CN113070876A - Manipulator dispensing path guiding and deviation rectifying method based on 3D vision - Google Patents
Manipulator dispensing path guiding and deviation rectifying method based on 3D vision Download PDFInfo
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- CN113070876A CN113070876A CN202110297851.7A CN202110297851A CN113070876A CN 113070876 A CN113070876 A CN 113070876A CN 202110297851 A CN202110297851 A CN 202110297851A CN 113070876 A CN113070876 A CN 113070876A
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- manipulator
- vision
- coordinate system
- computer
- characteristic points
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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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
Abstract
The invention provides a 3D vision-based manipulator dispensing path guiding and deviation rectifying method, which is based on a computer 3D vision processing system, a tool coordinate system is established through a manipulator, the computer 3D vision processing system and the tool coordinate system are calibrated, then a real object fixed on a workbench is subjected to 3D scanning imaging, 3 fixed characteristic points are marked on a scanned graph and converted into absolute value coordinates of the manipulator, a user coordinate system is established based on the 3 absolute value coordinates, then the manipulator carries out trajectory teaching and recording on the real object based on the user coordinates, when the position of the real object changes, the computer 3D vision processing system carries out scanning imaging again, marks the originally calibrated 3 fixed characteristic points, the originally recorded real object trajectory path is automatically updated to a new position posture by matching the 3 fixed characteristic points with the originally established user coordinate system, thereby completing the trajectory deviation rectifying guidance.
Description
Technical Field
The invention relates to the technical field of automatic robot processing, in particular to a manipulator dispensing path guiding and deviation rectifying method based on 3D vision.
Background
At present, in the manufacturing industry, more and more manual gluing and spraying operations are replaced by robots, and the application scenes and the corresponding application methods are mainly divided into the following steps:
1. for some products with regular and fixed loading positions, a method of directly teaching a fixed path is generally adopted.
2. For some products needing plane type gluing, without height and posture change, the teaching track and the 2D vision system are generally used for assisting in positioning and correcting errors.
3. Under the condition that some irregular tracks are glued and the positions and postures of products are changed, a 3D vision system is generally adopted to assist in positioning and correcting.
The method for assisting in positioning and correcting the deviation of the 3D vision system is widest in application range, generally requires a complex algorithm tool to extract a local feature point set, performs relevant template matching, and finally gives the posture variation to a manipulator to execute. The method comprises the steps of extracting a feature point set, making template data, performing template matching and other series of 3D software operations, and completing the product model change by a technician with professional skill of the 3D software, so that the method is extremely unfriendly to general debugging personnel.
Disclosure of Invention
In order to solve the problems, the invention provides a manipulator dispensing path guiding and deviation rectifying method based on 3D vision.
The invention is realized by the following technical scheme:
the invention provides a manipulator dispensing path guiding and deviation rectifying method based on 3D vision, which comprises the following steps of:
s1: installing a dispensing head or a profiling needle head on the manipulator, and establishing a manipulator tool coordinate system according to the dispensing head or the profiling needle head;
s2: calibrating and unifying an image coordinate system of the established computer 3D vision processing system and a manipulator tool coordinate system;
s3: 3D scanning and imaging the real object fixed on the operating platform by the computer 3D vision processing system, marking 3 fixed characteristic points on the image, and converting the fixed characteristic points into the absolute value coordinates of the mechanical arm;
s4: the manipulator establishes a user coordinate system based on the 3 fixed feature points in S3;
s5: the manipulator teaches the track of the object based on the user coordinate system established in S4;
s6: when the position and the posture of the real object are changed, the computer 3D vision processing system carries out 3D scanning imaging on the real object again, marks 3 fixed characteristic points of the original fixed position, and converts the coordinate value of the fixed characteristic points into the absolute value coordinate of the manipulator;
s7: the manipulator updates the user coordinate system based on the absolute value coordinate point updated in the step S6;
s8: updating the teaching point position of the material object track, automatically updating the teaching track to the new position posture of the material object, and finishing the guidance of the dispensing path.
Further, the manipulator is manipulator equipment with the existing common functions, the computer 3D vision processing system is established on a 3D vision system hardware working platform, and the manipulator is fixedly installed on the working platform.
The invention has the beneficial effects that:
the 3D vision-based manipulator dispensing path guiding and deviation rectifying method provided by the invention has the advantages that a user coordinate system is newly established by utilizing a three-point method of a common manipulator and is matched with a computer 3D vision processing system, the computer 3D vision processing system only needs to provide 3 absolute value coordinate points, the manipulator can correct the track by updating the coordinates of the user, the operation difficulty of guiding and deviation rectifying of the 3D vision track is greatly simplified, and a common manipulator debugging engineer can also quickly start to work.
Drawings
Fig. 1 is a flowchart of a robot dispensing path guiding and deviation rectifying method based on 3D vision.
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a robot dispensing path guiding and deviation correcting method based on 3D vision, which includes the following steps:
s1: installing a dispensing head or a profiling needle head on the manipulator, and establishing a manipulator tool coordinate system according to the dispensing head or the profiling needle head;
s2: the method comprises the steps that an image coordinate system and a manipulator tool coordinate system of the established computer 3D vision processing system are calibrated and unified, a manipulator is a manipulator device with the existing common functions, the computer 3D vision processing system is established on a 3D vision system hardware working platform, and the manipulator is fixedly installed on the working platform;
s3: 3D scanning and imaging the real object fixed on the operating platform by the computer 3D vision processing system, marking 3 fixed characteristic points on the image, and converting the fixed characteristic points into the absolute value coordinates of the mechanical arm;
s4: the manipulator establishes a user coordinate system based on the 3 fixed feature points in S3;
s5: the manipulator teaches the track of the object based on the user coordinate system established in S4;
s6: when the position and the posture of the real object are changed, the computer 3D vision processing system carries out 3D scanning imaging on the real object again, marks 3 fixed characteristic points of the original fixed position, and converts the coordinate value of the fixed characteristic points into the absolute value coordinate of the manipulator;
s7: the manipulator updates the user coordinate system based on the absolute value coordinate point updated in the step S6;
s8: updating the teaching point position of the material object track, automatically updating the teaching track to the new position posture of the material object, and finishing the guidance of the dispensing path.
In this embodiment, a set of computer 3D vision processing system is first established on the product processing platform, the system has a common 3D vision processing function, can record scanned images and coordinate calibration, and the computer 3D vision processing system can establish a coordinate system to match with a spatial coordinate system of the manipulator. S2 is to unify the 3D image coordinate system of the computer 3D vision processing system and the robot tool coordinate system, and the computer 3D vision processing system calculates and stores the conversion relationship between the 3D vision space coordinate system and the robot tool space coordinate system by using the model matching method. Establishing a tool coordinate system through a mechanical arm, calibrating a computer 3D vision processing system and the tool coordinate system, then performing 3D scanning imaging on a real object fixed on a workbench, marking 3 fixed characteristic points on the scanned graph, converting the fixed characteristic points into absolute value coordinates of the mechanical arm, establishing a user coordinate system based on the 3 absolute value coordinates, then teaching and recording tracks of the real object by the mechanical arm based on the user coordinates, when the position of the real object changes, rescanning imaging by the computer 3D vision processing system, marking the originally calibrated 3 fixed characteristic points, automatically updating the originally recorded track path to a new position posture of the real object by matching the 3 fixed characteristic points with the originally established user coordinate system, and finishing track deviation rectification guidance.
Of course, the present invention may have other embodiments, and based on the embodiments, those skilled in the art can obtain other embodiments without any creative effort, and all of them are within the protection scope of the present invention.
Claims (2)
1. A manipulator dispensing path guiding and deviation rectifying method based on 3D vision is characterized by comprising the following steps of:
s1: installing a dispensing head or a profiling needle head on the manipulator, and establishing a manipulator tool coordinate system according to the dispensing head or the profiling needle head;
s2: calibrating and unifying an image coordinate system of the established computer 3D vision processing system and a manipulator tool coordinate system;
s3: 3D scanning and imaging the real object fixed on the operating platform by the computer 3D vision processing system, marking 3 fixed characteristic points on the image, and converting the fixed characteristic points into the absolute value coordinates of the mechanical arm;
s4: the manipulator establishes a user coordinate system based on the 3 fixed feature points in S3;
s5: the manipulator teaches the track of the object based on the user coordinate system established in S4;
s6: when the position and the posture of the real object are changed, the computer 3D vision processing system carries out 3D scanning imaging on the real object again, marks 3 fixed characteristic points of the original fixed position, and converts the coordinate value of the fixed characteristic points into the absolute value coordinate of the manipulator;
s7: the manipulator updates the user coordinate system based on the absolute value coordinate point updated in the step S6;
s8: updating the teaching point position of the material object track, automatically updating the teaching track to the new position posture of the material object, and finishing the guidance of the dispensing path.
2. The 3D vision-based manipulator dispensing path guiding deviation rectification method is characterized in that the manipulator is a manipulator device with existing common functions, the computer 3D vision processing system is built on a 3D vision system hardware working platform, and the manipulator is fixedly installed on the working platform.
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| CN202110297851.7A CN113070876A (en) | 2021-03-19 | 2021-03-19 | Manipulator dispensing path guiding and deviation rectifying method based on 3D vision |
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| CN202110297851.7A CN113070876A (en) | 2021-03-19 | 2021-03-19 | Manipulator dispensing path guiding and deviation rectifying method based on 3D vision |
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Cited By (4)
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| CN113798129A (en) * | 2021-10-12 | 2021-12-17 | 深圳市宏申工业智能有限公司 | High-precision flying glue dispensing control method, system, equipment and storage medium |
| CN114193460A (en) * | 2022-02-16 | 2022-03-18 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
| CN114359393A (en) * | 2022-03-17 | 2022-04-15 | 常州铭赛机器人科技股份有限公司 | Cross-platform visual guide dispensing guiding method |
| WO2024027647A1 (en) * | 2022-08-02 | 2024-02-08 | 深圳微美机器人有限公司 | Robot control method and system and computer program product |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113798129A (en) * | 2021-10-12 | 2021-12-17 | 深圳市宏申工业智能有限公司 | High-precision flying glue dispensing control method, system, equipment and storage medium |
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| CN114193460A (en) * | 2022-02-16 | 2022-03-18 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
| CN114193460B (en) * | 2022-02-16 | 2022-05-17 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
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| WO2024027647A1 (en) * | 2022-08-02 | 2024-02-08 | 深圳微美机器人有限公司 | Robot control method and system and computer program product |
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