Mobile parallel pose alignment docking robot based on laser navigation and visual positioning and workpiece docking method

Abstract

The application provides a mobile parallel financing docking robot based on laser navigation and visual positioning and a workpiece docking method, the robot comprises an AGV vehicle body, a SLAM laser sensor is arranged at the front end of the AGV vehicle body, the AGV vehicle body comprises a controller, and the SLAM laser sensor is electrically connected with the controller; a six-degree-of-freedom platform is detachably installed on the jacking plate of the AGV vehicle body; a workpiece positioning block is installed on the top surface of the jacking plate of the AGV vehicle body and the top of the six-degree-of-freedom platform; a code scanning camera is installed on the AGV vehicle body, a visual camera is installed on the six-degree-of-freedom platform; and a target is arranged on the AGV vehicle body. The technical scheme of the application solves the problems of time-consuming and labor-consuming and fixed docking location in manual docking or docking using a six-axis robot composite end gripper, and realizes accurate docking of workpieces.

Description

Technical Field

[0001] This invention relates to the field of workpiece docking technology, and more particularly to a mobile parallel docking robot and workpiece docking method based on laser navigation and visual positioning. Background Technology

[0002] Currently, most workpiece docking is done manually or using a six-axis robot with a composite end effector. However, manual docking is time-consuming and labor-intensive, and the docking location of a six-axis robot with a composite end effector is fixed, which cannot achieve precise workpiece docking. Summary of the Invention

[0003] To address the technical problems existing in the workpiece docking technology mentioned above, a mobile parallel docking robot based on laser navigation and visual positioning, and a workpiece docking method are provided.

[0004] The technical means employed in this invention are as follows:

[0005] A mobile parallel docking robot based on laser navigation and visual positioning includes an AGV (Automated Guided Vehicle) body. A SLAM (Simultaneous Localization and Mapping) laser sensor is installed at the front end of the AGV body. The AGV body includes a controller, and the SLAM laser sensor is electrically connected to the controller. The controller is used to create an electronic map of the AGV's environment based on reflected pulse signals generated by the SLAM laser sensor using laser SLAM navigation technology; to plan a route for the AGV in the electronic map; and to navigate and move the AGV along the planned route. The AGV body also includes a lifting plate. A six-degree-of-freedom platform is detachably mounted on the AGV body. The six-degree-of-freedom platform is equipped with a control box electrically connected to the controller, which can control the attitude adjustment of the six-degree-of-freedom platform through the control box. Workpiece positioning blocks are installed on the upper surface of the lifting plate of the AGV body and on the top of the six-degree-of-freedom platform. The workpiece positioning blocks are used to mount workpieces on the lifting plate of the AGV body or the six-degree-of-freedom platform. A barcode scanner is mounted on the AGV body, and a vision camera is mounted on the six-degree-of-freedom platform. The barcode scanner and the vision camera are electrically connected to the controller. A target is set on the AGV body.

[0006] Furthermore, the controller can control the speed and direction of the AGV's wheel assembly, thereby enabling the AGV to move along a planned route.

[0007] Furthermore, the workpiece positioning block is a cylindrical pin, and the workpiece is provided with a pin hole that matches the cylindrical pin. The workpiece is installed on the cylindrical pin through the pin hole, thereby being installed on the lifting plate of the AGV vehicle body or the six-degree-of-freedom platform.

[0008] Furthermore, the AGV body is a lifting AGV, and the controller is an SRC controller.

[0009] This invention also provides a workpiece docking method using the aforementioned mobile parallel docking robot based on laser navigation and visual positioning, specifically including the following steps:

[0010] S1. Select an AGV vehicle body equipped with the six-degree-of-freedom platform as AGV I. The controller plans a route on the electronic map and navigates the AGV I to reach the workpiece loading area station. Raise the lifting plate of the AGV I so that the workpiece I is installed on the workpiece positioning block on the six-degree-of-freedom platform, thereby completing the loading of the workpiece I.

[0011] S2. The controller of the AGVⅠ plans the route from the workpiece loading area station to the workpiece docking area station in the electronic map, and navigates the AGVⅠ to control the AGVⅠ to move towards the workpiece docking area station;

[0012] During the movement, the controller generates a vehicle model of the AGVⅠ in the electronic map and collects real-time reflected pulse signals generated by the SLAM laser sensor. The real-time reflected pulse signals are compared with the reflected pulse signals recorded at the corresponding positions in the electronic map established by the controller. If there is a difference in distance, the controller controls the speed and direction of the AGVⅠ wheel set, so that the AGVⅠ moves towards the workpiece docking area station according to the planned route until the vehicle model of the AGVⅠ reaches the workpiece docking area station in the electronic map.

[0013] S3. After the AGVⅠ arrives at the workpiece docking area station, it performs secondary positioning:

[0014] The scanning camera scans the QR code affixed to the ground of the workpiece docking area to read the X, Y, and angle values ​​of the center point of the workpiece docking area on the electronic map, and transmits the read data to the controller. The controller controls the speed and direction of the AGV I wheel set based on the difference between the real-time X, Y, and angle values ​​of the AGV I center point on the electronic map and the data read by the scanning camera, so that the difference approaches 0.

[0015] S4. Select an AGV body without the six-degree-of-freedom platform as AGV II. The controller plans a route on the electronic map and navigates the AGV II to the workpiece loading area station. The lifting plate of the AGV II is raised, allowing workpiece II to be mounted on the workpiece positioning block on the lifting plate, thus completing the loading of workpiece II. The controller of the AGV II plans a route from the workpiece loading area station to the workpiece docking area station on the electronic map and navigates the AGV II, controlling it to move towards the workpiece docking area station.

[0016] S5. After both AGVⅠ and AGVⅡ arrive at the workpiece docking area station, AGVⅠ takes a picture of the target on the AGVⅡ vehicle body through the vision camera and transmits the target image to the controller. The controller then uploads the target image to the host computer.

[0017] The host computer is remotely connected to the controllers of AGVⅠ and AGVⅡ respectively; the host computer compares the target image with the standard image to obtain the error values ​​of the two images in the X direction, Y direction and angle, and then obtains the difference between AGVⅠ and AGVⅡ in the X direction, Y direction and angle; the standard image refers to the target image on the AGVⅡ vehicle body captured by the vision camera of AGVⅠ before the workpiece docking, after manually adjusting AGVⅠ and AGVⅡ to the standard docking position;

[0018] The host computer sends a remote control signal to the controller of the AGVⅠ based on the error value, controlling the movement of the AGVⅠ and adjusting the attitude of the six-degree-of-freedom platform;

[0019] S6. Repeat step S5 until the target image captured again has an error value of 0 in the X direction, Y direction and angle compared with the standard image. This indicates that the precise positioning of AGVⅠ and AGVⅡ is completed, and the precise docking of workpieceⅠ and workpieceⅡ can be achieved.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] The mobile parallel docking robot and workpiece docking method based on laser navigation and visual positioning provided by this invention greatly facilitates precise workpiece docking, offers high flexibility, allows the workpiece docking location to be changed at any time, has a high degree of automation, and can also remotely control the AGV vehicle body through a host computer during the docking process, thereby improving work efficiency.

[0022] Based on the above reasons, this invention can be widely applied in the field of workpiece docking. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the mobile parallel docking robot described in this invention.

[0025] In the diagram: 1. SLAM laser sensor; 2. Control panel; 3. Emergency stop button; 4. AGV body; 5. Six-degree-of-freedom platform; 6. Workpiece positioning block; 7. Control box. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0030] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] Example 1

[0034] like Figure 1 As shown, this invention provides a mobile parallel docking robot based on laser navigation and visual positioning, including an AGV body 4. A SLAM laser sensor 1 is installed at the front end of the AGV body 4. The AGV body 4 includes a controller, and the SLAM laser sensor 1 is electrically connected to the controller. The controller is used to establish an electronic map of the environment of the AGV body 4 based on the reflected pulse signals generated by the SLAM laser sensor 1 using laser SLAM navigation technology; to plan a route for the AGV body 4 in the electronic map; and to navigate and move the AGV body 4 according to the planned route. The top of the AGV body 4... A six-degree-of-freedom platform 5 is detachably mounted on the lifting plate. The six-degree-of-freedom platform 5 is equipped with a control box 7 electrically connected to the controller. The controller can control the attitude adjustment of the six-degree-of-freedom platform 5 through the control box 7. Workpiece positioning blocks 6 are installed on the upper surface of the lifting plate of the AGV body 4 and the top of the six-degree-of-freedom platform 5. The workpiece positioning blocks 6 are used to install workpieces on the lifting plate of the AGV body 4 or the six-degree-of-freedom platform 5. A barcode scanning camera is installed on the AGV body 4, and a vision camera is installed on the six-degree-of-freedom platform 5. The barcode scanning camera and the vision camera are electrically connected to the controller. A target is set on the AGV body 4.

[0035] Furthermore, the coordinates of each location in the electronic map are established using laser SLAM navigation technology, including the X value, Y value, and angle value relative to the origin.

[0036] Furthermore, the controller can control the speed and direction of the AGV vehicle body 4 wheel set, thereby enabling the AGV vehicle body 4 to move along the planned route.

[0037] Furthermore, the workpiece positioning block 6 is a cylindrical pin, and the workpiece is provided with a pin hole that matches the cylindrical pin. The workpiece is installed on the cylindrical pin through the pin hole, thereby being installed on the lifting plate of the AGV body 4 or the six-degree-of-freedom platform 5.

[0038] Furthermore, the AGV body 4 is a lifting AGV, equipped with a control panel 2 and an emergency stop button 3, which facilitates the staff to control the operation of the ACG body 4 at any time.

[0039] Furthermore, the controller is an SRC controller.

[0040] Furthermore, the technology of creating electronic maps and navigating AGV vehicles using laser SLAM navigation technology is existing technology and will not be elaborated upon in this invention.

[0041] Furthermore, the target can be a QR code, an arrow, or a cross mark.

[0042] The present invention also provides a workpiece docking method using the aforementioned mobile parallel alignment and docking robot based on laser navigation and vision positioning, specifically including the following steps:

[0043] S1. Select an AGV vehicle body 4 equipped with the six-degree-of-freedom platform 5 as AGV I. The controller plans a route on the electronic map and navigates the AGV I to reach the workpiece loading area station. Raise the lifting plate of the AGV I so that the workpiece I is installed on the workpiece positioning block 6 on the six-degree-of-freedom platform 5, thereby completing the loading of the workpiece I.

[0044] S2. The controller of the AGVⅠ plans the route from the workpiece loading area station to the workpiece docking area station in the electronic map, and navigates the AGVⅠ to control the AGVⅠ to move towards the workpiece docking area station;

[0045] During the movement, the controller generates a vehicle model of the AGVⅠ in the electronic map and collects the real-time reflected pulse signal generated by the SLAM laser sensor 1. The real-time reflected pulse signal is compared with the reflected pulse signal recorded at the corresponding position in the electronic map established by the controller. If there is a difference in distance, the controller controls the speed and direction of the AGVⅠ wheel set, so that the AGVⅠ moves towards the workpiece docking area station according to the planned route until the vehicle model of the AGVⅠ reaches the workpiece docking area station in the electronic map.

[0046] S3. After the AGVⅠ arrives at the workpiece docking area station, it performs secondary positioning:

[0047] The scanning camera scans the QR code affixed to the ground of the workpiece docking area to read the X, Y, and angle values ​​of the center point of the workpiece docking area on the electronic map, and transmits the read data to the controller. The controller controls the speed and direction of the AGV I wheel set based on the difference between the real-time X, Y, and angle values ​​of the AGV I center point on the electronic map and the data read by the scanning camera, so that the difference approaches 0.

[0048] S4. Select an AGV body 4 without the six-degree-of-freedom platform 5 as AGV II. The controller plans a route on the electronic map and navigates the AGV II to the workpiece loading area station. The AGV II's lifting plate is raised, allowing workpiece II to be mounted on the workpiece positioning block 6 on the lifting plate, thus completing the loading of workpiece II. The controller of the AGV II plans a route from the workpiece loading area station to the workpiece docking area station on the electronic map and navigates the AGV II, controlling it to move towards the workpiece docking area station.

[0049] S5. After both AGVⅠ and AGVⅡ arrive at the workpiece docking area station, AGVⅠ takes a picture of the target on the AGVⅡ vehicle body through the vision camera and transmits the target image to the controller. The controller then uploads the target image to the host computer.

[0050] The host computer is remotely connected to the controllers of AGVⅠ and AGVⅡ respectively; the host computer compares the target image with the standard image to obtain the error values ​​of the two images in the X direction, Y direction and angle, and then obtains the difference between AGVⅠ and AGVⅡ in the X direction, Y direction and angle; the standard image refers to the target image on the AGVⅡ vehicle body captured by the vision camera of AGVⅠ before the workpiece docking, after manually adjusting AGVⅠ and AGVⅡ to the standard docking position;

[0051] The host computer sends a remote control signal to the controller of the AGVⅠ based on the error value, controlling the movement of the AGVⅠ and adjusting the attitude of the six-degree-of-freedom platform 5;

[0052] S6. Repeat step S5 until the target image captured again has an error value of 0 in the X direction, Y direction and angle compared with the standard image. This indicates that the precise positioning of AGVⅠ and AGVⅡ is completed, and the precise docking of workpieceⅠ and workpieceⅡ can be achieved.

[0053] Furthermore, the host computer compares the target image with the standard image to obtain the error values ​​of the two images in the X direction, Y direction and angle. This is done using existing image processing technology, which will not be elaborated upon in this invention.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile parallel attitude-adjusting docking robot based on laser navigation and visual positioning, characterized in that, The system includes an AGV (Automated Guided Vehicle) body, with a SLAM laser sensor mounted at its front end. The AGV body also includes a controller, with the SLAM laser sensor electrically connected to the controller. The controller is used to create an electronic map of the AGV's environment based on reflected pulse signals generated by the SLAM laser sensor using laser SLAM navigation technology; to plan a route for the AGV within the electronic map; and to navigate and move the AGV along the planned route. A six-degree-of-freedom (DOF) platform is detachably mounted on the AGV body's lifting plate. The six-DOF platform has a control box electrically connected to the controller, which controls the attitude adjustment of the six-DOF platform via the control box. Workpiece positioning blocks are mounted on the upper surface of the AGV body's lifting plate and the top of the six-DOF platform, used to mount workpieces onto the AGV body's lifting plate or the six-DOF platform. A barcode scanner is mounted on the AGV body, and a vision camera is mounted on the six-DOF platform. Both the barcode scanner and the vision camera are electrically connected to the controller. A target is also mounted on the AGV body. The workpiece docking method of the docking robot specifically includes the following steps: S1. Select an AGV vehicle body equipped with the six-degree-of-freedom platform as AGV I. The controller plans a route on the electronic map and navigates the AGV I to reach the workpiece loading area station. Raise the lifting plate of the AGV I so that the workpiece I is installed on the workpiece positioning block on the six-degree-of-freedom platform, thereby completing the loading of the workpiece I. S2. The controller of the AGVⅠ plans the route from the workpiece loading area station to the workpiece docking area station in the electronic map, and navigates the AGVⅠ to control the AGVⅠ to move towards the workpiece docking area station; During the movement, the controller generates a vehicle model of the AGVⅠ in the electronic map and collects real-time reflected pulse signals generated by the SLAM laser sensor. The real-time reflected pulse signals are compared with the reflected pulse signals recorded at the corresponding positions in the electronic map established by the controller. If there is a difference in distance, the controller controls the speed and direction of the AGVⅠ wheel set, so that the AGVⅠ moves towards the workpiece docking area station according to the planned route until the vehicle model of the AGVⅠ reaches the workpiece docking area station in the electronic map. S3. After the AGVⅠ arrives at the workpiece docking area station, it performs secondary positioning: The scanning camera scans the QR code affixed to the ground of the workpiece docking area to read the X, Y, and angle values ​​of the center point of the workpiece docking area on the electronic map, and transmits the read data to the controller. The controller controls the speed and direction of the AGV I wheel set based on the difference between the real-time X, Y, and angle values ​​of the AGV I center point on the electronic map and the data read by the scanning camera, so that the difference approaches 0. S4. Select an AGV body without the six-degree-of-freedom platform as AGV II. The controller plans a route on the electronic map and navigates the AGV II to the workpiece loading area station. The lifting plate of the AGV II is raised, allowing workpiece II to be mounted on the workpiece positioning block on the lifting plate, thus completing the loading of workpiece II. The controller of the AGV II plans a route from the workpiece loading area station to the workpiece docking area station on the electronic map and navigates the AGV II, controlling it to move towards the workpiece docking area station. S5. After both AGVⅠ and AGVⅡ arrive at the workpiece docking area station, AGVⅠ takes a picture of the target on the AGVⅡ vehicle body through the vision camera and transmits the target image to the controller. The controller then uploads the target image to the host computer. The host computer is remotely connected to the controllers of AGVⅠ and AGVⅡ respectively; the host computer compares the target image with the standard image to obtain the error values ​​of the two images in the X direction, Y direction and angle, and then obtains the difference between AGVⅠ and AGVⅡ in the X direction, Y direction and angle; the standard image refers to the target image on the AGVⅡ vehicle body captured by the vision camera of AGVⅠ before the workpiece docking, after manually adjusting AGVⅠ and AGVⅡ to the standard docking position; The host computer sends a remote control signal to the controller of the AGVⅠ based on the error value, controlling the movement of the AGVⅠ and adjusting the attitude of the six-degree-of-freedom platform; S6. Repeat step S5 until the target image captured again has an error value of 0 in the X direction, Y direction and angle compared with the standard image. This indicates that the precise positioning of AGVⅠ and AGVⅡ is completed, and the precise docking of workpieceⅠ and workpieceⅡ can be achieved.

2. The mobile parallel attitude adjustment docking robot based on laser navigation and visual positioning according to claim 1, characterized in that, The controller can control the speed and direction of the AGV's wheel assembly, thereby enabling the AGV to move along a planned route.

3. The mobile parallel attitude adjustment docking robot based on laser navigation and visual positioning according to claim 1, characterized in that, The workpiece positioning block is a cylindrical pin, and the workpiece is provided with a pin hole that matches the cylindrical pin. The workpiece is installed on the cylindrical pin through the pin hole, thereby being installed on the lifting plate of the AGV vehicle body or the six-degree-of-freedom platform.

4. The mobile parallel attitude adjustment docking robot based on laser navigation and visual positioning according to claim 1, characterized in that, The AGV body is a lifting AGV, and the controller is an SRC controller.

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