Method for solving intersection points to accurately position polygonal track through laser vision locating

Abstract

The invention discloses a method for solving intersection points to accurately locate a polygonal track through laser vision locating. The method comprises the following steps of 1, obtaining the coordinate values through laser detection; 2, determining a straight line by two points; 4, setting a reference workpiece track and recording the intersection point calculation; and 5, executing a program, measuring the coordinate values by laser, calculating the relative deviation of intersection points, and correcting a motion track. The method of the invention relates to the technical field of workpiece or object detection. According to the method for solving the intersection points to accurately locate the polygonal track through laser vision locating, the precision is higher than that of a method of purely locating the calculation positions, the functions are stronger, the problem that the workpiece is inaccurate after rotation is solved; the deviation caused by the movement of a workpiece in any direction can be avoided, the deviation caused by rotation can also be avoided, the precision is high, the posture of a robot is free, different purposes and processes are met, the instructions are simple, the locating and calculation operation can be completed only by scanning each edge twice, and the deviation can be accurately calculated to correct the motion track.

Description

technical field [0001] The invention relates to the technical field of workpiece or object detection, in particular to a method for laser vision positioning, seeking intersection points, and accurately locating polygonal trajectories. Background technique [0002] In recent years, the level of industrial automation in my country has been steadily improved. Since 2013, my country has become the world's largest industrial robot demand market for seven consecutive years. one-third. For example, in the welding industry, arc welding robots replace manual labor, and the efficiency and quality are improved. However, for the same batch of workpieces, there will be deviations in any direction due to reasons such as placement and clamping, especially for argon arc welding and laser welding. A very demanding process, any deviation will affect the welding effect of the product, and each manual teaching is not only cumbersome and time-consuming, affecting the welding quality, but also ha...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a method for laser vision positioning and finding the intersection point to accurately locate the polygon trajectory. By finding the straight line of each side and constructing a line equation group to find the intersection point, the correction caused by workpiece offset and rotation is solved. inaccurate question

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