CN111366078A - Robot dispensing positioning method, system, server and storage medium - Google Patents
Robot dispensing positioning method, system, server and storage medium Download PDFInfo
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- CN111366078A CN111366078A CN202010235321.5A CN202010235321A CN111366078A CN 111366078 A CN111366078 A CN 111366078A CN 202010235321 A CN202010235321 A CN 202010235321A CN 111366078 A CN111366078 A CN 111366078A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The embodiment of the invention discloses a positioning method, a system, a server and a storage medium for robot dispensing, wherein the method comprises the following steps: determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point; acquiring a first coordinate of a first measuring point of a first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of a second edge; determining fixed parameters of a preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate; and carrying out dispensing positioning on the robot according to the fixed parameters. According to the invention, the laser sensor is used for acquiring the measuring points on the adjacent boundaries of the workpieces, so that the fixed parameters of the workpieces are determined, and the dispensing path is generated according to the fixed parameters, so that the technical problems of high positioning cost, low positioning efficiency and poor applicability are solved, and efficient, high-applicability and low-cost dispensing positioning is realized.
Description
Technical Field
The embodiment of the invention relates to a workpiece positioning technology, in particular to a positioning method, a positioning system, a server and a storage medium for robot dispensing.
Background
At present, in many fields of manufacturing industry, a dispensing system is required to bond different parts of a product, wherein a considerable part of the product has a high precision requirement on the dispensing position, and therefore the dispensing system is required to have a function of positioning the product.
At present, more on-line positioning glue dispensing is adopted, wherein products are placed in an automatic production line, and after the products are positioned through machine vision, glue dispensing is carried out on the products by using a general robot. The method has high positioning precision and can shorten the production flow, but the visual positioning needs the cooperation of professional cameras, light sources, upper computers and other equipment, and the visual positioning software has poor universality on different products, so that the technical problems of high positioning cost, low positioning efficiency and poor applicability exist.
Disclosure of Invention
The embodiment of the invention provides a robot dispensing positioning method, a robot dispensing positioning system, a server and a storage medium, so that the dispensing position can be positioned efficiently, with high applicability and low cost.
In a first aspect, an embodiment of the present invention provides a positioning method for dispensing by a robot, including:
determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point;
acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate;
and dispensing and positioning the robot according to the fixed parameters.
Optionally, the determining the first edge and the second edge of the working surface of the preset workpiece by the laser sensor fixed to the robot includes:
scanning the working surface of the preset workpiece through a laser sensor fixed on the robot so as to receive an electric signal sent by the laser sensor according to a scanning result;
and determining a first edge and a second edge of the preset workpiece according to the electric signal.
Optionally, before determining the fixed parameters of the preset workpiece according to the preset transformation rule, the first coordinate, the second coordinate, and the third coordinate, the method includes:
judging whether the first coordinate, the second coordinate and the third coordinate are obtained or not;
if the first coordinate, the second coordinate and the third coordinate are obtained, generating an offset measurement instruction;
and if at least one of the first coordinate, the second coordinate and the third coordinate is not acquired, generating a coordinate reacquiring instruction.
Optionally, the determining the fixed parameters of the preset workpiece according to the preset conversion rule, the first coordinate, the second coordinate, and the third coordinate includes:
determining vertex coordinates of the intersection point according to the offset determination instruction, the first coordinate, the second coordinate, and the third coordinate;
and determining the offset angle of the preset workpiece relative to a preset reference position as the fixed parameter according to the vertex coordinate, the third coordinate connecting line and the offset angle of the coordinate axis.
Optionally, after the dispensing and positioning are performed on the robot according to the fixed parameters, the method includes:
and generating a preset dispensing path according to the fixed parameters, wherein the preset dispensing path is used for controlling the robot to finish dispensing operation on the preset workpiece.
Optionally, the light-emitting angle of the laser sensor faces the working surface.
Optionally, the second edge is perpendicular to the first edge.
In a second aspect, an embodiment of the present invention further provides a positioning system for dispensing by a robot, including:
the edge determining module is used for determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, and the second edge and the first edge have an intersection point;
the coordinate acquisition module is used for acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
the dispensing positioning module is used for determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate; and dispensing and positioning the robot according to the fixed parameters.
In a third aspect, an embodiment of the present invention further provides a server, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method for robot dispensing as described in any of the above embodiments.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a positioning method for dispensing by a robot as described in any one of the above embodiments.
According to the invention, the laser sensor is used for acquiring the measuring points on the adjacent boundaries of the workpieces, so that the fixed parameters of the workpieces are determined, and the dispensing path is generated according to the fixed parameters, so that the technical problems of high positioning cost, low positioning efficiency and poor applicability are solved, efficient and low-cost dispensing positioning is realized, and the dispensing positioning device can be deployed on an automatic production line with high integration level and high production speed, and has high applicability.
Drawings
Fig. 1 is a flowchart of a positioning method for dispensing by a robot according to an embodiment of the present invention;
fig. 2 is a top view of a workpiece to be dispensed according to an embodiment of the present invention;
fig. 3 is a flowchart of a positioning method for dispensing by a robot according to a second embodiment of the present invention;
fig. 4 is a top view of a workpiece to be dispensed according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a positioning system for robot dispensing according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a server according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It is to be further noted that, for the convenience of description, only a part of the structure relating to the present invention is shown in the drawings, not the whole structure.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. Processing may correspond to methods, functions, procedures, subroutines, and the like.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first edge may be referred to as a second edge, and similarly, a second edge may be referred to as a first edge, without departing from the scope of the present application. The first edge and the second edge are both edges, but they are not the same edge. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Dispensing is a process, also called glue applying, glue spreading, glue pouring, glue dripping, etc., which is to apply, encapsulate, drip electronic glue, oil or other liquid onto a product to make the product have the functions of pasting, encapsulating, insulating, fixing, surface smoothing, etc. The application range of the adhesive is very wide, and the adhesive may be needed to be applied to the production of aircrafts, ships, clothes, toys and the like.
Example one
Fig. 1 is a flowchart of a positioning method for robot dispensing according to an embodiment of the present invention, which is applicable to a situation of performing intelligent dispensing positioning on a workpiece in a production line. As shown in fig. 1, the method for positioning a dispensing point by a robot in this embodiment specifically includes the following steps:
step S110, determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point;
specifically, the laser sensor refers to a sensor that performs measurement using a laser technique. In this embodiment, the laser sensor may be fixed to the end of the arm of the robot and connected to the robot through a wire. A detection distance can be preset, and when the laser sensor detects the surface of the workpiece with the distance less than the detection distance, the laser sensor generates a high-level signal and sends the high-level signal to a control system of the robot; when the laser sensor detects the working surface with the distance greater than the detection distance, the laser sensor generates a low level signal and sends the low level signal to a control system of the robot, so that the robot can judge the edge of the working surface of the preset workpiece according to the difference of the level signal. The first edge and the second edge of the present embodiment may be perpendicular to each other, and the first edge and the second edge are adjacent boundaries, i.e. there is an intersection point of the first edge and the second edge. In this embodiment, the control system of the robot can also locate the predetermined workpiece by acquiring more than three measurement points, which only need to be guaranteed to come from two adjacent boundaries.
Step S120, acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
specifically, after the control system of the robot determines the first edge and the second edge of the working surface of the preset workpiece, the coordinates of any two points on the first edge, that is, the first coordinate of the first measurement point and the second coordinate of the second measurement point, may be selected, and the coordinates of any one point on the second edge, that is, the third coordinate of the third measurement point, may be selected. In the present embodiment, the first measurement point, the second measurement point, and the third measurement point are not the same point. The shape of the workpiece may be varied, here exemplified by the workpiece being square. Fig. 2 is a top view of a workpiece to be dispensed according to an embodiment of the present invention. As shown in fig. 2, when the control system of the robot drives the wrist of the robot to move to the preset point coordinate (e.g. point E in fig. 2) according to the preset movement path (e.g. path 1 from point F to point E in fig. 2, point F is the initial position of the robot) generated by the preset point coordinate (where the preset point coordinate may refer to the coordinate corresponding to each vertex of the workpiece when the workpiece is placed without deviation, or the coordinate of any point on the working surface of the workpiece when the workpiece is placed without deviation, or the coordinate of a certain point designated on the tooling plate), the robot moves along the y axis of the robot coordinate system (i.e. the plane coordinate axis parallel to the ground and perpendicular to the ground in fig. 2) with the height of the workpiece unchanged, and the coordinates of one measuring point located at one side edge of the working surface of the workpiece (i.e. the first coordinate in the present embodiment, point G in fig. 2) are obtained by the laser sensor fixed on the robot, and then the robot moves along the x-axis direction of the robot coordinate system for a certain distance, and then moves along the y-axis direction to obtain the coordinates of another measuring point (i.e. the second coordinate, point H in fig. 2) on the same edge (i.e. bc boundary in fig. 2) of the working surface of the workpiece and the coordinates of a third measuring point (i.e. the third coordinate, point I in fig. 2) of an adjacent boundary (i.e. ba boundary in fig. 2) by the laser sensor, in this embodiment, the third coordinate of the third measuring point, i.e. the coordinate of point J preset in fig. 2, the robot moves along path 2 in the figure from point F, and when the robot reaches point J, the robot obtains the measured points of the boundary of the workpiece ba, i.e. the coordinates of point K in fig. 2, along the y-axis direction in the plane coordinate system in fig. 2, and then obtains the coordinates of two measured points (e.g. points G and H in fig. 2) on the edge of the workpiece bc through another preset coordinate point (e.g. point E in fig. 2).
Step S130, determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate;
specifically, when the control system of the robot acquires the first coordinate, the second coordinate, and the third coordinate, the control system may calculate the coordinate of the intersection point of the first edge and the second edge according to the geometric characteristics of the working surface of the preset workpiece. As shown in FIG. 2, the first coordinate of the first measurement point G is (x1, y1), and the second coordinate of the second measurement point H is (x1, y1)2，y2) The third coordinate of the third measurement point K is (x)3，y3) Let the equation for the straight line GH be:
Ax+By+C＝0 (1)
according to G (x)1，y2) And H (x)1，y2) Can obtain the coordinate of A ═ y2-y1，B＝x2-x1， C＝x2·y1-x1·y2。
Due to point A (x)4，y4) Is actually located at point K (x)1，y1) Onto the foot of the straight line GH, point a coordinates are therefore:
that is, first, a linear equation of the first measurement point G and the second measurement point H may be calculated, and then the coordinate of the intersection point a may be calculated according to the linear equation and the third coordinate. After the control system calculates the coordinate of the intersection point a, the control system also needs to calculate an included angle between a straight line where the point a and the point K are located and an X axis of the plane coordinate system in fig. 2, that is, a deviation value or a deviation angle, according to a preset calculation formula, so as to determine fixed parameters of the preset workpiece according to the deviation value.
And S140, dispensing and positioning the robot according to the fixed parameters.
Specifically, in the present embodiment, the dispensing valve of the glue supply system is generally fixed at the end of the wrist of the robot. After the control system calculates the fixed parameters of the preset workpiece through the first coordinate, the second coordinate and the third coordinate, the robot can determine the dispensing position on the preset workpiece according to the fixed parameters. As shown in fig. 2, P1 to P2 are dispensing paths preset by the control system on the premise that the workpiece is placed correctly without offset, and when the control system determines the fixed parameters (i.e., the deviation angle) of the preset workpiece, the control system correspondingly adjusts the preset dispensing paths according to the deviation angle, so as to obtain the dispensing paths from P2 to P3 after the workpiece is positioned. In fig. 2, the angle between the connecting line P1 to P2 and the connecting line P3 to P2 is the same as the angle between the connecting line a to K and the X axis of the planar coordinate system. For example, the dispensing path after positioning in fig. 2 is a straight line P2P3，P3Ab edge from preset workpieceDistance of boundary is l1A distance w from bc boundary of the predetermined workpiece1Theta is a fixed parameter, then P3The x and y coordinates of (A) are respectively:
xP3＝xA+w1·cosθ-l1·sinθ (3)
y3＝yA+w1·sinθ+l1·cosθ (4)
thus, the dispensing route P can be calculated2P3Coordinates of all the points are obtained, so that a dispensing path P after positioning is determined2P3. The control system calculates the corresponding positioned dispensing path (such as P in fig. 2) according to the fixed parameter (i.e. the deviation angle θ)2P3) Then, the robot moves the dispensing valve fixed at the tail end of the wrist of the robot according to the positioned dispensing path, thereby completing the dispensing operation on the workpiece.
The first embodiment of the invention has the beneficial effects that the measuring points on the adjacent boundaries of the workpiece are obtained through the laser sensor, so that the fixed parameters of the workpiece are determined, the dispensing path is generated according to the fixed parameters, the technical problems of higher positioning cost, low positioning efficiency and poorer applicability are solved, efficient and low-cost dispensing positioning is realized, and the dispensing positioning device can be deployed on an automatic production line with high integration level and high production speed and has high applicability.
Example two
The second embodiment of the invention is further improved on the basis of the first embodiment. Fig. 3 is a flowchart of a positioning method for dispensing by a robot according to a second embodiment of the present invention. As shown in fig. 3, the method for positioning a dispensing point by a robot of the present embodiment includes:
step S210, scanning the working surface of the preset workpiece through a laser sensor fixed on the robot so as to receive an electric signal sent by the laser sensor according to a scanning result;
specifically, in the production of the production line, due to the fact that the guide rail for placing the workpiece is abraded, the workpiece is easily placed to cause deviation, and therefore when dispensing is conducted on the workpiece, dispensing can not be conducted on the position needing to be dispensed correctly. To address this problem, the control system may determine the edge of the workpiece via a laser sensor. The control system can preset the detection distance of a laser sensor, when the laser sensor reaches the upper part of a preset workpiece through a preset movement path of the robot and scans the working surface of the preset workpiece, and when the detection distance is smaller than the detection distance, the laser sensor generates a high level signal and sends the high level signal to the control system of the robot; when the laser sensor detects a work surface with a distance greater than the detection distance, the laser sensor generates a low level signal and transmits the low level signal to the control system of the robot.
Step S220, determining a first edge and a second edge of the preset workpiece according to the electric signals, wherein the second edge and the first edge have an intersection point;
specifically, after receiving the level signal sent by the laser sensor, the control system may determine the edge of the working surface of the preset workpiece according to the difference of the level signal, that is, the set of points on the working surface of the preset workpiece corresponding to the critical point at which the level signal of the laser sensor changes from the high level signal to the low level signal or from the low level signal to the high level signal is the edge of the preset workpiece. In this embodiment, the intersection point of the first edge and the second edge is required to be determined, i.e. the laser sensor should determine the adjacent edge of the predetermined workpiece. In this embodiment, the control system of the robot may further set a preset step length (i.e., a movement distance), and determine a relationship between the actual movement distance when the robot is close to the edge of the workpiece and the preset step length, so as to continuously optimize the movement path of the robot, and thus determine the edge of the workpiece more simply.
Step S230, acquiring a first coordinate of a first measurement point and a second coordinate of a second measurement point of the first edge based on a robot coordinate system, and acquiring a third coordinate of a third measurement point of the second edge;
specifically, after the control system of the robot determines the first edge and the second edge of the working surface of the preset workpiece, the coordinates of any two points on the first edge, that is, the first coordinate of the first measurement point and the second coordinate of the second measurement point, may be selected, and the coordinates of any one point on the second edge, that is, the third coordinate of the third measurement point, may be selected. In the present embodiment, the first measurement point, the second measurement point, and the third measurement point are not the same point. The shape of the working surface of the workpiece may be varied, here exemplified by the working surface of the workpiece being trapezoidal. Fig. 4 is a top view of a workpiece to be dispensed according to a second embodiment of the present invention. As shown in fig. 4, in the present embodiment, the control system may first measure a third coordinate of a third measurement point, that is, a coordinate of a point J preset in fig. 4, the robot moves along the path 1 in the figure from the point F (the point F may be an initial position of the robot, or may be a current position of the robot), and after the robot reaches the point J, the robot acquires a measurement point (that is, the third measurement point in the present embodiment) of the boundary of the workpiece ba along the y-axis direction in the plane coordinate system of fig. 4, that is, a coordinate of the point K in fig. 4. Then, the robot moves to the position of the preset coordinate (i.e. the point E) according to another preset coordinate point (e.g. the point E in fig. 4) and a motion path generated by the coordinates of the point K (i.e. the path 2 in fig. 4, from the point K to the point E), and the robot moves along the x-axis of the robot coordinate system (i.e. the plane coordinate axis which is parallel to the ground and is perpendicular to the ground and is the x-axis direction in fig. 4) under the condition that the height of the robot relative to the workpiece is not changed, and obtains the coordinates (i.e. the first coordinate in the embodiment, the point G in fig. 4) of a measurement point located at one side edge of the working surface of the workpiece through a laser sensor fixed on the robot, and then moves a certain distance (the certain distance can be determined according to the geometry of the workpiece and the length and width values of the tooling plate) along the x-axis (i.e. the x-axis in fig. 4) direction, and then moved in the y-axis direction to acquire the coordinates (i.e., the second coordinate, point H in fig. 4) of another measurement point on the same edge (i.e., bc boundary in fig. 4) of the work surface of the workpiece by the laser sensor.
Step S240, determining whether the first coordinate, the second coordinate, and the third coordinate are obtained;
step S251, if at least one of the first coordinate, the second coordinate and the third coordinate is not obtained, generating a coordinate re-obtaining instruction;
step S252, if the first coordinate, the second coordinate, and the third coordinate are obtained, generating an offset measurement instruction;
specifically, before the control system calculates the fixed parameters of the preset workpiece according to the first coordinate, the second coordinate and the third coordinate, it is further required to determine whether the first coordinate, the second coordinate and the third coordinate are all acquired. When the control system acquires the first coordinate, the second coordinate and the third coordinate, the control system can generate an offset measurement instruction (the offset measurement instruction refers to an instruction which allows the control system to calculate the fixed parameters of the preset workpiece according to the first coordinate, the second coordinate and the third coordinate); and when at least one coordinate of the first coordinate, the second coordinate and the third coordinate is not acquired by the control system, the control system generates a coordinate reacquisition instruction (the coordinate reacquisition instruction refers to the instruction that allows the control system to reacquire the missing coordinate or all coordinates of the first coordinate, the second coordinate and the third coordinate through the laser sensor).
Step S260, determining the vertex coordinates of the intersection points according to the offset measurement instruction, the first coordinates, the second coordinates and the third coordinates;
step S270, determining the offset angle of the preset workpiece relative to a preset reference position as the fixed parameter according to the vertex coordinate, the third coordinate connecting line and the offset angle of the coordinate axis;
specifically, after the control system generates the offset measurement command, the control system may calculate the vertex coordinates of the intersection point of the first edge and the second edge according to the geometric characteristics of the working surface of the predetermined workpiece. After the control system calculates the coordinates of the intersection point, the control system may also calculate an offset angle between the coordinates of the intersection point and a preset reference position, thereby determining the fixed parameters of the preset workpiece according to the offset angle. For example, as shown in FIG. 4, the vertex coordinate of the intersection A is (x)4，y4) To intersect withPoint a is the origin, and the plane XY coordinate system is used as the reference coordinate system (i.e. the plane XY coordinate system in fig. 4), and the offset angle of the connection line of the intersection point a and the third measurement point K with respect to the x-axis in the plane XY coordinate system in fig. 2 is calculated (the offset angle of the connection line of point a and point K with respect to the y-axis in fig. 2 can also be calculated). In this embodiment, the offset angle may be used as a fixed parameter of the preset workpiece, and other offset amounts (such as an offset amount of the first coordinate with respect to the plane XY coordinate system of fig. 2) may also be used as a fixed parameter of the preset workpiece, which is not further limited herein.
Step S280, dispensing and positioning the robot according to the fixed parameters; and generating a preset dispensing path according to the fixed parameters, wherein the preset dispensing path is used for controlling the robot to finish dispensing operation on the preset workpiece.
Specifically, a dispensing valve of the glue supply system is generally fixed at the end of a wrist of the robot, after the control system calculates fixed parameters of a preset workpiece through a first coordinate, a second coordinate and a third coordinate, the robot can determine a dispensing position on the preset workpiece according to the fixed parameters, generate a preset dispensing path (i.e., a motion path of the robot), and drive the dispensing valve to dispense glue on the preset workpiece by driving an arm of the robot. For example, as shown in fig. 4, P1 to P2 are dispensing paths preset by the control system on the premise that the workpiece is placed correctly without offset, and when the control system determines the fixed parameters (i.e., the deviation angle) of the preset workpiece, the control system correspondingly adjusts the dispensing paths according to the magnitude of the deviation angle, so as to obtain the dispensing paths from P2 to P3 after positioning the workpiece. In FIG. 4, the connecting line P1-P2 and the connecting line P3-P2 form the same angle with the X axis of the planar coordinate system. After the control system calculates and obtains the corresponding positioned dispensing path according to the fixed parameters (namely, the deviation angle), the robot moves the dispensing valve fixed at the tail end of the robot wrist according to the positioned dispensing path, thereby completing the dispensing operation of the workpiece.
In this embodiment, the light-emitting angle of the laser sensor faces the working surface.
In this embodiment, the second edge is perpendicular to the first edge
Preferably, the workpiece in this embodiment may be square. When the work surface of the workpiece is square, the second edge is perpendicular to the first edge.
The second embodiment of the invention has the advantages that the measuring points on the adjacent boundaries of the workpiece are obtained through the laser sensor, the coordinates of the boundary intersection points are determined according to the coordinates of the measuring points, the fixed parameters of the workpiece are determined according to the coordinates of the intersection points, and the dispensing path is generated according to the fixed parameters, so that the technical problems of high positioning cost, low positioning efficiency and poor applicability are solved, efficient and low-cost dispensing positioning is realized, the second embodiment of the invention can be deployed on an automatic production line with high integration level and high production speed, and the second embodiment of the invention has high applicability.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a positioning system for robot dispensing according to a third embodiment of the present invention. As shown in fig. 5, the positioning system 300 for robot dispensing of the present embodiment includes:
an edge determination module 310, configured to determine, by a laser sensor fixed to a robot, a first edge and a second edge of a working surface of a preset workpiece, where the second edge has an intersection with the first edge;
a coordinate obtaining module 320, configured to obtain a first coordinate of a first measurement point of the first edge and a second coordinate of a second measurement point based on a robot coordinate system, and obtain a third coordinate of a third measurement point of the second edge;
the dispensing positioning module 330 is configured to determine a fixed parameter of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate, and the third coordinate; and dispensing and positioning the robot according to the fixed parameters.
In this embodiment, the edge determining module 310 includes:
the edge determining unit is used for scanning the working surface of the preset workpiece through a laser sensor fixed on the robot so as to receive an electric signal sent by the laser sensor according to a scanning result; and determining a first edge and a second edge of the preset workpiece according to the electric number.
In this embodiment, the positioning system 300 for robot dispensing further includes:
a determining module 340, configured to determine whether the first coordinate, the second coordinate, and the third coordinate are obtained; if the first coordinate, the second coordinate and the third coordinate are obtained, generating an offset measurement instruction; and if at least one of the first coordinate, the second coordinate and the third coordinate is not acquired, generating a coordinate reacquiring instruction.
In this embodiment, the dispensing positioning module 330 includes:
the dispensing positioning unit is used for determining the vertex coordinates of the intersection points according to the offset determination instruction, the first coordinates, the second coordinates and the third coordinates; and determining the offset angle of the preset workpiece relative to a preset reference position as the fixed parameter according to the vertex coordinate, the third coordinate connecting line and the offset angle of the coordinate axis.
In this embodiment, the positioning system 300 for robot dispensing further includes:
and a dispensing operation module 350, configured to generate a preset dispensing path according to the fixed parameter, where the preset dispensing path is used to control the robot to complete dispensing operation on the preset workpiece.
In this embodiment, the light-emitting angle of the laser sensor faces the working surface.
In this embodiment, the second edge is perpendicular to the first edge.
The robot dispensing positioning system provided by the embodiment of the invention can execute the robot dispensing positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 6 is a schematic structural diagram of a server according to a fourth embodiment of the present invention, as shown in fig. 6, the server includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the server may be one or more, and one processor 410 is taken as an example in fig. 6; the processor 410, the memory 420, the input device 430, and the output device 440 in the server may be connected by a bus or in another manner, as exemplified by the bus connection in fig. 6.
The memory 410 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method for robot dispensing in the embodiment of the present invention (for example, an edge determination module, a coordinate acquisition module, a dispensing positioning module, a judgment module, and a dispensing operation module in the positioning system for robot dispensing). The processor 410 executes software programs, instructions and modules stored in the memory 420 to execute various functional applications of the server and data processing, that is, to implement the above-described positioning method for robot dispensing.
Namely:
determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point;
acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate;
and dispensing and positioning the robot according to the fixed parameters.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from processor 410, which may be connected to a server over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the server. The output device 440 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer executable instructions, where the computer executable instructions are executed by a computer processor to perform a positioning method for dispensing by a robot, and the method includes:
determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point;
acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate;
and dispensing and positioning the robot according to the fixed parameters.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the positioning method for robot dispensing provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for a person skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the positioning system for robot dispensing, each unit and each module included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments disclosed, but is capable of numerous rearrangements, modifications, and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in more detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A robot dispensing positioning method is characterized by comprising the following steps:
determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, wherein the second edge and the first edge have an intersection point;
acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate;
and dispensing and positioning the robot according to the fixed parameters.
2. The method of claim 1, wherein the determining the first edge and the second edge of the working surface of the pre-set workpiece by the laser sensor fixed to the robot comprises:
scanning the working surface of the preset workpiece through a laser sensor fixed on the robot so as to receive an electric signal sent by the laser sensor according to a scanning result;
and determining a first edge and a second edge of the preset workpiece according to the electric signal.
3. The method as claimed in claim 1, wherein the determining the fixed parameters of the preset workpiece according to the preset transformation rule, the first coordinate, the second coordinate and the third coordinate comprises:
judging whether the first coordinate, the second coordinate and the third coordinate are obtained or not;
if the first coordinate, the second coordinate and the third coordinate are obtained, generating an offset measurement instruction;
and if at least one of the first coordinate, the second coordinate and the third coordinate is not acquired, generating a coordinate reacquiring instruction.
4. The method as claimed in claim 3, wherein the determining the fixed parameters of the preset workpiece according to the preset transformation rule, the first coordinate, the second coordinate and the third coordinate comprises:
determining vertex coordinates of the intersection point according to the offset determination instruction, the first coordinate, the second coordinate and the third coordinate;
and determining the offset angle of the preset workpiece relative to a preset reference position as the fixed parameter according to the vertex coordinate, the third coordinate connecting line and the offset angle of the coordinate axis.
5. The method as claimed in claim 1, wherein the positioning of the robot by dispensing according to the fixed parameters comprises:
and generating a preset dispensing path according to the fixed parameters, wherein the preset dispensing path is used for controlling the robot to finish dispensing operation on the preset workpiece.
6. The method as claimed in claim 1, wherein the laser sensor is disposed at an angle toward the working surface.
7. The method as claimed in claim 1, wherein the second edge is perpendicular to the first edge.
8. The utility model provides a positioning system that robot point was glued which characterized in that includes:
the edge determining module is used for determining a first edge and a second edge of a working surface of a preset workpiece through a laser sensor fixed on a robot, and the second edge and the first edge have an intersection point;
the coordinate acquisition module is used for acquiring a first coordinate of a first measuring point of the first edge and a second coordinate of a second measuring point based on a robot coordinate system, and acquiring a third coordinate of a third measuring point of the second edge;
the dispensing positioning module is used for determining fixed parameters of the preset workpiece according to a preset conversion rule, the first coordinate, the second coordinate and the third coordinate; and dispensing and positioning the robot according to the fixed parameters.
9. A server, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of robotic spot gluing according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for robotic placement as claimed in any one of claims 1 to 7.
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| CN112747679A (en) * | 2020-12-23 | 2021-05-04 | 河南中原光电测控技术有限公司 | Width measuring device, width measuring method, and computer-readable medium storing width measuring program |
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