Robot operation trajectory acquisition method based on line laser sensor

Abstract

The invention relates to a robot operation trajectory acquisition method based on a line laser sensor. The method comprises the following steps that an to-be-operated path of a robot is scanned by using the line laser sensor, contour data of a laser line are extracted according to a certain sampling frequency, finally an operation trajectory of the robot is automatically generated according to thecontour sampling information on the whole path and position information of the robot, and the operation trajectory comprises information such as the operation position, the operation posture and theoperation speed of the robot. According to the method, the operation efficiency of the robot on a complex path can be improved, and the automation level of the robot during working can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for acquiring robot operation tracks based on a line laser sensor. Background technique [0002] Welding work is the main work in the sub-manufacturing of ships. At present, manual welding is still the main welding method, and due to the large error in the pre-sequence processing, it is difficult to realize the automatic welding of robots by using the teaching method. Taking the welding of ship segmented T-sections as an example, the ideal trajectory of the groove operation center should be a straight line. However, there are various curves of different shapes in the actual situation, and the robot welding trajectory simply taught cannot be used universally. Therefore, there is a need for a method for automatically generating different robot operation trajectories according to different T-shaped groove shapes. [0003] In the field of sewing complex leather m...

AI Technical Summary

Problems solved by technology

[0003] In the field of sewing complex leather materials, almost all manufacturers currently use manual sewing machines for sewing. The sewing path is usually a space curve, which requires high levels of operators, and the processing quality is unstable. Defects such as inconsistent direction

In addition, since the leather to be sewed is usually relatively soft, even if the same piece of leather is placed on the same workbench twice, the path to be sewed will change due to its own deformation. method will be inefficient

Based on the above reasons, there is a need for a method that can automatically extract the sewing path. Using this method to guide the robot to automatically sew can not only solve the problem of unstable quality of manual sewing, but also solve the problem of low efficiency of teaching sewing

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