CN103286782A - Flexible tracking and positioning system and flexible tracking and positioning method of robot - Google Patents
Flexible tracking and positioning system and flexible tracking and positioning method of robot Download PDFInfo
- Publication number
- CN103286782A CN103286782A CN2013102248628A CN201310224862A CN103286782A CN 103286782 A CN103286782 A CN 103286782A CN 2013102248628 A CN2013102248628 A CN 2013102248628A CN 201310224862 A CN201310224862 A CN 201310224862A CN 103286782 A CN103286782 A CN 103286782A
- Authority
- CN
- China
- Prior art keywords
- robot
- workpiece
- tracking
- flexible
- positioning system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
Provided are a flexible tracking and positioning system and a flexible tracking and positioning method of a robot. The invention discloses the flexible tracking and positioning system of the robot, wherein the flexible tracking and positioning system of the robot can lengthen tracking distances and can detect position offset conditions of a tracked workpiece. The flexible tracking and positioning system comprises a robot controller, a visual module, a robot body, a workpiece linear transmission mechanism and a coder. The robot controller is respectively in signal connection with the visual module, the robot body and the coder, and is in signal connection with a robot linear rail through an additional servo amplifier. The visual module is installed on the robot body, the coder is installed on the workpiece linear transmission mechanism, and the robot body is installed on the robot linear rail. The invention further discloses the flexible tracking and positioning method of the robot. The flexible tracking and positioning method of the robot comprises the following steps that the robot body is located at an initial position, whether the workpiece enters a working area or not is judged, the robot linear rail tracks the workpiece linear transmission mechanism and operates, a position image of the workpiece is obtained, the offset value between the current workpiece and a workpiece at a reference position is caculated, and operations are completed after motion trails of the robot body are regulated.
Description
Technical field
The present invention relates to a kind of automatic production line for robot, be specifically related to a kind of flexible tracing-positioning system and method for tracking and positioning of robot.
Background technology
In production line, exist robot to be positioned at straight-line transmitting send with on the workpiece demand of operating.In general, robot need be static with conveyer belt in the mode of handling the workpiece on the straight line conveyer belt, is about to operate according to fixing mode after the workpiece immobilization.This working method need be inserted fixed platform or stop station between the straight line conveyer belt.Yet when the technological requirement workpiece must continuous motion can not stop on conveyer belt, this traditional mode just can not be suitable for.Follow the tracks of straight-line workpiece on one side in order to solve, robot one edge work, the technology of linear tracking has been proposed in the robot industry, be characterized in allowing robot utilize the locomitivity of self to follow the tracks of the motion of workpiece conveyor, this will be subjected to the influence of robot self working range, and therefore the distance of following the tracks of can be very not long.
Summary of the invention
The objective of the invention is in order to overcome the deficiencies in the prior art, a kind of flexible tracing-positioning system and method for tracking and positioning of robot are provided, it can make the distance of line tracking be not limited to the range of movement of robot self, thereby lengthened tracking range greatly, can also make robot when following the tracks of, detect the position drift condition of tracked workpiece, and the movement locus of adjustment robot, realize that robot flexibility ground carries out track and follows the tracks of and positioning action.
A kind of technical scheme that realizes above-mentioned purpose is: a kind of flexible tracing-positioning system of robot, comprise robot controller, vision module, robot body, workpiece straight-line transmitting actuation mechanism and encoder, wherein, described robot controller is connected with described vision module, robot body and code device signal respectively, and described robot controller also is connected with a robot rectilinear orbit signal by an additional servo amplifier; Described vision module is installed on the described robot body; Described encoder is installed on the described workpiece straight-line transmitting actuation mechanism; Described robot body is installed on the described robot rectilinear orbit.
The flexible tracing-positioning system of above-mentioned robot, wherein, described vision module is connected with described robot controller signal by visual interface.
The flexible tracing-positioning system of above-mentioned robot, wherein, described vision module is the 2D camera.
The another kind of technical scheme that realizes above-mentioned purpose is: a kind of flexible method for tracking and positioning of robot, be executed in the flexible tracing-positioning system of above-mentioned robot, and described method for tracking and positioning may further comprise the steps:
Step 1, described robot body is positioned at the initial position of robot rectilinear orbit;
Step 2, described encoder judge whether workpiece enters the working region, when workpiece enters the working region, then enter step 3, when workpiece does not enter the working region, then continue to wait for;
Step 3, described robot rectilinear orbit are followed the tracks of described workpiece straight-line transmitting actuation mechanism operation;
Step 4, described vision module is to the take pictures location drawing picture that obtains workpiece and send described robot controller to of workpiece;
Step 5, the side-play amount between the workpiece that described robot controller calculating is current and the workpiece of reference position;
Step 6, described robot controller add side-play amount behind the movement locus of robot body the workpiece complete operation.
The flexible method for tracking and positioning of above-mentioned robot, wherein, when carrying out described step 5, described side-play amount comprises axial shifting deviation Δ y and the rotating deviation R of x axial shifting deviation Δ x, y.
The flexible tracing-positioning system of robot of the present invention and the technical scheme of method for tracking and positioning compared with prior art have the following advantages:
1) robot can make the distance of robot line tracking not be subjected to the limitation of robot displacement scope, thereby lengthen the line tracking distance greatly at the workpiece of robot rectilinear orbit tracking on workpiece straight-line transmitting actuation mechanism;
(2) servomotor of the servomotor of driven machine people rectilinear orbit and robot body is all by robot controller control, thus following function to be integrated in robot self Guaranteed, easy to operate, compact conformation;
(3) adopt the tracking technique with the robot rectilinear orbit to combine with vision technique, can make robot when track is followed the tracks of, use vision technique to detect the position drift condition of tracked workpiece, robot controller realizes that according to the movement locus of the skew adjustment robot of workpiece robot flexibility ground carries out track and follows the tracks of and positioning action.
Description of drawings
Fig. 1 is the structural representation of the flexible tracing-positioning system of robot of the present invention;
Fig. 2 is the workflow diagram of the flexible method for tracking and positioning of robot of the present invention;
Fig. 3 is the schematic diagram of execution in step five in the flexible method for tracking and positioning of robot of the present invention.
The specific embodiment
In order to understand technical scheme of the present invention better, be described in detail below by embodiment particularly:
See also Fig. 1, the flexible tracing-positioning system of a kind of robot of the present invention, comprise robot controller 1, visual interface 2, vision module 3, robot body 4, workpiece straight-line transmitting actuation mechanism 5, encoder 6, robot rectilinear orbit 7 and additional servo amplifier 8, wherein
Robot controller 1 adopts the Fa Na R-30iA of section robot controller, this robot controller 1 is connected with vision module 3 signals by visual interface 2, robot controller 1 also is connected with robot body 4, encoder 6 and additional servo amplifier 8 signals respectively, adds servo amplifier 8 and is connected with robot rectilinear orbit 7 signals;
Encoder 6 is installed on the workpiece straight-line transmitting actuation mechanism 5;
Robot body 3 is installed on the robot rectilinear orbit 7;
Vision module 3 is the 2D camera and is installed on the robot body 4;
The flexible tracing-positioning system of robot of the present invention, encoder 6 is wherein also given robot controller 1 with this feedback information for the movement velocity of obtaining workpiece straight-line transmitting actuation mechanism 5 and displacement; Robot controller 1 according to the information that receives encoder 6 after the additional servo amplifier 8 of control, robot rectilinear orbit 7 is accepted the identical distance of instruction trace workpiece straight-line transmitting actuation mechanism 5 motions of robot controller 1 by additional servo amplifier 8, thereby realize 5 motions of robot rectilinear orbit 7 tracking workpiece straight-line transmitting actuation mechanism, realize that the relative position between the workpiece on robot body 4 and the workpiece straight-line transmitting actuation mechanism 5 remains unchanged.The vision module 3 that is installed on the robot body 4 is just taken pictures to workpiece in the beginning of robot rectilinear orbit 7 tracking, obtain the image of workpiece on workpiece straight-line transmitting actuation mechanism 5, robot controller 1 goes out the side-play amount between the workpiece of this workpiece and reference position by the image calculation that obtains, again this side-play amount is brought into the work track of robot body 4, no matter where workpiece is in workpiece straight-line transmitting actuation mechanism 5 like this, robot body 4 can be operated workpiece.
See also Fig. 2 again, the flexible method for tracking and positioning of a kind of robot of the present invention, be executed in the invention described above robot flexible tracing-positioning system and may further comprise the steps:
Step 1 101, robot body are positioned at the initial position of robot rectilinear orbit;
Step 2 102, encoder judge whether workpiece enters the working region, when workpiece enters the working region of straight-line transmitting actuation mechanism 5, then enter step 3, when workpiece does not enter the working region of straight-line transmitting actuation mechanism 5, then continue to wait for;
Step 3 103, robot rectilinear orbit are followed the tracks of the operation of workpiece straight-line transmitting actuation mechanism, and this moment, the relative position of robot body and workpiece was constant;
Step 4 104, vision module is to the take pictures location drawing picture that obtains workpiece and send robot controller to by interface module of workpiece;
Step 5 105, the side-play amount between the workpiece 9 ' that robot controller calculating is current and the workpiece 9 of reference position, this side-play amount comprises that axial shifting deviation Δ y and the rotating deviation R(of x axial shifting deviation Δ x, y sees Fig. 3);
Step 6 106, robot controller adds movement locus (movement locus that does not the contain robot rectilinear orbit 7) back of robot body to the workpiece complete operation with side-play amount, finish this secondary tracking, robot body is got back to ready position, wait for that next workpiece enters the working region of workpiece straight-line transmitting actuation mechanism 5, begin again to follow the tracks of.
The flexible tracing-positioning system of robot of the present invention and the characteristics of method for tracking and positioning are: the feedback according to encoder is directly controlled the motion that the robot rectilinear orbit is followed the workpiece linear transport mechanism.The flexible tracing-positioning system of robot of the present invention has the hardware compactness, be easy to use, the highly integrated advantage of whole control, can also the shift position of self adaptation workpiece on straight-line motion mechanism, namely visual results is not subjected to the movement locus that influence that track follows the tracks of and visual results can directly add robot body as side-play amount.
Those of ordinary skill in the art will be appreciated that, above embodiment illustrates the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop in claims scope of the present invention variation, the modification of the above embodiment.
Claims (5)
1. the flexible tracing-positioning system of a robot comprises robot controller, vision module, robot body, workpiece straight-line transmitting actuation mechanism and encoder, it is characterized in that,
Described robot controller is connected with described vision module, robot body and code device signal respectively, and described robot controller also is connected with a robot rectilinear orbit signal by an additional servo amplifier;
Described vision module is installed on the described robot body;
Described encoder is installed on the described workpiece straight-line transmitting actuation mechanism;
Described robot body is installed on the described robot rectilinear orbit.
2. the flexible tracing-positioning system of robot according to claim 1 is characterized in that, described vision module is connected with described robot controller signal by visual interface.
3. the flexible tracing-positioning system of robot according to claim 1 is characterized in that, described vision module is the 2D camera.
4. the flexible method for tracking and positioning of a robot is executed in the flexible tracing-positioning system of robot as claimed in claim 1, it is characterized in that described method for tracking and positioning may further comprise the steps:
Step 1, described robot body is positioned at the initial position of robot rectilinear orbit;
Step 2, described encoder judge whether workpiece enters the working region, when workpiece enters the working region, then enter step 3, when workpiece does not enter the working region, then continue to wait for;
Step 3, described robot rectilinear orbit are followed the tracks of described workpiece straight-line transmitting actuation mechanism operation;
Step 4, described vision module is to the take pictures location drawing picture that obtains workpiece and send described robot controller to of workpiece;
Step 5, the side-play amount between the workpiece that described robot controller calculating is current and the workpiece of reference position;
Step 6, described robot controller add side-play amount behind the movement locus of robot body the workpiece complete operation.
5. the flexible method for tracking and positioning of robot according to claim 1 is characterized in that, when carrying out described step 5, described side-play amount comprises axial shifting deviation Δ y and the rotating deviation R of x axial shifting deviation Δ x, y.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224862.8A CN103286782B (en) | 2013-06-07 | 2013-06-07 | The flexible tracing-positioning system of a kind of robot and method for tracking and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224862.8A CN103286782B (en) | 2013-06-07 | 2013-06-07 | The flexible tracing-positioning system of a kind of robot and method for tracking and positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103286782A true CN103286782A (en) | 2013-09-11 |
| CN103286782B CN103286782B (en) | 2016-06-29 |
Family
ID=49088578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310224862.8A Active CN103286782B (en) | 2013-06-07 | 2013-06-07 | The flexible tracing-positioning system of a kind of robot and method for tracking and positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103286782B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108579A (en) * | 2014-07-15 | 2014-10-22 | 上海发那科机器人有限公司 | Device and method for positioning workpiece on linear conveyor belt through visual system |
| CN105196287A (en) * | 2015-09-15 | 2015-12-30 | 中国科学院自动化研究所 | Visual positioning method of mobile manipulator |
| CN106483984A (en) * | 2016-12-13 | 2017-03-08 | 广州智能装备研究院有限公司 | The method and apparatus that a kind of control robot follows conveyer belt |
| CN106493495A (en) * | 2016-12-03 | 2017-03-15 | 无锡职业技术学院 | High-accuracy machine vision alignment system |
| CN106781167A (en) * | 2016-12-29 | 2017-05-31 | 深圳新基点智能股份有限公司 | The method and apparatus of monitoring object motion state |
| CN107685329A (en) * | 2017-10-16 | 2018-02-13 | 河南森源电气股份有限公司 | A kind of robot workpiece positioning control system and method |
| CN107901023A (en) * | 2018-01-12 | 2018-04-13 | 长沙理工大学 | The holder two-dimensional positioning system and localization method of a kind of substation's track machine people |
| CN108052072A (en) * | 2018-02-07 | 2018-05-18 | 蚌埠凯盛工程技术有限公司 | Electronic glass production line edge machine vision control system |
| CN108527319A (en) * | 2018-03-28 | 2018-09-14 | 广州瑞松北斗汽车装备有限公司 | The robot teaching method and system of view-based access control model system |
| WO2019205001A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Method and apparatus for positioning robot |
| CN110733040A (en) * | 2019-10-28 | 2020-01-31 | 上海发那科机器人有限公司 | main tire installation robot system and method based on 3D visual tracking |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN111014594A (en) * | 2019-11-19 | 2020-04-17 | 中南大学 | Robot track planning method for dynamically deslagging in ingot casting process |
| CN113134829A (en) * | 2020-01-17 | 2021-07-20 | 北京配天技术有限公司 | Method for robot tracking of workpieces on a conveyor belt and robot tracking system |
| CN113666105A (en) * | 2021-08-19 | 2021-11-19 | 霍中保 | Online tracking automatic machining device and operation method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2687154B2 (en) * | 1988-12-23 | 1997-12-08 | 株式会社小松製作所 | 3D position measuring device |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN1903522A (en) * | 2005-07-26 | 2007-01-31 | 发那科株式会社 | Tracking and conveying device |
| CN101872423A (en) * | 2010-05-27 | 2010-10-27 | 天津大学 | Method for tracking moving object on production line |
| CN102674073A (en) * | 2011-03-09 | 2012-09-19 | 欧姆龙株式会社 | Image processing apparatus and image processing system, and conveyor apparatus therefor |
| CN203344052U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Robot flexible tracking and positioning system |
-
2013
- 2013-06-07 CN CN201310224862.8A patent/CN103286782B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2687154B2 (en) * | 1988-12-23 | 1997-12-08 | 株式会社小松製作所 | 3D position measuring device |
| CN1903522A (en) * | 2005-07-26 | 2007-01-31 | 发那科株式会社 | Tracking and conveying device |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN101872423A (en) * | 2010-05-27 | 2010-10-27 | 天津大学 | Method for tracking moving object on production line |
| CN102674073A (en) * | 2011-03-09 | 2012-09-19 | 欧姆龙株式会社 | Image processing apparatus and image processing system, and conveyor apparatus therefor |
| CN203344052U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Robot flexible tracking and positioning system |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108579A (en) * | 2014-07-15 | 2014-10-22 | 上海发那科机器人有限公司 | Device and method for positioning workpiece on linear conveyor belt through visual system |
| CN105196287A (en) * | 2015-09-15 | 2015-12-30 | 中国科学院自动化研究所 | Visual positioning method of mobile manipulator |
| CN106493495A (en) * | 2016-12-03 | 2017-03-15 | 无锡职业技术学院 | High-accuracy machine vision alignment system |
| CN106483984B (en) * | 2016-12-13 | 2019-06-25 | 广州智能装备研究院有限公司 | A kind of method and apparatus that control robot follows conveyer belt to move |
| CN106483984A (en) * | 2016-12-13 | 2017-03-08 | 广州智能装备研究院有限公司 | The method and apparatus that a kind of control robot follows conveyer belt |
| CN106781167A (en) * | 2016-12-29 | 2017-05-31 | 深圳新基点智能股份有限公司 | The method and apparatus of monitoring object motion state |
| CN107685329A (en) * | 2017-10-16 | 2018-02-13 | 河南森源电气股份有限公司 | A kind of robot workpiece positioning control system and method |
| CN107901023A (en) * | 2018-01-12 | 2018-04-13 | 长沙理工大学 | The holder two-dimensional positioning system and localization method of a kind of substation's track machine people |
| CN108052072A (en) * | 2018-02-07 | 2018-05-18 | 蚌埠凯盛工程技术有限公司 | Electronic glass production line edge machine vision control system |
| CN108527319A (en) * | 2018-03-28 | 2018-09-14 | 广州瑞松北斗汽车装备有限公司 | The robot teaching method and system of view-based access control model system |
| CN108527319B (en) * | 2018-03-28 | 2024-02-13 | 广州瑞松北斗汽车装备有限公司 | Robot teaching method and system based on vision system |
| WO2019205001A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Method and apparatus for positioning robot |
| CN110546462A (en) * | 2018-04-25 | 2019-12-06 | 深圳市大疆创新科技有限公司 | Robot positioning method and device |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN110733040A (en) * | 2019-10-28 | 2020-01-31 | 上海发那科机器人有限公司 | main tire installation robot system and method based on 3D visual tracking |
| CN111014594A (en) * | 2019-11-19 | 2020-04-17 | 中南大学 | Robot track planning method for dynamically deslagging in ingot casting process |
| CN113134829A (en) * | 2020-01-17 | 2021-07-20 | 北京配天技术有限公司 | Method for robot tracking of workpieces on a conveyor belt and robot tracking system |
| CN113666105A (en) * | 2021-08-19 | 2021-11-19 | 霍中保 | Online tracking automatic machining device and operation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103286782B (en) | 2016-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103286782A (en) | Flexible tracking and positioning system and flexible tracking and positioning method of robot | |
| JP4975640B2 (en) | Wireless actuator | |
| CN203344052U (en) | Robot flexible tracking and positioning system | |
| CN104755350B (en) | For circumferentially transporting the transporting equipment of article | |
| CN102873522A (en) | Microminiature part precision assembly detection device based on double charge coupled device (CCD) industrial cameras | |
| CN103737592A (en) | Manipulator precise control system and method | |
| CN107272690B (en) | Inertial guided vehicle navigation method based on binocular stereoscopic vision and inertial guided vehicle | |
| CN104108579A (en) | Device and method for positioning workpiece on linear conveyor belt through visual system | |
| CN108608463A (en) | Industrial robot conveyer belt Dynamic Tracking | |
| CN203791144U (en) | Automatic dispensing machine | |
| EP1528851A3 (en) | Electronic component mounting apparatus | |
| CN104155977A (en) | Positioning system and positioning method for production line free path AGV robot | |
| CN111689168A (en) | Remote control type belt self-moving tail control system | |
| CN108673005A (en) | A kind of correction formula seam tracking system and its working method | |
| CN205996651U (en) | A kind of AGV feeding fine positioning system based on stereoscopic vision | |
| CN108227711A (en) | Left the right or normal track the crusing robot and control method of algorithm based on electric cam | |
| CN102765063B (en) | Blind hole docking and positioning system and method for non-magnetic workpiece assembly | |
| CN202752805U (en) | Microminiature spare part precise assembling detection device based on double charge coupled device (CCD) industrial cameras | |
| CN104709685A (en) | NC automation right-angle track | |
| CN202061940U (en) | Automatic precisely straightening device for guide rail of elevator | |
| CN206848817U (en) | Inertial guide car based on binocular stereo vision air navigation aid | |
| CN203965942U (en) | production line free path AGV robot positioning system | |
| CN107908190A (en) | Visual guidance method and visual guidance car based on rigid body translation | |
| CN107844119A (en) | Visual guidance method and visual guidance car based on space-time conversion | |
| CN105486309B (en) | It is a kind of based on color mode and assist in identifying Indoor Robot navigation and localization method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |