Posture and moving track positioning system and method of robot grabbing online workpiece

Abstract

The invention discloses a posture and moving track positioning system and method of robot grabbing an online workpiece. The device comprises a camera support, an industrial camera, the tested workpiece, a workpiece conveying belt, a tail end executer, a robot system, a workbench, an image processor and the like. The method comprises the steps that a depth positioning model of a plane point in an absolute coordinate system in the vertical direction, a depth positioning model of a space point in the absolute coordinate system in the vertical direction, an X-axis positioning model of the plane point in the absolute coordinate system in the horizontal direction and an X-axis positioning model of the space point in the absolute coordinate system in the horizontal direction are established, three-dimensional coordinates of imaging points in all the cameras can be solved through combination of the priori knowledge of the workpiece, accordingly, and a robot can be guided to adopt the accurate tail end executer posture and movement track to intelligently grab the workpiece accurately. The posture and moving track positioning system and method have the advantages that the grabbing precision is high, the structure is simple, and cost is low.

Description

technical field [0001] The invention relates to the field of robot motion control and visual positioning, and particularly relates to a robot pose and motion trajectory positioning system and method for grabbing an online workpiece. Background technique [0002] At present, industrial robots have been widely used in various industrial fields, and they can replace humans to make repeatable and precise movements. In order to complete the intelligent grasping of three-dimensional workpieces, the robot must move along a specific trajectory, using the corresponding pose and motion trajectory. At present, in the grasping of static three-dimensional workpieces, there are online teaching and offline programming for the positioning of industrial robots’ grasping poses and motion trajectories; in the online real-time grasping of moving workpieces, there are currently monocular vision guidance systems, binocular vision Guidance system and a guidance system combining structured light a...

AI Technical Summary

Problems solved by technology

Commonly used calibration equipment includes three-coordinate measuring machines, articulated arm measuring machines, and laser trackers, but the calibration of robots in work scenes is limited, and the position calibration error is still large

[0005] 3) The monocular vision system is usually used for information extraction on a two-dimensional plane. It cannot obtain the information of the workpiece on the Z-axis (depth direction), and only the position and angle on the plane are passed to the robot.

To go through binocular vision calibration, depth information extraction and other processes, the calculation is more complex, time-consuming, costly, and less robust

Images