support for timely finding and correcting positioning errors, so that the problem that the movement work of the robot is affected due to inaccurate positioning of the existing robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a high-precision positioning system and method for a heavy-load multi-joint industrial robot. Background Art

[0002] With the emergence of highly flexible and efficient in-situ manufacturing mode, intelligent technologies and equipment represented by industrial robots are increasingly being used in high-end fields. Compared with traditional computer numerical control machine tools, industrial robots have the advantages of low cost, large working space and high flexibility.

[0003] At present, as robot technology gradually matures, robots are used more and more widely in industry, such as using robots to transport materials or process or inspect products on assembly lines. However, the positioning of robots is not accurate enough and positioning errors are prone to occur, thus affecting the robot's mobile work. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision positioning system and method for a heavy-load multi-joint industrial robot, aiming to solve the problem that inaccurate positioning of existing robots affects the movement of the robots.

[0005] To achieve the above-mentioned object, in a first aspect, the present invention provides a high-precision positioning system for a heavy-duty multi-joint industrial robot, comprising an image acquisition module, an image extraction module, a route planning module, a communication module, a data storage module and a trajectory monitoring module; the image acquisition module, the image extraction module, the route planning module and the communication module are connected in sequence, the data storage module is connected to the route planning module, and the trajectory monitoring module is connected to the data storage module;

[0006] The image acquisition module is used to acquire image data;

[0007] The image extraction module generates movement coordinates based on the image data;

[0008] The route planning module generates a moving route based on the image data and the moving coordinates;

[0009] The communication module is used to transmit the movement route to the heavy-duty multi-jointed industrial machine;

[0010] The trajectory monitoring module is used to monitor the movement trajectory of a heavy-loaded multi-joint industrial machine;

[0011] The data storage module is used to back up the movement route and movement track.

[0012] Wherein, the image acquisition module includes a camera unit, an image processing unit and a transmission unit, and the camera unit, the image processing unit and the transmission unit are connected in sequence;

[0013] The camera unit is used to collect image data;

[0014] The image processing unit is used to filter and remove noise from the image data;

[0015] The transmission unit is used to transmit the processed image data to the image extraction unit.

[0016] Wherein, the image extraction module comprises a feature extraction unit, an image recognition unit and a coordinate generation unit, and the feature extraction unit, the image recognition unit and the coordinate generation unit are connected in sequence;

[0017] The feature extraction unit is used to extract object features from the processed image data;

[0018] The image recognition unit recognizes target features based on the object features;

[0019] The coordinate generating unit generates movement coordinates based on the image data and target features.

[0020] Wherein, the route planning module includes a map construction unit and a route generation unit, and the map construction unit and the route generation unit are connected;

[0021] The map construction unit generates a digital map based on the image data;

[0022] The route generating unit generates a moving route based on the moving coordinates and the digital map.

[0023] Wherein, the trajectory monitoring module includes a drawing unit, a deviation value monitoring unit and an alarm unit, and the drawing unit, the deviation value monitoring unit and the alarm unit are connected in sequence;

[0024] The drawing unit is used to draw the movement trajectory of the industrial robot;

[0025] The deviation value monitoring unit monitors the deviation value of the moving trajectory based on the moving route;

[0026] The alarm unit judges the deviation value based on a preset value. If it exceeds the preset value, an alarm is issued to the administrator and error correction is performed. If it does not exceed the preset value, monitoring continues.

[0027] Wherein, the data storage module comprises an identification unit, a division unit, a marking unit and a storage unit, the division unit and the marking unit are respectively connected to the identification unit, and the storage unit is connected to the marking unit;

[0028] The identification unit is used for the user to identify the occupied space based on the movement route and monitoring data;

[0029] The division unit divides the storage locations based on the occupied space;

[0030] The marking unit performs data marking on the movement route and monitoring data;

[0031] The storage unit stores the marked movement route and monitoring data based on a storage location.

[0032] In a second aspect, a high-precision positioning method for a heavy-loaded multi-joint industrial robot is used in the high-precision positioning system for a heavy-loaded multi-joint industrial robot described in the first aspect, comprising the following steps:

[0033] Collecting image data;

[0034] generating movement coordinates based on the image data;

[0035] generating a movement route based on the image data and the movement coordinates;

[0036] transmitting said movement route to a heavy-duty multi-articulated industrial machine;

[0037] Monitor the movement trajectory of heavy-loaded multi-joint industrial machines;

[0038] Back up movement routes and movement tracks.

[0039] The high-precision positioning system of a heavy-duty multi-joint industrial robot of the present invention comprises an image acquisition module, an image extraction module, a route planning module, a communication module, a data storage module and a trajectory monitoring module; the image acquisition module, the image extraction module, the route planning module and the communication module are connected in sequence, the data storage module is connected to the route planning module, and the trajectory monitoring module is connected to the data storage module; the image acquisition module is used to collect image data; the image extraction module generates mobile coordinates based on the image data; the route planning module generates a mobile route based on the image data and the mobile coordinates; the communication module is used to transmit the mobile route to a heavy-duty multi-joint industrial machine; the trajectory monitoring module is used to monitor the mobile trajectory of the heavy-duty multi-joint industrial machine; the data storage module is used to back up the mobile route and the mobile trajectory. The present invention can generate accurate mobile coordinates through high-precision image acquisition and extraction technology, thereby significantly improving the positioning accuracy of the heavy-duty multi-joint industrial robot in the working environment. The intelligent route planning module further optimizes the mobile route and reduces the impact of positioning errors on work efficiency. At the same time, the real-time and accuracy of the communication module ensure the rapid transmission and execution of instructions, and the trajectory monitoring and data storage functions provide strong support for timely detection and correction of positioning errors, thus solving the problem of inaccurate positioning of existing robots affecting the movement of robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the high-precision positioning system for a heavy-loaded multi-joint industrial robot provided by the present invention.

[0042] Figure 2 It is a schematic diagram of the image acquisition module.

[0043] Figure 3 It is a schematic diagram of the image extraction module.

[0044] Figure 4 It is a schematic diagram of the route planning module.

[0045] Figure 5 is a schematic diagram of a data storage module.

[0046] Figure 6 It is a schematic diagram of the trajectory monitoring module.

[0047] Figure 7 The present invention provides a flowchart of a high-precision positioning method for a heavy-loaded multi-joint industrial robot.

[0048] 1-image acquisition module, 2-image extraction module, 3-route planning module, 4-communication module, 5-data storage module, 6-trajectory monitoring module, 11-camera unit, 12-image processing unit, 13-transmission unit, 21-feature extraction unit, 22-image recognition unit, 23-coordinate generation unit, 31-map construction unit, 32-route generation unit, 51-recognition unit, 52-division unit, 53-marking unit, 54-storage unit, 61-drawing unit, 62-deviation value monitoring unit, 63-alarm unit. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0050] See also Figures 1 to 6 In the first aspect, the present invention provides a high-precision positioning system for a heavy-duty multi-joint industrial robot, comprising an image acquisition module 1, an image extraction module 2, a route planning module 3, a communication module 4, a data storage module 5 and a trajectory monitoring module 6; the image acquisition module 1, the image extraction module 2, the route planning module and the communication module 4 are connected in sequence, the data storage module 5 is connected to the route planning module 3, and the trajectory monitoring module 6 is connected to the data storage module 5;

[0051] The image acquisition module 1 is used to acquire image data;

[0052] The image extraction module 2 generates movement coordinates based on the image data;

[0053] The route planning module 3 generates a moving route based on the image data and the moving coordinates;

[0054] The communication module 4 is used to transmit the movement route to the heavy-duty multi-jointed industrial machine;

[0055] The trajectory monitoring module 6 is used to monitor the movement trajectory of the heavy-load multi-joint industrial machine;

[0056] The data storage module 5 is used to back up the movement route and movement track.

[0057] In this embodiment, the image acquisition module 1 acquires image data; the image extraction module 2 generates moving coordinates based on the image data; the route planning module 3 generates a moving route based on the image data and the moving coordinates; the communication module 4 transmits the moving route to the heavy-duty multi-joint industrial machine; the trajectory monitoring module 6 monitors the moving trajectory of the heavy-duty multi-joint industrial machine; and the data storage module 5 backs up the moving route and moving trajectory. The present invention can generate accurate moving coordinates through high-precision image acquisition and extraction technology, thereby significantly improving the positioning accuracy of the heavy-duty multi-joint industrial robot in the working environment. The intelligent route planning module 3 further optimizes the moving route and reduces the impact of positioning errors on work efficiency. At the same time, the real-time and accuracy of the communication module 4 ensure the rapid transmission and execution of instructions, and the trajectory monitoring and data storage functions provide strong support for timely discovery and correction of positioning errors, thereby solving the problem that the existing robot positioning is inaccurate and affects the robot's mobile work.

[0058] Further, the image acquisition module 1 includes a camera unit 11, an image processing unit 12 and a transmission unit 13, and the camera unit 11, the image processing unit 12 and the transmission unit 13 are connected in sequence;

[0059] The camera unit 11 is used to collect image data;

[0060] The image processing unit 12 is used to filter and remove noise from the image data;

[0061] The transmission unit 13 is used to transmit the processed image data to the image extraction unit.

[0062] In this embodiment, the camera unit 11 collects image data, the image processing unit 12 performs filtering and denoising on the image data; and the transmission unit 13 transmits the processed image data to the image extraction unit.

[0063] Further, the image extraction module 2 includes a feature extraction unit 21, an image recognition unit 22 and a coordinate generation unit 23, and the feature extraction unit 21, the image recognition unit 22 and the coordinate generation unit 23 are connected in sequence;

[0064] The feature extraction unit 21 is used to extract object features from the processed image data;

[0065] The image recognition unit 22 recognizes target features based on the object features;

[0066] The coordinate generating unit 23 generates movement coordinates based on the image data and target features.

[0067] In this embodiment, the feature extraction unit 21 extracts object features from the processed image data; the image recognition unit 22 recognizes target features based on the object features; and the coordinate generation unit 23 generates movement coordinates based on the image data and the target features.

[0068] Further, the route planning module 3 includes a map construction unit 31 and a route generation unit 32, and the map construction unit 31 and the route generation unit 32 are connected;

[0069] The map construction unit 31 generates a digital map based on the image data;

[0070] The route generating unit 32 generates a moving route based on the moving coordinates and the digital map.

[0071] In this embodiment, the map construction unit 31 generates a digital map based on the image data; and the route generation unit 32 generates a movement route based on the movement coordinates and the digital map.

[0072] Further, the trajectory monitoring module 6 includes a drawing unit 61, a deviation value monitoring unit 62 and an alarm unit 63, and the drawing unit 61, the deviation value monitoring unit 62 and the alarm unit 63 are connected in sequence;

[0073] The drawing unit 61 is used to draw the movement trajectory of the industrial robot;

[0074] The deviation value monitoring unit 62 monitors the deviation value of the moving trajectory based on the moving route;

[0075] The alarm unit 63 judges the deviation value based on a preset value. If it exceeds the preset value, an alarm is issued to the administrator and error correction is performed. If it does not exceed the preset value, monitoring continues.

[0076] In this embodiment, the drawing unit 61 draws the moving trajectory of the industrial robot; the deviation value monitoring unit 62 monitors the deviation value of the moving trajectory based on the moving route; the alarm unit 63 judges the deviation value based on a preset value, and if it exceeds the preset value, an alarm is issued to the administrator and error correction is performed; if it does not exceed the preset value, monitoring continues.

[0077] Further, the data storage module 5 includes an identification unit 51, a division unit 52, a marking unit 53 and a storage unit 54, the division unit 52 and the marking unit 53 are respectively connected to the identification unit 51, and the storage unit 54 is connected to the marking unit 53;

[0078] The identification unit 51 is used for identifying the occupied space of the user based on the movement route and monitoring data;

[0079] The division unit 52 divides the storage locations based on the occupied space;

[0080] The marking unit 53 performs data marking on the movement route and monitoring data;

[0081] The storage unit 54 stores the marked movement route and monitoring data based on a storage location.

[0082] In this embodiment, the identification unit 51 identifies the occupied space of the moving route and the monitoring data; the division unit 52 divides the storage location based on the occupied space; the marking unit 53 marks the moving route and the monitoring data; and the storage unit 54 stores the marked moving route and the monitoring data based on the storage location.

[0083] See also Figure 7 In the second aspect, a high-precision positioning method for a heavy-loaded multi-joint industrial robot is used in the high-precision positioning system for a heavy-loaded multi-joint industrial robot described in the first aspect, comprising the following steps:

[0084] S1 collects image data;

[0085] Specifically, the camera unit 11 collects image data, the image processing unit 12 performs filtering and denoising on the image data; and the transmission unit 13 transmits the processed image data to the image extraction unit.

[0086] S2 generates movement coordinates based on the image data;

[0087] Specifically, the feature extraction unit 21 extracts object features from the processed image data; the image recognition unit 22 recognizes target features based on the object features; and the coordinate generation unit 23 generates movement coordinates based on the image data and the target features.

[0088] S3 generates a moving route based on the image data and the moving coordinates;

[0089] Specifically, the map construction unit 31 generates a digital map based on the image data; and the route generation unit 32 generates a movement route based on the movement coordinates and the digital map.

[0090] S4 transmits the movement route to the heavy-duty multi-jointed industrial machine;

[0091] Specifically, the communication module 4 transmits the moving route to the heavy-duty multi-joint industrial machine.

[0092] S5 monitors the movement trajectory of heavy-loaded multi-joint industrial machines;

[0093] Specifically, the drawing unit 61 draws the moving trajectory of the industrial robot; the deviation value monitoring unit 62 monitors the deviation value of the moving trajectory based on the moving route; the alarm unit 63 judges the deviation value based on a preset value, and if it exceeds the preset value, an alarm is issued to the administrator and error correction is performed; if it does not exceed the preset value, monitoring continues.

[0094] S6 backs up the movement route and movement track.

[0095] Specifically, the identification unit 51 identifies the occupied space of the moving route and the monitoring data; the division unit 52 divides the storage location based on the occupied space; the marking unit 53 marks the moving route and the monitoring data; and the storage unit 54 stores the marked moving route and the monitoring data based on the storage location.

[0096] What is disclosed above is only a preferred embodiment of the high-precision positioning system and method for a heavy-duty multi-joint industrial robot of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made in accordance with the claims of the present invention still fall within the scope of the invention.

Claims

1. Heavy-load multi-joint industrial robot high-precision positioning system, characterized by: It includes an image acquisition module, an image extraction module, a route planning module, a communication module, a data storage module and a trajectory monitoring module; the image acquisition module, the image extraction module, the route planning module and the communication module are connected in sequence, the data storage module is connected to the route planning module, and the trajectory monitoring module is connected to the data storage module; The image acquisition module is used to acquire image data; The image extraction module generates movement coordinates based on the image data; The route planning module generates a moving route based on the image data and the moving coordinates; The communication module is used to transmit the movement route to the heavy-duty multi-jointed industrial machine; The trajectory monitoring module is used to monitor the movement trajectory of a heavy-load multi-joint industrial machine; The data storage module is used to back up the movement route and movement track.

2. The high-precision positioning system for a heavy-loaded multi-joint industrial robot according to claim 1, characterized in that: The image acquisition module includes a camera unit, an image processing unit and a transmission unit, and the camera unit, the image processing unit and the transmission unit are connected in sequence; The camera unit is used to collect image data; The image processing unit is used to filter and remove noise from the image data; The transmission unit is used to transmit the processed image data to the image extraction unit.

3. The high-precision positioning system for a heavy-loaded multi-joint industrial robot according to claim 2, characterized in that: The image extraction module comprises a feature extraction unit, an image recognition unit and a coordinate generation unit, wherein the feature extraction unit, the image recognition unit and the coordinate generation unit are connected in sequence; The feature extraction unit is used to extract object features from the processed image data; The image recognition unit recognizes target features based on the object features; The coordinate generating unit generates movement coordinates based on the image data and target features.

4. The high-precision positioning system for a heavy-loaded multi-joint industrial robot according to claim 3, characterized in that: The route planning module includes a map construction unit and a route generation unit, and the map construction unit and the route generation unit are connected; The map construction unit generates a digital map based on the image data; The route generating unit generates a moving route based on the moving coordinates and the digital map.

5. The high-precision positioning system for a heavy-loaded multi-joint industrial robot according to claim 4, characterized in that: The trajectory monitoring module includes a drawing unit, a deviation value monitoring unit and an alarm unit, and the drawing unit, the deviation value monitoring unit and the alarm unit are connected in sequence; The drawing unit is used to draw the movement trajectory of the industrial robot; The deviation value monitoring unit monitors the deviation value of the moving trajectory based on the moving route; The alarm unit judges the deviation value based on a preset value. If it exceeds the preset value, an alarm is issued to the administrator and error correction is performed. If it does not exceed the preset value, monitoring continues.

6. The high-precision positioning system for a heavy-loaded multi-joint industrial robot according to claim 5, characterized in that: The data storage module comprises an identification unit, a division unit, a marking unit and a storage unit, wherein the division unit and the marking unit are respectively connected to the identification unit, and the storage unit is connected to the marking unit; The identification unit is used for the user to identify the occupied space based on the movement route and monitoring data; The division unit divides the storage locations based on the occupied space; The marking unit performs data marking on the movement route and monitoring data; The storage unit stores the marked movement route and monitoring data based on a storage location.

7. A high-precision positioning method for a heavy-loaded multi-joint industrial robot, used in a high-precision positioning system for a heavy-loaded multi-joint industrial robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: Collecting image data; generating movement coordinates based on the image data; generating a movement route based on the image data and the movement coordinates; transmitting said movement route to a heavy-duty multi-articulated industrial machine; Monitor the movement trajectory of heavy-loaded multi-joint industrial machines; Back up movement routes and movement tracks.

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