CN205630685U - A equipment for demarcating many robot system base coordinate system - Google Patents
A equipment for demarcating many robot system base coordinate system Download PDFInfo
- Publication number
- CN205630685U CN205630685U CN201620259269.6U CN201620259269U CN205630685U CN 205630685 U CN205630685 U CN 205630685U CN 201620259269 U CN201620259269 U CN 201620259269U CN 205630685 U CN205630685 U CN 205630685U
- Authority
- CN
- China
- Prior art keywords
- robot
- equipment
- sensor
- basis coordinates
- para
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an equipment for demarcating many robot system base coordinate system, including the robot that has the cooperation relation more than two or two each other, the counterpoint instrument is installed to every robot end, the counterpoint instrument includes sensor, bee calling organ, fixing base and hood, and wherein, the fixed setting of fixing base is terminal in the robot, and sensor and bee calling organ are fixed to be stood on the fixing base, and the hood is fixed to be established outside sensor and bee calling organ, the counterpoint instrument meets with the power, automatic demarcation again, especially each robot that accomplish many robot system in back of at every turn working can be accomplished at equipment fixing to this scheme because the displacement is inevitable, so nearly all necessaryly demarcate again, adopt equipment in this scheme just can be voluntarily swift completion demarcation.
Description
Technical field
This utility model relates to air-conditioning technical field, more particularly relates to a kind of for demarcating multirobot system
The equipment of system basis coordinates system.
Background technology
At present, multi-robot coordination operating system has become the study hotspot of robot field.For many
Complicated fittage, approach convenient, effective that multi-robot coordination operating system provides.
In multi-robot system, each robot when performing job task it is to be appreciated that other robot
Position, i.e. determine the relative pose between the basis coordinates system of other robot and the basis coordinates system of oneself.So
And, in traditional robot system, robot has been previously installed at fixing position, once robot
Being moved, original calibration result will be the most applicable, need the instrument again using precision to demarcate,
Waste time and energy, and precision instrument is expensive.The demarcation of multirobot is to be surveyed by precision instrument mostly
Amount, its weak point has: (1) very flexible, and efficiency is low；(2) step is complicated, and operability is poor；(3) instrument
Equipment price is expensive, and cost is high.
Utility model content
In order to solve above-mentioned technical problem, the purpose of this utility model is that to realize multi-robot system the completeest
Become mobile after coordinate demarcate, specifically, this utility model provides a kind of said method that is capable of
For demarcating the equipment of multi-robot system basis coordinates system.
The equipment for demarcating multi-robot system basis coordinates system that this utility model provides, including:
Two or more have the robot of cooperation relation each other；
Described each robot end is provided with para-position instrument；
Described para-position instrument includes sensor, buzzer, fixing seat and top cap, and wherein, fixing seat is fixed
Being arranged on that robot end, sensor and buzzer are fixing to be stood on fixing seat, top cap is fixing is located at sensing
Outside device and buzzer；
Described para-position instrument is connected with robot system.
Preferably, the sensor that described para-position instrument includes is laser sensor, the top cap head to outside
Shrinking in pinnacle, inner side is expanded in horn mouth by top cap with sensor and buzzer contact portion.
The beneficial effects of the utility model are:
1) simple to operate, efficiency is high: being used for of providing in this utility model demarcates multi-robot system base
The equipment of mark system can be automatically performed re-scaling of multi-robot system, especially after equipment installation
After the every task of Shi Ge robot, owing to displacement is inevitable, so being nearly all necessary again to mark
Fixed, use the method and apparatus in this programme just can automatically and efficiently complete to demarcate.
2) actual operation is strong, and stability is high: belong to routine operation owing to demarcating, and repetitive operation quantity is big,
If troublesome poeration is bound to produce the fatigue of operator in life-time service, and improves error rate, we
Case labor workload mainly installs equipment in early stage, and having only to simply press button in using can complete, behaviour
Making people unsuitable tired, error rate reduces naturally, and system stability the most just significantly improves.
3) simple in construction, expense is low, replaceable degree height: the equipment used in this utility model scheme is all normal
Rule equipment, is completed rear cost relatively low, and wherein most parts are all easily exchanged.
Accompanying drawing explanation
Fig. 1 is flow chart of the present utility model；
Fig. 2 is dual robot of the present utility model basis coordinates system schematic diagram；
Fig. 3 is para-position tool construction schematic diagram of the present utility model；
Fig. 4 is demarcation action schematic diagram of the present utility model.
Detailed description of the invention
This utility model provides a kind of equipment for demarcating multi-robot system basis coordinates system, is now given
One specific embodiment is as explanation:
In an embodiment, the concrete operation method step of this utility model equipment is as follows:
S1, two or more have the robot of cooperation relation be grouped each other by its cooperation relation,
The restriction relation between vertical dual robot basis coordinates system is set up in each two robot one；
In S2, the one of which dual robot basis coordinates system set up in step S1, set one of them machine
Artificial main robot, its basis coordinates system of robot is main robot basis coordinates system, and another is from robot,
Its basis coordinates system of robot is from basis coordinates system of robot；
S3, the restriction relation of the dual robot basis coordinates system set up according to step S1, use and be arranged on machine
The para-position instrument of robot end, carries out alignment location, in main robot basis coordinates system with from robot basis coordinates
The lower coordinate figure obtaining loci of system；
S4, according to the constraint between the coordinate figure of the loci obtained in step S3 and dual robot basis coordinates system
Relation, computing obtains the position orientation relation from robot basis coordinates, completes the demarcation of dual robot basis coordinates system；
S5, in other groups dual robot basis coordinates system of step S1, repeat the above steps S2 to S4,
Complete the demarcation of the basis coordinates system of multi-robot system.
Below in conjunction with flow chart of the present utility model in embodiment, to behaviour of the present utility model
It is clearly and completely described as method flow.Refer to Fig. 1, for operational approach stream of the present utility model
Cheng Tu.
Firstly, it is necessary to robot is grouped two-by-two according to cooperation relation；Afterwards, every pair of robot base is set up
Restriction relation between coordinate system；Further, the para-position instrument being arranged on robot end is used to carry out para-position
And coordinate acquisition data, further, system automatically processes restriction relation and the coordinate of para-position instrument collection
Draw the position orientation relation of every pair of robot after data and then complete to demarcate, finally, repeating above step and complete
The demarcation of multi-robot system base coordinate system.The program can be automatically performed multimachine after equipment installation
Re-scaling of device people's system, after the every task of the most each robot, owing to displacement is inevitable, institute
To be nearly all necessary to re-scale, the method and apparatus in employing this programme just can be automatically the fastest
Prompt completes demarcation.
Belonging to routine operation further, since demarcate, repetitive operation quantity is big, if troublesome poeration is bound to
Producing the fatigue of operator in life-time service, and improve error rate, this programme labor workload mainly exists
Early stage installs equipment, and having only to simply press button in using can complete, and operator is unsuitable tired, makes mistakes
Rate reduces naturally, and system stability the most just significantly improves.
Preferably, in described step S1, according to dual robot respective basis coordinates system, use wherein one
The basis coordinates system of individual robot, as world coordinate system, show that the basis coordinates system of another robot is about generation
The transformation relation of boundary's coordinate system, using this transformation relation as the restriction relation between dual robot basis coordinates system.
Preferably, the detailed process of described step S3 is:
S3-1, in Mei Tai robot install para-position instrument, obtain para-position tool tip at respective robot base
Position in coordinate system；
S3-2, for arranging, from robot, the loci that timing signal para-position instrument is to be arrived, and this point is concentrated
All of point is all at main robot with in the work space overlapping region of robot；
S3-3, will move to, from the para-position tool tip of robot, the every bit that loci is concentrated, then by main frame
Device people's para-position tool tip contacts with from robot para-position tool tip successively, it is achieved alignment location；Pass through
Main robot teaching box reads the coordinate figure of loci, and record.
Preferably, the computing detailed process of described step S4 is:
S4-1, from basis coordinates system of robot, robot base rotating shaft plane sets loci P1,
P2, P3, the direction along this plane vertical takes 1 P4 again；
S4-2, obtain this plane in its vertical line side by the three-dimensional coordinate computing of some P1, P2, P3 and P4
To relative altitude；
S4-3, by the coordinate figure of loci from basis coordinates system of robot and plane thereof in its vertical line direction
The coordinate figure of relative altitude and the loci obtained under main robot basis coordinates system carry out contrast obtain from
The position orientation relation of robot basis coordinates.
It addition, a kind of equipment for demarcating multi-robot system basis coordinates system that this utility model provides,
Specifically, including: two or more have the robot of cooperation relation each other；
Described each robot end is provided with para-position instrument；
Described para-position instrument includes sensor 3, buzzer 2, fixing seat 4 and top cap 1, wherein, fixing
Seat 4 is fixedly installed on robot end, sensor 3 and buzzer 2 and fixes and stand on fixing seat 4, top
Cap 1 is fixing to be located at outside sensor 3 and buzzer 2；
Described para-position instrument is connected with robot system.
The simple in construction of the program, expense is low, replaceable degree height, specifically: this utility model scheme
The equipment of middle employing is all conventional equipment, is completed rear cost relatively low, and wherein most parts are the most very
Readily replaceable.
Preferably, the sensor 3 that described para-position instrument includes is laser sensor, and top cap 1 is to outside
Head shrinks in pinnacle, and inner side is expanded in loudspeaker by top cap 1 with sensor 3 and buzzer 2 contact portion
Mouthful.While such advantage being arranged on guarantee equipment, improve the accuracy of equipment, laser sensing
The structure of device and top cap 1 can feed back the information of touching, and the inside structure pair of top cap 1 more accurately
Sensitive equipment serves the effect of buffer protection.
Above to a kind of method for demarcating multi-robot system basis coordinates system provided by the utility model
And equipment is described in detail, specific case used herein is to principle of the present utility model and reality
The mode of executing is set forth, and the explanation of above example is only intended to help to understand method of the present utility model
And core concept.It should be pointed out that, for those skilled in the art, without departing from
On the premise of this utility model principle, it is also possible to this utility model is carried out some improvement and modification, these
Improve and modification also falls in this utility model scope of the claims.
Claims (2)
1. one kind for demarcating the equipment of multi-robot system basis coordinates system, it is characterised in that including: two
Individual or two or more has the robot of cooperation relation each other；
Described each robot end is provided with para-position instrument；
Described para-position instrument includes sensor, buzzer, fixing seat and top cap, and wherein, fixing seat is fixed
Being arranged on that robot end, sensor and buzzer are fixing to be stood on fixing seat, top cap is fixing is located at sensing
Outside device and buzzer；
Described para-position instrument is connected with robot system.
2. the equipment for demarcating multi-robot system basis coordinates system as claimed in claim 1, its feature
Being, the sensor that described para-position instrument includes is laser sensor, top cap the head in outside is shunk in
Pinnacle, inner side is expanded in horn mouth by top cap with sensor and buzzer contact portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620259269.6U CN205630685U (en) | 2016-03-30 | 2016-03-30 | A equipment for demarcating many robot system base coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620259269.6U CN205630685U (en) | 2016-03-30 | 2016-03-30 | A equipment for demarcating many robot system base coordinate system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630685U true CN205630685U (en) | 2016-10-12 |
Family
ID=57065952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620259269.6U Expired - Fee Related CN205630685U (en) | 2016-03-30 | 2016-03-30 | A equipment for demarcating many robot system base coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630685U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108519055A (en) * | 2018-04-26 | 2018-09-11 | 华中科技大学 | A kind of dual robot relative pose online calibration method of view-based access control model |
| CN109304731A (en) * | 2017-07-28 | 2019-02-05 | 深圳先进技术研究院 | A kind of robot coordinate system's calibration tool |
| CN111660289A (en) * | 2019-03-07 | 2020-09-15 | 广州中国科学院先进技术研究所 | Method and medium for calibrating base coordinate system of double-machine cooperative robot system |
-
2016
- 2016-03-30 CN CN201620259269.6U patent/CN205630685U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109304731A (en) * | 2017-07-28 | 2019-02-05 | 深圳先进技术研究院 | A kind of robot coordinate system's calibration tool |
| CN109304731B (en) * | 2017-07-28 | 2021-09-07 | 深圳先进技术研究院 | Robot coordinate system calibration tool |
| CN108519055A (en) * | 2018-04-26 | 2018-09-11 | 华中科技大学 | A kind of dual robot relative pose online calibration method of view-based access control model |
| CN111660289A (en) * | 2019-03-07 | 2020-09-15 | 广州中国科学院先进技术研究所 | Method and medium for calibrating base coordinate system of double-machine cooperative robot system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105751245B (en) | A kind of method and its equipment for being used to demarcate multi-robot system basis coordinates system | |
| CN205630685U (en) | A equipment for demarcating many robot system base coordinate system | |
| CN103885231B (en) | Display panel labelling apparatus and display panel labeling method | |
| DE60020008D1 (en) | Method for collecting data by voice commands for a geographic database and system therefor | |
| CN105205199B (en) | Construction project template identification code management system and method, row's modular system and method | |
| CN108241623B (en) | Automatic assignment method and device, electronic map intelligent production system and navigation equipment | |
| CN110427027A (en) | Navigation routine generation method, device and automated driving system for automatic Pilot | |
| CN102156540A (en) | Three-dimensional somatosensory man-machine interactive system with vibrotactile feedback and interactive method thereof | |
| CN104318610B (en) | Large-space three-dimensional entity line-putting method | |
| CN203920153U (en) | A kind of Multi-function drawing-instrument for teaching | |
| CN206900002U (en) | A kind of cutter laser two-dimensional code prints focusing instrument | |
| CN202473176U (en) | Display screen detection device | |
| CN106914896A (en) | A kind of construction method of robot off-line programming | |
| CN111959165A (en) | Intelligent ruler machining system | |
| CN202422389U (en) | Handheld meter reading machine for field debugging of remote centralized reading field equipment | |
| CN205310263U (en) | Quick calibration system of robot | |
| CN105563446B (en) | Hardware plank setting-out cutting assists device | |
| CN113070234A (en) | Positioning control method of garbage sorting robot for outdoor garbage classification | |
| CN209859405U (en) | Appurtenance is used in economic law study | |
| CN208654309U (en) | A kind of bluetooth wireless location detector | |
| CN205785129U (en) | A kind of three-D ultrasonic location pen type man-machine interactive system | |
| CN207571964U (en) | Teaching apparatus and system | |
| CN205143670U (en) | Fastener punching machine with double templates | |
| CN215298298U (en) | Portable electric power field three-dimensional model generation device | |
| CN204975720U (en) | Novel laser cutting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20200330 |