644 results about "Visually guided" patented technology

The invention discloses a grabbing control system for robot visual guidance, and belongs to the technical field of grabbing control systems.The grabbing control system comprises a visual perception module used for collecting workpiece images, extracting workpiece feature information and calculating accurate coordinates of workpieces in space; the robot main body module is used for receiving a system instruction to drive a carrier to move to a target position; the grabbing execution module is used for being in contact with the workpiece, grabbing the workpiece stably and transferring the workpiece to a designated position to be placed without damage; the system integration module is used for guaranteeing the safety, operability and stability of the feeding and discharging process; according to the system, workpiece information can be accurately collected, the posture of the grabbing execution end is analyzed based on the workpiece position, the grabbing posture is corrected in real time according to the grabbing dynamic state, and the workpiece grabbing precision and stability are improved.

The invention relates to a tunnel illumination control method considering visual adaptability of a driver, and belongs to the technical field of tunnel illumination control, and the method comprises the following steps: S1, employing a volume scattering point location method to obtain visual adaptability parameters of visual adaptation states of all segments in a tunnel; s2, dynamically constructing a predictive visual adaptation model of the driver group based on the visual adaptation parameters, and outputting expected visual states of the drivers according to the predictive visual adaptation model; s3, according to the expected visual state, a parameter control mechanism is adopted to control target illumination parameters of all the sections of the tunnel; s4, according to the target lighting parameters, the working state of lighting equipment in a corresponding section in the tunnel is regulated and controlled, so that the light environment in the tunnel is matched with the dynamic visual adaptability of a driver, and safe visual guidance is achieved; the method has the beneficial effects that the target illumination parameters of all the sections of the tunnel are controlled by adopting a parameter control mechanism according to the expected visual state according to the target illumination parameters.

The invention relates to the technical field of electromyographic signal monitoring, and discloses a guided monitoring method and system based on a wireless surface electromyographic analysis feedback instrument. The method comprises the following steps: acquiring electromyographic signal time sequence data and limb movement track space coordinate information when a target muscle group moves through a multi-channel wireless surface electromyographic sensor; muscle activation intensity and fatigue change features are extracted, a joint activity angle change sequence is calculated, and a muscle-joint collaborative activity feature matrix is generated through space-time alignment fusion; analyzing signal transduction delay and amplitude matching degree in the matrix, and evaluating the nerve driving coordination level; according to the deviation from the preset standard mode, generating a real-time biological feedback signal containing an action correction instruction and a muscle activation intensity adjustment parameter; and converting into a tactile vibration mode and a visual guidance mark to be output. According to the method, synchronous acquisition and fusion analysis of multi-dimensional motion information are realized, and visual guidance is provided through multi-modal feedback.

The invention belongs to the technical field of ablation puncture navigation, and particularly relates to an ablation puncture surgery navigation system under AI visual guidance. Through cooperative work of the phase monitoring module, the channel construction module, the needle moving control module, the displacement prediction module and the feedback control module, an intelligent surgical navigation system is constructed, breathing phase information and multi-modal medical image data of a patient can be obtained in real time, and therefore a safe and optimized needle moving path is accurately planned, and the operation accuracy is improved. Meanwhile, through real-time monitoring and quantitative evaluation of parameters such as tissue deformation and pressure distribution in the needle moving process, potential operation risks can be found and corrected in time, smooth operation is ensured, in addition, the system can dynamically adjust the needle moving path and the puncture angle according to the real-time breathing state of a patient, and the operation safety is improved. The accuracy and the safety of the operation are further improved, so that intelligent management and personalized treatment in the ablation puncture operation process are realized.

The invention relates to the technical field of artificial intelligence, and discloses a vision-guided automatic sorting and deviation rectifying method and system.The vision-guided automatic sorting and deviation rectifying system comprises a vision parameter processing module, a sorting strategy decision module and a deviation rectifying execution control module, a real-time judgment mechanism of dynamic and static resolution differences is established by setting a resolution collaborative correction end, and the deviation rectifying execution control module is established; a self-adaptive interpolation algorithm is adopted to adjust visual feature data, so that the system can eliminate imaging resolution deviation caused by ambient light and transmission vibration, the acquisition accuracy of material surface texture features is ensured, sorting identification errors caused by projection chromatic aberration are avoided, the environmental adaptability of the visual guidance system is improved, and the visual guidance system is more accurate in image quality. The position and posture coupling analysis end is arranged, the dynamic matching degree of the position and posture offset of the materials and the motion trail of the mechanical arm is monitored in real time, the grabbing angle offset is automatically corrected through a space coordinate compensation mechanism, and it is guaranteed that the relative space position of an end effector and the materials is in the optimal grabbing state all the time.

The invention discloses a visual guidance positioning system and method in the machine tool flexible shaft assembling process, and relates to the technical field of flexible shaft assembling, a visual system obtains three-dimensional pose data of the tail end of a flexible shaft and a target connector, a six-dimensional force sensor is combined to monitor contact force / torque in real time, the limitation of a single sensor is broken through, and the blind area of the single sensor is solved; visual and force sense coordinate systems are aligned in real time, and coordinate drifting caused by movement of the mechanical arm is eliminated; generating an approximation path based on the pose difference, introducing a compensation amount formula, inhibiting oscillation in combination with an attenuation coefficient, and improving the path smoothness; when the contact force exceeds the dynamic threshold value or the pose difference converges, path correction is automatically triggered, overload damage is avoided, and the assembly damage rate is effectively reduced. The method breaks through the limitation of traditional static path planning, has high precision, high reliability and complex working condition adaptability, and is especially suitable for precise instrument and heavy load machinery assembly scenes.

The invention discloses a pitaya robot system based on intelligent treatment and recuperation and a control method, and the system comprises a high-precision image collection and human body image collection and three-dimensional reconstruction module which is used for precisely recognizing and positioning a treatment region and acupoints; the core physician manipulation digitization module is used for finely capturing professional treatment manipulations and standardized recuperating manipulations of deep physicians for operating pitayas through a multi-dimensional sensor array and forming a manipulation model library; the intelligent strategy generation module based on artificial intelligence can call, fuse or optimize and generate an optimal execution scheme from a corresponding model library according to a mode selected by a user; and the high-precision and compliant force control robot execution module reproduces the digitized technique of the pitaya in a high-fidelity manner under the real-time closed-loop control of visual guidance and force sense feedback. Through the double-track parallel strategy, quantification, inheritance and popularization of the high-level pitaya therapy are achieved, and application of the high-level pitaya therapy is pushed to the wide field.

The invention relates to a visual guidance robot automatic control method, system and device and a medium. The method comprises the following steps: firstly, acquiring a target image sequence and extracting initial visual features, and processing the initial visual features through a deep learning algorithm to output a high-resolution image; calculating a distance switching value based on the high-resolution image, and if the distance switching value exceeds a preset threshold value, performing scale distortion correction on the high-resolution image to obtain a target image; multiple frames of time sequence data are fused through a Kalman filtering algorithm, image distortion real-time compensation and feature point track stability judgment are synchronously completed, and a target positioning precision estimated value is output; and finally, according to the target positioning precision estimated value, determining the position of a grabbing point through a posture mapping rule of mapping preset grabbing feature points in a target coordinate system to a robot-based coordinate system, and based on the position of the grabbing point, optimizing and fusing track parameters through a Kalman filtering algorithm to generate adaptive track parameters. The method improves the positioning precision and track following effect of automatic control of the robot.

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The invention discloses a position and posture compensation method for guiding installation of a contact network cantilever based on 3D vision and an automatic installation system. The position and posture compensation method comprises the steps that the spatial transformation relation between a 3D vision sensor coordinate system and a robot coordinate system is determined; the robot is controlled to move, and the three-dimensional point cloud data of the to-be-installed cantilever component and the three-dimensional point cloud data of the field installation foundation are collected; the collected three-dimensional point cloud data is registered with a corresponding preset CAD model, and a first real-time pose of the cantilever component in a robot coordinate system and a second real-time pose of the installation foundation in the robot coordinate system are obtained through calculation; calculating a pose compensation transformation quantity based on a pre-stored theoretical mounting pose of the cantilever, the first real-time pose and the second real-time pose; and according to the pose compensation transformation amount, planning and executing a motion track of the robot, and completing butt joint installation. The method is high in compensation precision, robustness and adaptability and high in construction efficiency, and the problem of uncertainty in automatic installation is fundamentally solved.

The invention discloses a numerical control machine tool autonomous tool setting method based on 3D visual guidance. The method comprises the following steps: firstly, acquiring three-dimensional point cloud data of a cutter and a workpiece by using a 3D visual sensor and preprocessing; then, segmenting the point clouds through a region growing algorithm, realizing the separation of the tool point clouds and the workpiece point clouds, and extracting the point clouds of each cylindrical section of the workpiece; thirdly, based on a cylinder fitting algorithm, cylinder model fitting is conducted on the segmented tool and workpiece point cloud, and geometric parameters such as the axis direction, the radius and the center coordinate are obtained; calculating a relative position relation between the tool and the workpiece according to the geometric parameters, generating a tool setting path and converting the tool setting path into an NC code; and finally, the NC code is transmitted to a grinding machine control system through a grinding machine communication module, and tool setting operation is completed. The automatic tool setting device has the advantages that the relative position relation between the workpiece and the tool can be automatically measured in the machining process, automatic and rapid tool setting is completed, and the machining quality and efficiency are guaranteed.

Techniques for displaying an extended reality (XR) indication of a potential collision between a portion of an object and a portion of a computer-assisted system include the following. The computer-assisted system comprises a sensor system configured to capture sensor data of an environment, and a control system communicably coupled to the sensor system. The control system is configured to: determine a pose of a portion of an object in the environment based on the sensor data, determine a pose of a portion of the computer-assisted system, determine at least one characteristic associated with a potential collision between the portion of the object and the portion of the computer-assisted system, select the potential collision for display based on the at least one characteristic, and cause an XR indication of the potential collision to be displayed to an operator via a display system.

The invention provides an intelligent vision-guided mechanical arm precise grabbing system. The system comprises a bionic compound eye vision module for collecting multi-angle image information of a target object to generate a dynamic depth map, and a bionic touch sensing module for collecting touch information at the tail end of a mechanical arm to generate a pressure distribution heat map. And the dynamic self-optimization grabbing strategy module is used for generating a grabbing strategy by utilizing the two graphs. And the real-time trajectory planning and obstacle avoidance module optimizes a grabbing path according to the grabbing strategy, the environment obstacle information and the mechanical arm state data, and generates an optimal strategy. The robot can sense the movement of a target object and the change of environmental obstacles in real time, dynamically adjust the force and the posture in the grabbing process, and optimize the obstacle avoidance path in real time. Compared with the prior art, the system has the advantages that the aspects of dynamic obstacle avoidance, target object motion compensation, multi-modal information fusion robustness and the like are remarkably improved, the problem of insufficient adaptability in complex dynamic scenes in the prior art is solved, and high success rate and stability of a precise grabbing task under complex conditions are ensured.

The invention relates to the technical field of intelligent construction of road engineering, and discloses an expressway asphalt pavement construction data analysis and processing system, the system performs digital modeling on an asphalt mixture and anchors the asphalt mixture to a pavement three-dimensional coordinate by creating a material state vector including a static attribute, a dynamic state and a process resume, and the system adopts a heat transfer model to construct an asphalt pavement construction data analysis and processing system. And the predicted temperature of the target vector at the future interception moment of the road roller is updated in real time and forwards simulated. Meanwhile, the system calculates a dynamic compactability window according to the compaction history and the material type, compares the predicted temperature with the window, generates a feedforward control instruction of a standard, priority or waiting operation, converts the feedforward control instruction into visual guidance, and issues the visual guidance to the vehicle-mounted terminal, so that prospective control is realized. According to the invention, the conversion of construction control from passive lag to active feedforward is realized, the fineness of the compaction process is improved, and a reliable digital quality tracing mechanism is established.

The embodiment of the invention provides a pulmonary nodule automatic labeling method based on multi-modal semantic affinity iterative optimization, and belongs to the technical field of data processing, and the method specifically comprises the steps: obtaining a lung CT image and a text report; performing structured semantic analysis on the text report; performing visual feature extraction on the lung CT image; based on the key semantic information, performing semantic guidance processing on the depth visual feature representation to generate semantic enhanced visual guidance features; based on the semantic enhanced visual guidance features, calling a segmentation basic model, and generating a plurality of candidate segmentation masks by introducing an active variation mechanism; for each candidate segmentation mask, calculating a semantic matching degree score of the candidate segmentation mask; and comparing the semantic matching degree scores of all the candidate segmentation masks, and selecting the candidate segmentation mask with the highest score as a final pulmonary nodule labeling result to be output. Through the scheme of the invention, the labeling precision, adaptability and interpretability are improved.

The invention provides a robot hand-eye online calibration method based on a self-supervised consistency optimization algorithm, and the method comprises the steps: employing the posture change of a mechanical arm collected in a production task, enabling a camera to observe the posture of a workpiece and an actual error after grabbing / assembling, and building an initial hand-eye relation through combination with one-time offline calibration; the eye pose adjustment amount of the player is calculated in a segmented mode under the incremental geometric framework; the self-supervised network outputs observation reliability and an offset type from time sequence features, carries out screening and reconstruction to generate a long-term hand-eye pose adjustment amount and a single-task pose compensation amount which are respectively used for updating a hand-eye relationship and correcting a control instruction, and carries out self-supervised updating on the network based on historical records; according to the method, separation treatment of slow deviation and short-time disturbance of the structure is achieved, manual re-calibration is reduced, the positioning precision and stability of visual guidance grabbing / assembling are improved, and the method is suitable for industrial robots running on line.

The invention discloses a robot end effector positioning mechanism based on computer vision guidance, and relates to the technical field of robots, the robot end effector positioning mechanism comprises a vision acquisition module, an image processing module, a motion control module and a data transmission module, the vision acquisition module is used for acquiring image information of a target object and a working environment; the image processing module is in signal connection with the visual acquisition module and is used for processing and analyzing an image acquired by the visual acquisition module, and the motion control module is used for controlling the motion of an end executor of the robot so as to enable the end executor to accurately reach a target position. Denoising enhancement, feature extraction and positioning algorithm processing of the image processing module are combined with optimal path planning and accurate driving control of the motion control module, and high-speed data transmission is matched to guarantee real-time performance, so that the accuracy and operation efficiency of target positioning in automatic operation are remarkably improved, and the manual intervention requirement is effectively reduced.

The utility model relates to the technical field of traffic auxiliary management, in particular to electronic control equipment for assisting traffic assistant management, which comprises a mounting seat, a fixing frame, a first mounting frame, a fixing bolt, a first laser transmitter and the like. The number of the installation seats is two, the two installation seats are both provided with fixing frames, the installation seats are rotatably provided with first installation frames, the first installation frames are fixed to the installation seats through fixing bolts, the first installation frames are provided with first laser emitters, the installation seats are provided with second installation frames, and the second installation frames are provided with second laser emitters. Through the dual-mode design that the first laser transmitter projects a green light band when the green light is green and the second laser transmitter projects a red light band when the red light is red, visual guidance with high identification degree is provided for pedestrians, the green light band clearly marks a safe passing area, and the red light band clearly defines a passing forbidding boundary.

The invention relates to the technical field of intelligent equipment, and provides a visual guidance method and system for intelligent auxiliary assembly, and the method comprises the steps: collecting an original image sequence, depth coordinate data and three-axis torque data of a current assembly object, and generating spatial configuration feature information; and carrying out stress state evaluation analysis on the spatial configuration feature information by utilizing the three-axis torque data to obtain a strategy candidate set and a plurality of assembly state transfer path sets, and carrying out strategy matching on all the assembly state transfer path sets by utilizing the strategy candidate set to obtain an assembly guide strategy. Through the strategy candidate set and the assembly state transfer path set, a high-adaptability assembly guide strategy is generated, the defects of the prior art in the aspects of coping with assembly step changes, error deviation and real-time regulation and control are overcome, and the defect that when assembly steps change and assembly deviation or error occurs to an assembly object, the assembly accuracy is improved. The problems that in the prior art, an adaptive dynamic guiding strategy is lacked, and an assembly scheme and a guiding mode cannot be adjusted in real time are solved.

The invention discloses a dynamic visual guidance method and system for cooperative assembly of multiple mechanical arms, and belongs to the technical field of industrial robot visual guidance, and the method comprises the steps: synchronously collecting an image sequence through a binocular visual system, synchronously recording the pose sequence of each mechanical arm through a robot controller, and obtaining an observation data set; obtaining a two-dimensional trajectory flow of vehicle body assembly area feature points and instrument body feature points through an optical flow tracking algorithm, and obtaining a hand-eye matrix correction through a nonlinear optimization algorithm; obtaining an updated hand-eye matrix and a local pixel compensation field through a spatial interpolation algorithm based on the re-projection error of each feature point; according to the method, self-adaptive compensation of flexible deformation of a vehicle body and dynamic reflection of an instrument is realized by adopting unsupervised clustering and spatial interpolation according to a re-projection error, and the precision of cooperative assembly of multiple mechanical arms and the self-adaptive capability of a system in a complex industrial environment are improved.

The invention provides a visual guiding device for surgical robot instrument positioning and a surgical robot, and relates to the technical field of surgical robotics.The visual guiding device comprises an image rendering module used for obtaining image data of a target environment and rendering the image data to generate an environment image; the path guiding module is used for acquiring the position information of a slave end holding arm of the surgical robot, and generating an instrument virtual guiding model based on the position information and according to a mapping relation between a holding arm coordinate system and a display coordinate system; the display control module is in communication connection with the image rendering module and the path guiding module; and the display control module is configured to superpose the instrument virtual guide model on the environment image to generate a composite image in response to an operation instruction of the instrument, and output the composite image to the display equipment. According to the invention, accurate instrument movement visual guidance can be provided, and instrument insertion distance overrun and tissue damage are avoided.

The invention discloses a robot vision system construction and control method, and the method comprises the following steps: collecting environment image data and robot motion state data, carrying out the real-time preprocessing of the environment image data, generating standardized image data, and carrying out the real-time monitoring of the environment through setting a dynamic environment sensing module. When real-time grabbing operation guided by robot vision is carried out, an environment light interference real-time judgment mechanism is established, differential compensation strategies are set for different working condition scenes, the stability of visual data collection under the complex illumination condition is guaranteed, and meanwhile compensated light parameters are synchronized to an image processing unit; the problem of feature recognition distortion caused by abnormal environmental reflection can be reduced in real time, the accuracy of robot target positioning is ensured, the track error of visual guidance is reduced, and the completeness of a high-precision assembly task is ensured when it is detected that the in-place posture offset exceeds a safety threshold value.

The invention discloses a ceramic workpiece grinding control system based on vision measurement, which relates to the technical field of ceramic workpiece grinding and comprises a multi-source data acquisition module, a data preprocessing module, a vision measurement and grinding calculation module and a grinding control execution module, the vision measurement and grinding calculation module comprises a vision guide contour deviation module, a grinding allowance calculation module and a grinding feeding speed adjusting module. Self-adaptive grinding is achieved through cooperation of three modules in the vision measurement module and the grinding calculation module, precise deviation is output in combination with parameters such as vision guidance and curvature, a basis is provided for allowance adjustment, allowance is optimized in combination with parameters such as adaptive material characteristics and grinding wheel abrasion, the precision and the material utilization rate are balanced, and the grinding precision is improved. The speed is dynamically adjusted according to the allowance, the temperature and the like, quality and efficiency are considered, and the machining quality, efficiency and the adaptability of the system to different working conditions are improved under multi-source data cooperation.

The invention relates to the technical field of heavy truck hub bearing assembly, in particular to a rotary pressing machine for a heavy truck hub bearing. According to the technical scheme, the rotary type press-fitting machine for the hub bearing of the heavy truck comprises a press-fitting machine rack, an outer mounting frame, a rotary driving device, a bearing positioning device, a hub fixing device, a press-fitting mechanism, a feeding mechanism, a terminal controller, a supporting bracket, a discharging door and a main driving device, and the outer mounting frame is arranged above the press-fitting machine rack; the multi-dimensional sensing positioning module is introduced, the laser scanning unit can generate three-dimensional contour data of the bearing and the hub, and sub-millimeter-level space positioning is achieved; the pressure sensing array can detect the pressure distribution of the contact surface and identify the initial fitting state; the visual guiding unit can recognize bearing codes and hub feature marks, an accurate assembling path is generated, bearing or hub damage caused by inaccurate positioning or improper press-fitting force control is reduced, meanwhile, the press-fitting efficiency is improved, and the production cost is reduced.

The invention relates to the technical field of robot automatic polishing, in particular to a vision-guided robot polishing path planning method and system, and the method comprises the steps: obtaining a workpiece surface point cloud in real time through a three-dimensional vision sensor, generating a trajectory seed point with adaptive density in combination with curvature, a normal vector and a defect semantic tag, and carrying out the positioning of a workpiece surface point; and a polishing quality evaluation function is constructed based on force sense feedback and a visual reconstruction result, so that path online correction is realized. According to the method, the polishing path and the tool posture can be dynamically adjusted, high-precision differentiation processing is achieved on the free-form surface, the edge and the defect area, and the polishing consistency and efficiency are improved.

The invention discloses an intelligent laser welding workstation for a high-voltage cable. The intelligent laser welding workstation comprises an operation table, a mechanical arm, a welding head, a camera assembly, a power assembly, a clamping assembly and a control piece. A control part is installed on the outer side of the operation table and comprises an image acquisition module, an image processing module, a track planning module, a motion control module, a quality detection module, a parameter adjustment module and a synchronous control module. Visual guidance and real-time monitoring in the welding process are achieved through the camera assembly, a welding center point is accurately positioned through an image processing algorithm, the track planning module generates a smooth welding path, and the parameter adjusting module dynamically adjusts welding parameters according to a molten pool image. The synchronous control module receives a production line signal to realize full-process automation of automatic clamping, welding and loosening; efficient and stable laser welding seamlessly integrated with the cable manufacturing process is achieved, and the automation degree, welding precision and product reliability of a production line are improved.

The invention discloses a robot visual guiding and grabbing system for photovoltaic glass stacking, and the system comprises a multi-mode visual data collection module which is used for synchronously obtaining two-dimensional image data and three-dimensional depth data of photovoltaic glass; and the environment adaptive sensing module is used for preprocessing the two-dimensional image data and the three-dimensional depth data to eliminate or weaken the influence of illumination variation, surface reflection and noise on the image quality, and outputting enhanced image data and calibration depth data. According to the robot vision guiding and grabbing system for photovoltaic glass stacking, by introducing the multi-mode vision data acquisition module, two-dimensional image data and three-dimensional depth data of photovoltaic glass are synchronously obtained, and the original data are subjected to reflection removal, denoising and enhancement processing in combination with the environment self-adaptive sensing module; the problem that the image acquisition quality of a traditional visual system is unstable in a high-reflection and complex illumination environment is effectively solved.

The invention relates to a robot intelligent control method integrating visual guidance and digital twinning technologies, and belongs to the technical field of industrial automation. The method comprises the following steps: acquiring multi-source attribute data of a robot to construct a robot control digital twin architecture, and acquiring a point cloud of a to-be-operated workpiece to position a key point location; self-adaptive noise reduction and completion are carried out on the point cloud, a to-be-operated workpiece model is constructed, features are extracted, and a feature change trend pre-judgment model is established; transmitting data by utilizing an edge computing-cloud collaborative architecture, carrying out multi-dimensional comparison in a robot control digital twin architecture, constructing a dynamic weight path planning function, solving an optimal path by adopting a genetic algorithm, and then carrying out virtual-real interaction fault simulation to optimize the path; a double-end state comparison matrix is constructed for real-time monitoring, a multi-source fusion strategy is adopted for adjustment when deviation occurs, and a linkage mechanism is triggered to suspend operation and give an alarm when the deviation exceeds a threshold value. According to the method, high-precision, self-adaptive and reliable intelligent control of the robot is realized.

The invention discloses an automatic high-precision assembly system and method based on visual feedback, belongs to the technical field of automatic assembly, and solves the problem that an existing scheme is insufficient in the aspects of automatic integration and actual usability. Comprising an embedded control unit, an XYZ Cartesian sliding table, a limiting sensor, a visual sensor, a visual mark and an upper computer processing unit, the embedded control unit is connected with the upper computer processing unit, and the embedded control unit is used for receiving a control instruction and feeding back state information. The embedded control unit is connected with a motor driver of the XYZ Cartesian sliding table and used for sending a motion control signal, and the embedded control unit is connected with the limiting sensor and used for receiving a switch signal. Working space boundary recognition and automatic calibration of the camera-robot hand-eye relation are achieved, the configuration and deployment process of a visual guidance system on the XYZ sliding table is greatly simplified, the requirement for professional skills of operators is lowered, and deployment efficiency is improved.

The invention discloses an automatic loading and unloading scene multi-camera visual guidance self-adaptive stacking posture planning method, which relates to the technical field of robot automation, and sequentially comprises the following steps: generating an initial posture, including analyzing posture parameters and generating a preliminary placement posture; visual verification, including multi-camera data acquisition, target area idle state verification and pose rationality evaluation; accurate positioning, including virtual box construction, space matching optimization and final coordinate generation; and target verification and re-planning: based on a real-time feedback closed-loop mechanism, re-verifying whether the target area is in an idle state, and if not, re-planning the attitude. According to the method, the planning time is shortened from the second level of a traditional method to the millisecond level by setting a local search and optimization algorithm; through point cloud completion and space matching optimization, the pose error is controlled within + / -2mm, and environment shielding and stacking changes can be coped with through visual verification; the method can support a complex stacking scene and is wide in applicability.