Robot straight line track characteristeric measuring method and measurer used thereof

A measurement method and robot technology, applied in the field of robots, to achieve the effect of low cost, practical technology, and reasonable principle of position measurement

Inactive Publication Date: 2004-07-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, robot trajectory detection equipment with independent intellectual property rights is still blank in China

Method used

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  • Robot straight line track characteristeric measuring method and measurer used thereof
  • Robot straight line track characteristeric measuring method and measurer used thereof
  • Robot straight line track characteristeric measuring method and measurer used thereof

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Embodiment 1

[0028]Using the principle of structured light 3D visual measurement, the combination of line structured light and CCD camera is used to form a sensor to form a geometric model of structured light reflection imaging. The sensor scans and images the reference object continuously in motion, and uses visual image processing technology to calculate The continuous pose relationship of the sensor relative to the reference object coordinate system; when the sensor is installed on the end joint of the robot and moves along a straight line in the reference object coordinate system, this continuous pose relationship reflects the position of the robot end when it moves in a straight line. Trajectory status, in order to realize the detection of the straight-line trajectory performance of the robot.

[0029] Such as figure 1 As shown, the measuring device is made of sensors (CCD camera, laser, reflector and mounting bracket) and measuring rails, wherein: the CCD camera, laser and reflector ...

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Abstract

The present invention belongs to the technology of robotics and is especially robot straight line track characteristic measuring method and device. Based on structural light 3D visual measurement principle, linear structural light is made to combine with CCD camera to constitute sensor and form geometric model of structural light reflecting imaging. Sensor in motion is used to scan and image the reference object, and visual image processing technology is adopted to calculate the continuous position and gesture relationship between the sensor and the reference coordinate system, so as to realize the detection of robot linear track. The present invention has low cost, convenient use and high performance, is practical, and may be used in the non-contact measurement of robot linear track and repeatability.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for measuring the characteristics of a straight line trajectory of a robot and a measuring device used therefor. Background technique [0002] The linear trajectory characteristic of the robot is an important technical performance index of the industrial robot. The detection of straight-line trajectory provides an important scientific basis for the overall and unit performance evaluation and quality characteristics of industrial robots. Therefore, the research on robot linear trajectory detection technology and equipment is of great significance to improve the research level of robotics and promote the development of industrialization. The methods for measuring the linear trajectory characteristics of robots can be divided into two categories: contact measurement and non-contact measurement. [0003] The measurement equipment of contact measurement is direct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J19/00G01B11/00G06T15/00
Inventor 董再励郝颖明周静朱枫王俊欧锦军
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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