CN109848994A - A kind of robot vision guidance location algorithm - Google Patents
A kind of robot vision guidance location algorithm Download PDFInfo
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- CN109848994A CN109848994A CN201910132346.XA CN201910132346A CN109848994A CN 109848994 A CN109848994 A CN 109848994A CN 201910132346 A CN201910132346 A CN 201910132346A CN 109848994 A CN109848994 A CN 109848994A
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Abstract
The invention discloses a kind of robot vision to guide location algorithm, including step s1: robot grabs material, and material with initial material position is devious relative to the pose of fixture relative to the pose of fixture at this time；Step s2: robot grabs the material, is placed under smart camera, takes pictures；Step s3: camera calculates pose of the current material under camera coordinates system, and the pose data of initial material pose and current material are passed to robot；Step s4: robot passes through the conversion of coordinate system pose, corrects robot TCP；Step s5: robot uses revised TCP, and material is accurately put into the exact position of mold；The present invention effectively guides the integrality of location solution to supplement industrial robot vision, the vision guide for promoting special process positions productive temp, robot positions the crawl of material, without conveyer belt or bracket, save cost, improving material grabs efficiency, improves material and grabs precision.
Description
[technical field]
The present invention relates to the technology necks of the technical field of industrial robot, especially robot vision guidance location algorithm
Domain.
[background technique]
Current robot vision guide localization method is that smart camera is first taken pictures to being crawled material, then obtains material seat
Mark imports the workpiece coordinate system of robot, and amendment robot grabs position pose, guarantees that fixture crawl position is kept relative to material
It is constant, it grabs to reach guided robot positioning and material is accurately put into the exact position of mold, when material institute in technique
Camera cannot be allowed to take pictures in position, then prior art is unable to satisfy robot and carries out pose amendment to offset material.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, a kind of robot vision guidance location algorithm is proposed,
It is able to ascend material crawl efficiency, material is improved and grabs precision.
To achieve the above object, the invention proposes a kind of robot vision to guide location algorithm, includes the next steps:
Step s1: robot grabs material, and material is relative to the pose of fixture and initial material position relative to folder at this time
The pose of tool is devious；
Step s2: robot grabs the material, is placed under smart camera, takes pictures；
Step s3: camera calculates pose of the current material under camera coordinates system, by initial material pose and current material
Pose data pass to robot；
Step s4: robot passes through the conversion of coordinate system pose, corrects robot TCP；
Step s5: robot uses revised TCP, and material is accurately put into the exact position of mold.
Preferably, the step s5 the following steps are included:
Step s51: it obtains camera data and parses；
Step s52:pose1=robot take pictures a material characteristics coordinate system take it is inverse；
Step s53:pose2=robot takes pictures a TCP original coordinate system；
Conversion of the step s54:pose3=pose1 coordinate system to pose2 coordinate system；
The current material characteristics coordinate system in position is taken pictures to the conversion of pose3 coordinate system by step s55:pose4=robot；
Step s56:pose5=pose2 coordinate system takes inverse；
Conversion of the step s57:pose6=pose5 coordinate system to pose4 coordinate system；
Step s58: tool coordinates system=robot original tool coordinate system to pose6 coordinate system turns after robot amendment
It changes.
Preferably, the smart camera image analysis is using the edge contour of material as feature.
Preferably, data communication connects between the smart camera and robot.
A kind of present invention robot vision guidance location algorithm the utility model has the advantages that the present invention effectively regards industrial robot
Feel that the integrality of guidance location solution is supplemented, promotes the vision guide positioning productive temp of special process, robot
Crawl positioning to material, is not necessarily to conveyer belt or bracket, saves cost, and improving material grabs efficiency, improves material crawl essence
Degree.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is a kind of process flow chart of robot vision guidance location algorithm of the present invention；
Fig. 2 is a kind of coordinate system transition diagram of robot vision guidance location algorithm of the present invention；
Fig. 3 is the present invention a kind of primitive character and current signature comparison schematic diagram of robot vision guidance location algorithm；
Fig. 4 is robot trajectory position and the posture schematic diagram of original object blowing of the present invention position；
Fig. 5 is the revised true TCP pose schematic diagram of the present invention.
[specific embodiment]
Refering to fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of robot vision of the present invention guide location algorithm, including following step
It is rapid:
Step s1: robot grabs material, and material is relative to the pose of fixture and initial material position relative to folder at this time
The pose of tool is devious；
Step s2: robot grabs the material, is placed under smart camera, takes pictures；
Step s3: camera calculates pose of the current material under camera coordinates system, by initial material pose and current material
Pose data pass to robot；
Step s4: robot passes through the conversion of coordinate system pose, corrects robot TCP；
Step s5: robot uses revised TCP, and material is accurately put into the exact position of mold.
Preferably, the step s5 is the following steps are included: step s51: obtaining camera data and parse；Step s52:
Pose1=robot take pictures a material characteristics coordinate system take it is inverse；Step s53:pose2=robot takes pictures a TCP original coordinates
System；Conversion of the step s54:pose3=pose1 coordinate system to pose2 coordinate system；Step s55:pose4=robot takes pictures position
Conversion of the current material characteristics coordinate system to pose3 coordinate system；Step s56:pose5=pose2 coordinate system takes inverse；Step s57:
Conversion of the pose6=pose5 coordinate system to pose4 coordinate system；Step s58: tool coordinates system=robot after robot amendment
Conversion of the original tool coordinate system to pose6 coordinate system.The smart camera image analysis using the edge contour of material as
Feature, data communication connects between the smart camera and robot.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (4)
1. a kind of robot vision guides location algorithm, it is characterised in that: the following steps are included:
Step s1: robot grabs material, and material is relative to the pose of fixture and initial material position relative to fixture at this time
Pose is devious；
Step s2: robot grabs the material, is placed under smart camera, takes pictures；
Step s3: camera calculates pose of the current material under camera coordinates system, by the position of initial material pose and current material
Appearance data pass to robot；
Step s4: robot passes through the conversion of coordinate system pose, corrects robot TCP；
Step s5: robot uses revised TCP, and material is accurately put into the exact position of mold.
2. a kind of robot vision as described in claim 1 guides location algorithm, it is characterised in that: the step s5 includes
Following steps:
Step s51: it obtains camera data and parses；
Step s52:pose1=robot take pictures a material characteristics coordinate system take it is inverse；
Step s53:pose2=robot takes pictures a TCP original coordinate system；
Conversion of the step s54:pose3=pose1 coordinate system to pose2 coordinate system；
The current material characteristics coordinate system in position is taken pictures to the conversion of pose3 coordinate system by step s55:pose4=robot；
Step s56:pose5=pose2 coordinate system takes inverse；
Conversion of the step s57:pose6=pose5 coordinate system to pose4 coordinate system；
Step s58: tool coordinates system=robot original tool coordinate system to pose6 coordinate system conversion after robot amendment.
3. a kind of robot vision as described in claim 1 guides location algorithm, it is characterised in that: the smart camera figure
As analysis is using the edge contour of material as feature.
4. a kind of robot vision as described in claim 1 guides location algorithm, it is characterised in that: the smart camera with
Data communication connects between robot.
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| CN111152229A (en) * | 2020-02-24 | 2020-05-15 | 深圳群宾精密工业有限公司 | Mechanical arm guiding method and device for 3D mechanical vision |
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| CN112241944A (en) * | 2019-07-16 | 2021-01-19 | 杭州海康机器人技术有限公司 | AGV dispatching system, material pose correction method and material pose correction device |
| CN114248086A (en) * | 2021-12-30 | 2022-03-29 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
| CN117464686A (en) * | 2023-11-30 | 2024-01-30 | 广州富唯智能科技有限公司 | 3D vision high-precision positioning and guiding method |
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| CN114248086A (en) * | 2021-12-30 | 2022-03-29 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
| CN114248086B (en) * | 2021-12-30 | 2022-08-05 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
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