Spatial positioning method not needing teaching robot system

Abstract

The invention provides a spatial positioning method not needing a teaching robot system. Firstly, a high-speed accurate three-dimensional scanning instrument is used for obtaining a large batch of point cloud data of a detected object and generating a three-dimensional model of the detected object, noisy point removal, patch feature pre-processing and feature point extraction operations are carried out, and finally the coordinates of a work target point under a camera coordinate system are obtained; secondly, the coordinates of the work target point under the camera coordinate system are converted into the coordinates under a robot world coordinate system through a coordinate conversion algorithm to bring convenience to positioning for robot working; finally, the robot is controlled to work according to the coordinates of the work target point under the world coordinate system and control parameters input by a user. The spatial positioning method not needing a teaching robot system enables the whole operation to be more automatic, integrated and efficient, and has great advantages when applied to the short-time changeable occasions with multiple teaching points.

Description

technical field [0001] The invention relates to the research field of robot space positioning methods, in particular to a space positioning method without teaching robot system. Background technique [0002] In response to the fast-changing and increasing complexity requirements of modern industry, following flexible manufacturing, computer integrated manufacturing, sophisticated production and concurrent engineering, robots are not only required to "tirelessly" perform simple and repetitive tasks in production cells for future industrial applications. It can work, and can be integrated into the manufacturing system as a highly flexible, open, programmable and reconfigurable manufacturing unit with friendly human-computer interaction functions. The realization of this ability requires the overall progress of robot technology at this stage, and teaching technology is one of the important ones. Robots are considered flexible automation devices because they can be programmed t...

AI Technical Summary

Problems solved by technology

[0003] The traditional teaching method of industrial robots is widely used because it can provide accurate data for the spatial positioning of industrial robots, but it also brings the problem of time-consuming and inconvenient operation, especially when there are multiple teaching points, sometimes there may be as many as several Today, this brings many obstacles to industrial robots in short-term and changeable workplaces

At present, the traditional manual teaching method is mainly used to accurately obtain the spatial positions of these target points. At the same time, because each time a work target point is reached, it needs to be adjusted manually many times in a planned way. When there are multiple work target points, it takes a long time. Therefore, in short-term and changeable occasions, the time consumption brought by traditional teaching accounts for a large proportion in the entire application system, which greatly inhibits the improvement of work efficiency.

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