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A 2D laser positioning method for train body doors and windows

A laser positioning and car body technology, applied in the field of physics, can solve the problem of low precision of train window assembly and end wall drilling, and achieve the effects of high layout design flexibility, high algorithm robustness, and high result reliability.

Active Publication Date: 2022-05-27
SHANGHAI RO INTELLIGENT SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a 2D laser positioning method for train body doors and windows. The 2D laser positioning method for train car body doors and windows should solve the problem of poor accuracy of train window assembly and end wall drilling in the prior art. high technical issues

Method used

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  • A 2D laser positioning method for train body doors and windows
  • A 2D laser positioning method for train body doors and windows
  • A 2D laser positioning method for train body doors and windows

Examples

Experimental program
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Effect test

Embodiment 1

[0078] like figure 2 As shown, the equipment used in a 2D laser positioning method for doors and windows of a train body of the present invention includes an AGV car (automatic guided transport vehicle) 1 and a manipulator 2, and the manipulator 2 is arranged on the automatic guided transport vehicle 1 Above, the end of the manipulator 2 is also provided with a fixture 7, the fixture 7 is fixedly provided with a 2D laser sensor 3, the fixture 7 is also provided with an operating tool 4, and the 2D laser sensor 3 is connected with a computer 8, the manipulator 2 is connected with a controller 9, and the controller 9 is connected with the computer 8.

[0079] Further, the automatic guided transport vehicle 1 is manually driven to one of the window frames 5 of the vehicle body 6, and the tool 7 on the manipulator 2 is controlled by means of teaching to install or process the window frame 5, Save the installation and processing track, use the teaching method to control the 2D la...

Embodiment 2

[0082] like Figure 5 As shown, the present invention provides a 2D laser positioning method for doors and windows of a train body, comprising the following steps:

[0083] 1) A process of calibrating the window frame of the door and window of the train body using the device of Embodiment 1, the described process of calibrating the window frame of the door and window of the train body is: manually control the automatic guided transport vehicle to reach a pair of trains. The position where the window frame of the door and window of the car body is roughly positioned; the center of the door and window frame of the train body is set as the origin of the base coordinate of the manipulator (the method of the present invention is not sensitive to the selection of the center point, and the error within 10mm is allowed), showing Teach the manipulator, use the operating tool on the end of the manipulator to install or process the window frame 5 of the car body, and save the installatio...

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Abstract

A 2D laser positioning method for doors and windows of a train body, including a process of calibrating and measuring the body of the train; first, the AGV car is manually moved to the working position, and the positioning is performed visually, and the center of the door and window frame is set as the base coordinate of the manipulator The origin; the manipulator is taught to operate, and the trajectory of the manipulator is saved as the working track; the manipulator is taught to perform calibration measurement, and the calibration measurement is at the 3 equal parts of each side of the frame, and the manipulator with the 2D sensor scans the 2D of the frame. outline and record the data, and then calculate the 6-degree-of-freedom coordinate value of the frame as the calibration position value; save the calibration measurement path of the manipulator as the path of subsequent measurement work; then move the AGV to each station for operation, and calculate the current frame The coordinate deviation between the body coordinate and the calibrated position value is called, and the working trajectory of the manipulator is called, and the coordinate deviation is compensated to obtain a new working trajectory. The invention improves the robustness and usability of the system, and is easy to calibrate.

Description

Technical field: [0001] The invention relates to the field of physics, in particular to measurement technology, in particular to a 2D laser positioning method for doors and windows of a train body. Background technique: [0002] At present, the window assembly of the train body and the drilling of the end wall are all manual operations, which are labor-intensive. In order to improve production efficiency, it is necessary to do automation transformation. Due to the large size of the car body, it is unrealistic to move the car body to the production line. Therefore, the preferred automation solution is to fix the car body on the tooling, and various automatic equipment is designed to It is mobile and performs various automatic operations around the car body. For mobile devices, the most basic requirement is to accurately locate the spatial position of the work surface. In the prior art, such as figure 1 As shown, the AGV trolley 1 is used for positioning, the 3D camera 33 v...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 覃江华高小嵩
Owner SHANGHAI RO INTELLIGENT SYST
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