Single-point multi-view meter-hanging posture error detecting method of mobile industrial robot

Abstract

The invention discloses a single-point multi-view meter-hanging posture error detecting method of a mobile industrial robot. The single-point multi-view meter-hanging posture error detecting method includes firstly determining position error of an end effector from a demonstration target point under a tool coordinate system initially by photographing a feature point, moving the end effector by a certain distance under the tool coordinate system along the coordinate axis direction, photographing and matching and comparing the picture with the last picture by templates, determining relative error of the feature point and finally determining position and posture error of the end effector. The single-point multi-view meter-hanging posture error detecting method mainly adopts algorithm to determine posture error the tail end of the moving industrial robot in the plane vision positioning and can determine through only one simple feature point, thus, the problem of limitations (such as camera visual angle, focal length and cost) in actual application is solved, image processing efficiency and speed (single-point processing) are improved to some extent, and the problem of instantaneity in image processing in the industry is solved.

Description

technical field [0001] The invention relates to a method for detecting pose error of a mobile industrial robot single-point multi-view wall watch, belonging to the technical field of intelligent equipment. Background technique [0002] Industrial robots help realize industrial automation and can complete various simple and repetitive tasks. For example, in the case of pick and place, each path point is generally determined by teaching, and then the manipulator repeats the taught path to complete the task. However, there are some external interference factors in the pick-and-place operation of the manipulator, especially for mobile industrial robots with non-fixed bases (AGV or RGV guidance, etc.), which will directly affect the pick-and-place accuracy, so simple and practical Plane visual positioning to eliminate errors. Considering cost and efficiency issues, in the prior art, low-end cameras are generally used for positioning. The adjustable focal length and viewing angle...

AI Technical Summary

Problems solved by technology

The study found that the attitude error also affects the accuracy of pick and place to a large extent, especially when picking and placing multiple workpieces at the same time, the attitude error may cause a large position error when the edge workpiece is picked and placed, which seriously affects The precision of the manipulator's grasping and placing may cause industrial accidents

Images