CN106956292A - A kind of coordinate visual physical bearing calibration based on delivery platform and robot - Google Patents
A kind of coordinate visual physical bearing calibration based on delivery platform and robot Download PDFInfo
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- CN106956292A CN106956292A CN201710290639.1A CN201710290639A CN106956292A CN 106956292 A CN106956292 A CN 106956292A CN 201710290639 A CN201710290639 A CN 201710290639A CN 106956292 A CN106956292 A CN 106956292A
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- Prior art keywords
- delivery platform
- frock
- work
- robot
- shape
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Classifications
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of coordinate visual physical bearing calibration based on delivery platform and robot, comprise the following steps：Make the frock of " work " shape；" work " shape frock is placed on delivery platform, " work " shape frock one end is placed at the calibration point of robot system, and the other end is placed in the visual range of vision system；Make a test block；Test block is placed on a moving belt, conveyer is opened；Laser-adjusting parallel device in " work " shape frock drives the angle of adjustable delivery platform by detecting the deviation of test block move angle and frock, so as to change transmission angle, vision system and the coordinates correction of robot system are realized, physics is carried out and artificially calibrates.The coordinate visual physical bearing calibration based on delivery platform and robot of the present invention is easy and effective, only it need to simply change plateau slope, change test block transmission angle, many operating path debugging, so that the coordinate vision of delivery platform and robot is carried out into physical correction.
Description
Technical field
The present invention relates to machinery equipment field, specifically a kind of coordinate visual physical school based on delivery platform and robot
Correction method.
Background technology
During current plant produced, the plant equipment of Based Intelligent Control can be all used, robot is commonly refereed to as by most company,
General robot is all the operation machinery on the screen of operating system, but the machinery bought all is to need when generally entering factory
To be corrected, it is necessary to unified the coordinate of the vision system of delivery platform and robot system.
The content of the invention
It is an object of the present invention to provide one kind it is simple to operate, the coordinate based on delivery platform and robot of multipath detected is regarded
Feel physical correction method.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of coordinate visual physical bearing calibration based on delivery platform and robot, including delivery platform, delivery platform
The frock of upper " work " shape for including making, comprises the following steps：
A, the frock for making " work " shape；
B, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed in the calibration point of robot system
Place, the other end is placed in the visual range of vision system；
C, one test block of making, test block imitate actual production material and made；
D, by test block place on a moving belt, open conveyer；
Laser-adjusting parallel device on E, " work " shape frock by detect the deviation of test block move angle and frock come
The angle of the adjustable delivery platform of driving, manual change's delivery platform horizontal tilt degree, so as to change transmission angle, realizes vision
The coordinates correction of system and robot system, carries out physics and artificially calibrates.
It is preferred that, laser-adjusting parallel device is provided with " work " the shape frock, is inclined for recording delivery platform level
Gradient.
The beneficial effects of the invention are as follows：
The coordinate visual physical bearing calibration based on delivery platform and robot of the present invention is easy and effective, only needs simple
Change plateau slope, change test block transmission angle, many operating paths debugging, so that by delivery platform and the coordinate of robot
Vision carries out physical correction.
Embodiment
In order to which technological means, creation characteristic, reached purpose and effect to the present invention are easy to understand, further below
Illustrate the present invention.
The present invention discloses a kind of coordinate visual physical bearing calibration based on delivery platform and robot, including transmission is put down
Include the frock of " work " shape made on platform, delivery platform, comprise the following steps：Make the frock of " work " shape；By " work "
Shape frock is placed on delivery platform, and " work " shape frock one end is placed at the calibration point of robot system, and the other end is placed in vision
In the visual range of system；A test block is made, test block imitates actual production material and made；Test block is placed on
On conveyer belt, conveyer is opened；Laser-adjusting parallel device in " work " shape frock by detect test block move angle with
The deviation of frock drives the angle of adjustable delivery platform, manual change's delivery platform horizontal tilt degree, so as to change transmission
Angle, realizes vision system and the coordinates correction of robot system, carries out physics and artificially calibrates.
It is preferred that, laser-adjusting parallel device is provided with " work " the shape frock, is inclined for recording delivery platform level
Gradient.
Invention described above embodiment, is not intended to limit the scope of the present invention..It is any in the present invention
Spirit and principle within modification, equivalent and the improvement made etc., should be included in the claim protection model of the present invention
Enclose it.
Claims (2)
1. on a kind of coordinate visual physical bearing calibration based on delivery platform and robot, including delivery platform, delivery platform
The frock of " work " shape including making, it is characterised in that comprise the following steps：
A, the frock for making " work " shape；
B, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed at the calibration point of robot system, separately
One end is placed in the visual range of vision system；
C, one test block of making, test block imitate actual production material and made；
D, by test block place on a moving belt, open conveyer；
Laser-adjusting parallel device on E, " work " shape frock is driven by detecting the deviation of test block move angle and frock
The angle of adjustable delivery platform, manual change's delivery platform horizontal tilt degree, so as to change transmission angle, realizes vision system
With the coordinates correction of robot system, carry out physics and artificially calibrate.
2. a kind of coordinate visual physical bearing calibration method based on delivery platform and robot according to claim 1, its
It is characterised by, laser-adjusting parallel device is provided with " work " the shape frock, for recording delivery platform horizontal tilt degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290639.1A CN106956292A (en) | 2017-04-28 | 2017-04-28 | A kind of coordinate visual physical bearing calibration based on delivery platform and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290639.1A CN106956292A (en) | 2017-04-28 | 2017-04-28 | A kind of coordinate visual physical bearing calibration based on delivery platform and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956292A true CN106956292A (en) | 2017-07-18 |
Family
ID=59484968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710290639.1A Pending CN106956292A (en) | 2017-04-28 | 2017-04-28 | A kind of coordinate visual physical bearing calibration based on delivery platform and robot |
Country Status (1)
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| CN (1) | CN106956292A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN105234943A (en) * | 2015-09-09 | 2016-01-13 | 大族激光科技产业集团股份有限公司 | Industrial robot demonstration device and method based on visual recognition |
| EP2993002A1 (en) * | 2014-09-03 | 2016-03-09 | Canon Kabushiki Kaisha | Robot apparatus and method for controlling robot apparatus |
| CN106018421A (en) * | 2016-07-07 | 2016-10-12 | 李大伟 | Method for adjusting surface of plane component to be parallel to motion plane |
| WO2017055955A1 (en) * | 2015-09-29 | 2017-04-06 | Koninklijke Philips N.V. | Automatic robotic arm calibration to camera system using a laser |
-
2017
- 2017-04-28 CN CN201710290639.1A patent/CN106956292A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| EP2993002A1 (en) * | 2014-09-03 | 2016-03-09 | Canon Kabushiki Kaisha | Robot apparatus and method for controlling robot apparatus |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN105234943A (en) * | 2015-09-09 | 2016-01-13 | 大族激光科技产业集团股份有限公司 | Industrial robot demonstration device and method based on visual recognition |
| WO2017055955A1 (en) * | 2015-09-29 | 2017-04-06 | Koninklijke Philips N.V. | Automatic robotic arm calibration to camera system using a laser |
| CN106018421A (en) * | 2016-07-07 | 2016-10-12 | 李大伟 | Method for adjusting surface of plane component to be parallel to motion plane |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170718 |