CN106313041B - 喷涂机器人的双目立体视觉定位装置及定位方法 - Google Patents
喷涂机器人的双目立体视觉定位装置及定位方法 Download PDFInfo
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- CN106313041B CN106313041B CN201610625294.6A CN201610625294A CN106313041B CN 106313041 B CN106313041 B CN 106313041B CN 201610625294 A CN201610625294 A CN 201610625294A CN 106313041 B CN106313041 B CN 106313041B
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- China
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- binocular stereo
- stereo vision
- vehicle body
- spray robot
- sets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
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CN201610625294.6A CN106313041B (zh) | 2016-08-03 | 2016-08-03 | 喷涂机器人的双目立体视觉定位装置及定位方法 |
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CN201610625294.6A CN106313041B (zh) | 2016-08-03 | 2016-08-03 | 喷涂机器人的双目立体视觉定位装置及定位方法 |
Publications (2)
Publication Number | Publication Date |
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CN106313041A CN106313041A (zh) | 2017-01-11 |
CN106313041B true CN106313041B (zh) | 2018-09-25 |
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CN201610625294.6A Active CN106313041B (zh) | 2016-08-03 | 2016-08-03 | 喷涂机器人的双目立体视觉定位装置及定位方法 |
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CN (1) | CN106313041B (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107414318A (zh) * | 2017-09-06 | 2017-12-01 | 青岛科捷机器人有限公司 | 一种用于激光切割头定位的固定式扫描定位装置及方法 |
CN107363424A (zh) * | 2017-09-06 | 2017-11-21 | 青岛科捷机器人有限公司 | 一种用于激光切割头定位的随动式扫描定位装置及方法 |
CN107544415A (zh) * | 2017-09-18 | 2018-01-05 | 上海发那科机器人有限公司 | 一种定位补偿系统 |
CN108297097B (zh) * | 2018-01-19 | 2024-02-20 | 一汽-大众汽车有限公司 | 一种汽车车身喷漆系统及方法 |
CN109701810A (zh) * | 2018-11-28 | 2019-05-03 | 东莞易通自动化科技有限公司 | 一种基于3d视觉喷胶机器人系统及其工作方法 |
CN109514557A (zh) * | 2018-12-13 | 2019-03-26 | 北京炎凌嘉业机电设备有限公司 | 一种3d视觉机器人轨迹修正系统 |
CN110253373A (zh) * | 2019-07-15 | 2019-09-20 | 北京石油化工学院 | 一种基于视觉引导机器人打磨构件焊缝的系统和方法 |
CN110732437A (zh) * | 2019-12-04 | 2020-01-31 | 中国航空工业集团公司沈阳空气动力研究所 | 一种压敏涂料智能自动喷涂系统及喷涂方法 |
CN111823471B (zh) * | 2020-07-21 | 2022-01-11 | 上海发那科机器人有限公司 | 空腔自动发泡视觉定位装置及自动发泡方法 |
CN112381789A (zh) * | 2020-11-13 | 2021-02-19 | 江苏富伟博智能科技有限公司 | 一种3d车载玻璃曝光视觉定位方法 |
CN112604844B (zh) * | 2020-12-09 | 2021-09-17 | 青岛金光鸿智能机械电子有限公司 | 可移动方舱式自动喷涂系统转场后快速标定方法及装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101486124B (zh) * | 2009-02-13 | 2011-08-17 | 南京工程学院 | 多结构光双目复合视觉焊缝跟踪方法及装置 |
CN101693229B (zh) * | 2009-10-20 | 2011-12-28 | 清华大学 | 用于喷涂机器人的防爆旋转装置 |
US8720382B2 (en) * | 2010-08-31 | 2014-05-13 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
CN102848395A (zh) * | 2012-10-02 | 2013-01-02 | 南京大五教育科技有限公司 | 高空喷涂机器人 |
CN105107661B (zh) * | 2015-08-14 | 2018-08-24 | 广东永利坚铝业有限公司 | 一种带有ccd喷枪的铝合金型材喷涂装置 |
CN105214877B (zh) * | 2015-10-21 | 2018-04-06 | 国网安徽省电力公司检修公司 | 液动升降的喷涂系统 |
CN105538345B (zh) * | 2016-01-27 | 2017-09-26 | 华南理工大学 | 一种基于多镜头的智能机械手及定位装配方法 |
CN105772273A (zh) * | 2016-04-27 | 2016-07-20 | 南方电网科学研究院有限责任公司 | 一种用于喷射rtv涂料的自动喷涂装置 |
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2016
- 2016-08-03 CN CN201610625294.6A patent/CN106313041B/zh active Active
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Address after: 264205 Dongfeng Road, Weihai economic and Technological Development Zone, Shandong, Applicant after: Shandong Zhong Qing intelligent Polytron Technologies Inc Address before: 264205 Dongfeng Road, Weihai economic and Technological Development Zone, Shandong, Applicant before: SHANDONG ZHONGQING INTELLIGENT TECHNOLOGY CO., LTD. |
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COR | Change of bibliographic data | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Chen Guodong Inventor after: Zhang Yichen Inventor after: Zhao Xin Inventor before: Chen Guodong Inventor before: Zhao Xin |
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GR01 | Patent grant | ||
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Binocular stereo vision positioning device and positioning method of spraying robot Effective date of registration: 20210629 Granted publication date: 20180925 Pledgee: Industrial and Commercial Bank of China Limited Weihai Branch Pledgor: SHANDONG ZHONGQING INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980005444 |