CN114322967A - Robot positioning device based on cross laser and machine vision - Google Patents
Robot positioning device based on cross laser and machine vision Download PDFInfo
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- CN114322967A CN114322967A CN202210249089.XA CN202210249089A CN114322967A CN 114322967 A CN114322967 A CN 114322967A CN 202210249089 A CN202210249089 A CN 202210249089A CN 114322967 A CN114322967 A CN 114322967A
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Abstract
The invention discloses a robot positioning device based on cross laser and machine vision, which belongs to the technical field of intelligent robots and comprises a carrying vehicle and two grabbing vehicles, wherein a laser emitting device is installed on the carrying vehicle, a laser receiving device is installed on each grabbing vehicle, an adjusting device for adjusting the laser angle of the laser emitting device is also installed on the carrying vehicle, and the carrying vehicle is positioned between the two grabbing vehicles; according to the invention, two groups of grabbing vehicles are matched with the carrying vehicle, and when the carrying vehicle moves to a position to be grabbed, the laser emitting device on the carrying vehicle changes the angle of laser emitted by the laser emitting device through the adjusting device, so that the laser emitting device is respectively matched with the laser receiving devices on the two groups of grabbing vehicles. Two sets of workshop intermittent type nature of snatching snatch the carrier and go up the goods, have improved work efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and relates to a robot positioning device based on cross laser and machine vision.
Background
Intelligent warehousing is an important link in the logistics process. The transfer robot can replace manual goods transfer and plays an important role in intelligent warehouse logistics.
Most of the existing transfer robots comprise a transfer vehicle and a grabbing vehicle, the transfer vehicle carries an object to a position to be grabbed according to a preset track, and the grabbing vehicle is responsible for grabbing the object on the transfer vehicle to a working area. Grab and get the car and need carry out the gesture with the carrier and match before snatching to accurately snatch. Because the goods on the carrier are more, when only one grabbing vehicle is matched with the carrier, the working efficiency is greatly reduced.
In order to solve the problems, the invention provides a robot positioning device based on cross laser and machine vision.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a robot positioning device based on cross laser and machine vision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a robot positioning device based on cross laser and machine vision, includes carrier and two and grabs the car, install laser emission device on the carrier, every grab and all install laser receiving device on the car, still install the adjusting device who adjusts laser emission device laser angle on the carrier, the carrier is located two and grabs between the car.
Further, a support is installed on the carrying vehicle, and the laser emitting device is installed on the support.
Furthermore, the adjusting device comprises a driving motor arranged on the bracket, a screw rod connected with an output shaft of the driving motor through a coupler, a rotating part arranged on the bracket, a refraction filter part and a reflecting part; the rotating piece is matched with the screw rod; the refraction filter piece and the reflection piece are both arranged on the rotation piece.
Further, the rotating piece comprises a first swinging rod, a second swinging rod, a mounting rack, a first threaded sleeve and a second threaded sleeve; two ends of the first swinging rod are respectively hinged with the second threaded sleeve and the second swinging rod; one end of the second swinging rod, which is far away from the first swinging rod, is hinged with the first threaded sleeve; two ends of the mounting rack are respectively hinged with the second swing rod and the support; the screw comprises a first thread part and a second thread part, the first thread sleeve is in threaded connection with the first thread part, and the second thread sleeve is in threaded connection with the second thread part; the refraction filter element is arranged on the second swinging rod; the reflection member is mounted on the first swing lever.
Further, the refraction filter includes a first convex lens and a second convex lens, and is respectively located at the left and right parts of the second swing rod.
Further, the reflecting piece comprises a first reflecting mirror and a second reflecting mirror, and is respectively positioned at the left part and the right part of the first swinging rod; the first reflector is matched with the first convex lens, and the second reflector is matched with the second convex lens.
Furthermore, a telescopic rod is arranged in the middle of the first swinging rod.
Further, the laser receiving device comprises a camera.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, two groups of grabbing vehicles are matched with the carrying vehicle, and when the carrying vehicle moves to a position to be grabbed, the laser emitting device on the carrying vehicle changes the angle of laser emitted by the laser emitting device through the adjusting device, so that the laser emitting device is respectively matched with the laser receiving devices on the two groups of grabbing vehicles. Two sets of workshop intermittent type nature of snatching snatch the carrier and go up the goods, have improved work efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is another schematic structural view of the present invention;
fig. 3 is a schematic view of the structure of the adjusting device of the present invention.
In the figure: 1. a horizontal ground; 2. a carrier; 3. a support; 4. an adjustment device; 5. a laser receiving device; 6. grabbing the vehicle; 7. a first light ray; 8. a second light ray; 9. a laser emitting device; 10. a first threaded sleeve; 11. a refractive filter element; 12. a screw; 13. a second threaded sleeve; 14. a reflector; 15. a first swing lever; 16. a mounting frame; 17. a second swing lever; 18. the motor is driven.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the technical solution adopted by the present invention is as follows: a robot positioning device based on cross laser and machine vision comprises a carrier 2 and two grabbing cars 6, wherein the carrier 2 and the two grabbing cars 6 are both arranged on a horizontal ground 1; when the truck 2 reaches the position to be gripped, the truck 2 is located between the two gripping trucks 6. Install laser emission device 9 on the carrier 2, all install laser receiving device 5 on every snatchs car 6, laser emission device 9 on the carrier 2 shines laser on level ground 1, and laser receiving device 5 on the snatching car 6 detects this laser, can confirm the position between snatching car 6 and the carrier 2 this moment, snatchs the goods that car 6 accurately snatched on the carrier 2.
In this embodiment, still install the adjusting device 4 who adjusts the laser angle of laser emitter 9 on the carrier 2, this adjusting device 4 changes the angle of the laser that laser emitter 9 launches on horizontal ground 1 to two snatch cars 6 match with carrier 2 respectively.
In this embodiment, the carrier 2 is provided with the bracket 3, and the laser emitting device 9 is mounted on the bracket 3.
Preferably, the laser emitting device 9 is a cross laser.
In this embodiment, the adjusting device 4 includes a driving motor 18 mounted on the bracket 3, a screw 12 connected to an output shaft of the driving motor 18 through a coupling, a rotating member mounted on the bracket 3, a refractive filter member 11, and a reflecting member 14.
Specifically, the rotating member includes a first swing lever 15, a second swing lever 17, a mounting bracket 16, a first threaded sleeve 10, and a second threaded sleeve 13. Two ends of the first swinging rod 15 are respectively hinged with the second threaded sleeve 13 and the second swinging rod 17; the end of the second swing rod 17, which is far away from the first swing rod 15, is hinged with the first threaded sleeve 10; the two ends of the mounting frame 16 are respectively hinged with the second swinging rod 17 and the bracket 3.
Specifically, the screw 12 is vertically arranged, the screw 12 includes a first thread portion and a second thread portion, the first thread portion is arranged close to the driving motor 18, and the second thread portion is arranged away from the driving motor 18. The pitch of the first threaded portion is smaller than the pitch of the second threaded portion. The first thread bush 10 is screwed with the first thread part, and the second thread bush 13 is screwed with the second thread part.
In the present embodiment, the refracting filter 11 is mounted on the second oscillating lever 17; the reflection member 14 is mounted on the first swing lever 15.
Specifically, the refraction filter 11 includes a first convex lens and a second convex lens, and is respectively located at the left and right portions of the second swing lever 17. The first convex lens and the second convex lens have the function of filtering light waves. The first convex lens filters the laser emitted by the laser emitting device 9 into green light; the second convex lens filters the laser emitted by the laser emitting device 9 into red light.
Specifically, the reflection member 14 includes a first reflection mirror and a second reflection mirror, and is respectively located at the left and right portions of the first swing lever 15; the first reflector is matched with the first convex lens, and the second reflector is matched with the second convex lens. Laser ray irradiated on the reflecting piece 14 through the refraction filtering piece 11 is further filtered by the reflecting piece 14, disordered and disorderly light paths with different directions are filtered, and uniformity of the laser ray irradiated on the first reflecting mirror and the second reflecting mirror is guaranteed.
In this embodiment, the middle of the first swing lever 15 is provided with a telescopic lever. Specifically, the first swing rod 15 is divided into two sections from the middle, and two adjacent ends of the two sections of swing rods are respectively fixed with two ends of the telescopic rod.
In this embodiment, the laser receiver 5 includes a camera electrically connected to an existing control system.
In the initial state, the screw 12 is vertical, the motor 18 is not operated, and the second thread bushing 13 is at the lowest end of the screw 12.
When the transport vehicle 2 moves to the work position to be transported, the cross laser 9 is turned on, and the light emitted by the cross laser 9 is refracted by the refraction filter 11 and strikes the reflection member 14, and then is reflected on the horizontal ground 11.
When grabbing car 6 when the right side and need snatch the goods on carrier 2 right side, second thread bush 13 is at the 12 least ends of screw rod this moment, the cooperation of the laser that laser emission device 9 sent passes through second convex lens and second mirror, its light is beated on the level ground 1 that lies in carrier 2 right side, this light is marked as first light 7, then the camera of car 6 is grabbed on the right side carries out image acquisition to beating first light 7 on level ground 1, and grab the control system in car 6 with data transmission for the right side, then the position of car 6 is grabbed on control system adjustment right side, then the right side is grabbed car 6 and is taken off the goods on carrier 2 on the right side.
After the right grabbing car 6 takes off the right goods on the carrier 2, the driving motor 18 is started, the driving motor 18 drives the first threaded sleeve 10 and the second threaded sleeve 13 to slide upwards, and the distance that the first threaded sleeve 10 moves upwards is smaller than the distance that the second threaded sleeve 13 moves upwards in unit time because the thread pitch of the first threaded part of the screw rod is smaller than the thread pitch of the second threaded part. Laser that laser emitter 9 sent this moment is through the cooperation of first convex lens and first speculum, and its light is beated on the horizontal ground 1 that is located the left of carrier 2, and this light is marked as second light 8, and then the camera of left side grabbing car 6 carries out image acquisition to the second light 8 of beating on horizontal ground 1, and with data transmission for the control system in the left side grabbing car 6, then the position of car 6 is grabbed in control system adjustment left side, and then left side grabbing car 6 takes off the left goods on the carrier 2.
After the left-side grabbing vehicle 6 takes down the left-side goods on the carrier 2, the adjusting device 4 resets, and the right-side grabbing vehicle 6 carries out grabbing work. The left-hand grab car 6 and the right-hand grab car 6 repeat the above-described work.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a robot positioning device based on cross laser and machine vision, includes carrier (2) and two grabs and gets car (6), its characterized in that: install laser emission device (9) on carrier (2), every all install laser receiving device (5) on grabbing car (6), still install adjusting device (4) of adjusting laser emission device (9) laser angle on carrier (2), carrier (2) are located two and grab between car (6).
2. A cross laser and machine vision based robot positioning device according to claim 1, characterized in that: the carrier (2) is provided with a support (3), and the laser emitting device (9) is arranged on the support (3).
3. A cross laser and machine vision based robot positioning device according to claim 2, characterized in that: the adjusting device (4) comprises a driving motor (18) arranged on the support (3), a screw rod (12) connected with an output shaft of the driving motor (18) through a coupler, a rotating part arranged on the support (3), a refraction filter part (11) and a reflecting part (14); the rotating piece is matched with the screw rod (12); the refraction filter element (11) and the reflection element (14) are both arranged on the rotating element.
4. A cross laser and machine vision based robot positioning device according to claim 3, characterized in that: the rotating piece comprises a first swinging rod (15), a second swinging rod (17), a mounting rack (16), a first threaded sleeve (10) and a second threaded sleeve (13); two ends of the first swinging rod (15) are respectively hinged with the second threaded sleeve (13) and the second swinging rod (17); one end of the second swinging rod (17) departing from the first swinging rod (15) is hinged with the first threaded sleeve (10); two ends of the mounting rack (16) are respectively hinged with the second swing rod (17) and the support (3); the screw (12) comprises a first thread part and a second thread part, the first thread sleeve (10) is in threaded connection with the first thread part, and the second thread sleeve (13) is in threaded connection with the second thread part; the refraction filter element (11) is arranged on the second swinging rod (17); the reflection member (14) is mounted on a first swing lever (15).
5. A cross laser and machine vision based robot positioning device according to claim 4, characterized in that: the refraction filter piece (11) comprises a first convex lens and a second convex lens, and is respectively positioned at the left part and the right part of the second swinging rod (17).
6. A cross laser and machine vision based robot positioning device according to claim 5, characterized in that: the reflecting piece (14) comprises a first reflecting mirror and a second reflecting mirror and is respectively positioned at the left part and the right part of the first swinging rod (15); the first reflector is matched with the first convex lens, and the second reflector is matched with the second convex lens.
7. A cross laser and machine vision based robot positioning device according to claim 4, characterized in that: the middle part of the first swinging rod (15) is provided with a telescopic rod.
8. A cross laser and machine vision based robot positioning device according to claim 1, characterized in that: the laser receiving device (5) comprises a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210249089.XA CN114322967B (en) | 2022-03-15 | 2022-03-15 | Robot positioning device based on cross laser and machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210249089.XA CN114322967B (en) | 2022-03-15 | 2022-03-15 | Robot positioning device based on cross laser and machine vision |
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| CN114322967A true CN114322967A (en) | 2022-04-12 |
| CN114322967B CN114322967B (en) | 2022-05-24 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4623229A (en) * | 1983-09-29 | 1986-11-18 | Photon Sources, Inc. | Articulated laser arm |
| CN208856543U (en) * | 2018-09-29 | 2019-05-14 | 浙江明度智控科技有限公司 | A kind of industry loading vehicles positioning device |
| CN110231036A (en) * | 2019-07-19 | 2019-09-13 | 广东博智林机器人有限公司 | A kind of robotic positioning device and method based on cross laser and machine vision |
| WO2021208230A1 (en) * | 2020-04-15 | 2021-10-21 | 上海工程技术大学 | Intelligent assembly control system |
-
2022
- 2022-03-15 CN CN202210249089.XA patent/CN114322967B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4623229A (en) * | 1983-09-29 | 1986-11-18 | Photon Sources, Inc. | Articulated laser arm |
| CN208856543U (en) * | 2018-09-29 | 2019-05-14 | 浙江明度智控科技有限公司 | A kind of industry loading vehicles positioning device |
| CN110231036A (en) * | 2019-07-19 | 2019-09-13 | 广东博智林机器人有限公司 | A kind of robotic positioning device and method based on cross laser and machine vision |
| WO2021208230A1 (en) * | 2020-04-15 | 2021-10-21 | 上海工程技术大学 | Intelligent assembly control system |
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| CN114322967B (en) | 2022-05-24 |
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Denomination of invention: A Robot Positioning Device Based on Cross Laser and Machine Vision Effective date of registration: 20231215 Granted publication date: 20220524 Pledgee: Bank of Communications Co.,Ltd. Zaozhuang Branch Pledgor: ZAOZHUANG XINZHONGXING DASHAN ELECTRONICS CO.,LTD. Registration number: Y2023980072019 |
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