CN207717807U - A kind of adaptive object positioning system of robot - Google Patents
A kind of adaptive object positioning system of robot Download PDFInfo
- Publication number
- CN207717807U CN207717807U CN201721874302.7U CN201721874302U CN207717807U CN 207717807 U CN207717807 U CN 207717807U CN 201721874302 U CN201721874302 U CN 201721874302U CN 207717807 U CN207717807 U CN 207717807U
- Authority
- CN
- China
- Prior art keywords
- operation panel
- robot
- rectangular operation
- location
- operative position
- 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
- Numerical Control (AREA)
Abstract
The utility model discloses a kind of adaptive object positioning systems of robot.A kind of adaptive object positioning system of robot of the utility model utilizes the location information at least three location holes that range sensor detection is arranged on rectangular operation panel；Wherein, the line of at least two location holes is parallel with the first side of rectangular operation panel, and at least one location hole is located on the straight line parallel with the second side of rectangular operation panel, rectangular operation panel first while and adjacent both sides that second while is rectangular operation panel；At least three location holes determine the unique plane in space, i.e. rectangular operation panel；And line is predetermined value at a distance from the intersection point to operative position of straight line；It recycles robot main controller to determine the position of operative position according to the location information of location hole, overcomes defect existing in the prior art, improve the positioning accuracy of operative position, reduce position error.
Description
Technical field
The utility model is related to operative position positioning field, especially a kind of adaptive object positioning system of robot.
Background technology
Currently, in industrial production, it is often necessary to carry out corresponding production operation, such as automotive automation life using robot
In production, whole process is completed by robot, during this, includes positioning of the robot to installation site, existing locating scheme misses
Difference is larger, and robot directly affects the quality for the product that it is produced to the height of the positioning accuracy of installation site.With electricity
For the automatic test workshop of pond：Battery testing flow includes preliminary filling, and -- aging -- stands -- detection -- partial volume --
Aging -- stands -- detection -- stepping, to realize performance test and the capacity classified to battery, performance is conformed to
It asks and the satisfactory battery of capacity is picked out.Wherein, multiple battery installation positions are provided on the panel of grading system；Partial volume
It is to install battery to the battery installation position of the panel of grading system, after installation is complete, grading system surveys the capacity of battery
Amount is to realize partial volume.Before battery is installed the battery installation position to partial volume cabinet panel by robot, robot needs first to electricity
Pond installation position is positioned, and in existing scheme, the location information of the battery installation position on the panel of grading system is known and pre-stored
In robot, robot scans single location hole to determine the position of panel, due to individually fixed using range sensor
Position hole is known in the position of panel, then can be installed in the position of panel and pre-stored battery according to single location hole
The location information of position, can control robot and battery is placed into corresponding battery installation position；But due to the ruler of grading system
Very little error, the setting angle error of panel of grading system, the position error of range sensor, the ground injustice of putting grading system are led
Positions of panels error is caused, and then causes the position error of installation site larger.
Utility model content
In order to solve the above-mentioned technical problem, the purpose of this utility model is to provide a kind of robot adaptive object positioning system
System, the positioning accuracy of the operative position for improving operation cabinet reduce position error.
Technical solution used by the utility model is：A kind of adaptive object positioning system of robot is used for robot
Operative position on positioning operation cabinet, the operation cabinet include rectangular operation panel, are provided at least on the rectangular operation panel
One operative position, the adaptive object positioning system of robot include range sensor, robot main controller and are arranged in square
At least three location holes on shape operation panel；Wherein, the first side of the line of at least two location holes and rectangular operation panel
Parallel, at least one location hole is located on the straight line parallel with the second side of rectangular operation panel, the rectangular operation panel
First while and adjacent both sides that second while is rectangular operation panel, the line is pre- at a distance from the intersection point to operative position of straight line
Definite value；
The range sensor is used to acquire the location information of location hole；
The robot main controller is used to determine the position of operative position according to the location information of location hole；
The output end of the range sensor is connect with the input terminal of robot main controller.
Further, the line is no more than 2 centimetres at a distance from the first side of rectangular operation panel.
Further, the straight line is no more than 2 centimetres at a distance from the second side of rectangular operation panel.
Further, there are three location holes for setting on the rectangular operation panel；Wherein, the line and square of two location holes
First side of shape operation panel is parallel, and a location hole is located on the straight line parallel with the second side of rectangular operation panel.
The utility model has the beneficial effects that：
A kind of adaptive object positioning system of robot of the utility model is grasped using range sensor detection setting in rectangle
Make the location information of at least three location holes on panel；Wherein, the line of at least two location holes and rectangular operation panel
First side is parallel, and at least one location hole is located on the straight line parallel with the second side of rectangular operation panel, rectangular operation panel
First while and adjacent both sides that second while is rectangular operation panel；At least three location holes determine the unique plane in space, i.e. square
Shape operation panel；And line is predetermined value at a distance from the intersection point to operative position of straight line；Recycle robot main controller according to fixed
The location information in position hole determines the position of operative position, overcomes defect existing in the prior art, improves the positioning accuracy of operative position,
Reduce position error.
Description of the drawings
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is a specific implementation of rectangular operation panel in a kind of adaptive object positioning system of robot of the utility model
It illustrates and is intended to；
Fig. 2 is an a kind of specific embodiment schematic diagram of the adaptive object positioning system of robot of the utility model；
Wherein, A- first positioning holes；B- second location holes；C- third location holes；D- operative positions；E- rectangular operations
Panel；F- intersection points.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
A kind of adaptive object positioning system of robot, for the operative position in robot localization operation cabinet, operation cabinet packet
Rectangular operation panel is included, at least one operative position is provided on rectangular operation panel, robot needs carry out phase in operative position
The operation answered, therefore, it is necessary to obtain the position of operative position, for example, during battery testing partial volume operation, robot need by
Battery is mounted in battery installation position, needs the position for obtaining battery installation position；The adaptive object positioning system of robot includes
Range sensor, robot main controller and at least three location holes being arranged on rectangular operation panel；Range sensor is arranged
In robot, Master Control Center of the robot main controller as robot；Wherein, the line of at least two location holes is grasped with rectangle
The first side for making panel is parallel, and at least one location hole is located on the straight line parallel with the second side of rectangular operation panel, rectangle
The first of operation panel while and adjacent both sides that second while is rectangular operation panel, the line of at least two location holes and at least one
It is predetermined at a distance from the intersection point to operative position of a location hole place straight line (straight line parallel with the second side of rectangular operation panel)
Value；
Range sensor is used to acquire the location information of location hole；
Robot main controller is used to determine the position of operative position according to the location information of location hole；
The output end of range sensor is connect with the input terminal of robot main controller.
The utility model passes through the location information of at least three location hole on acquisition rectangular operation panel, at least three positioning
Hole determines the unique plane in space, i.e. rectangular operation panel；And line is predetermined value (system at a distance from the intersection point to operative position of straight line
Make to be set when location hole)；Robot main controller determines the position of operative position according to the location information of location hole, overcomes existing
Defect existing for One-Point Location in technology improves the positioning accuracy of the operative position of operation cabinet, reduces position error.
Specifically, during actual location, at least three location holes determine the unique plane in space, i.e. rectangular operation panel；
Since line is fixed at a distance from the intersection point to operative position of straight line, the intersection point of line and straight line, operative position are in rectangular operation
After position distribution on panel is it is known that robot main controller gets the location information of at least three location hole, determine line with
The intersection position of straight line, then the position distribution according to operative position on rectangular operation panel, can control robot and reach accordingly
Operative position on operated accordingly.
As being further improved for technical solution, line is no more than 2 centimetres at a distance from the first side of rectangular operation panel；
Straight line is no more than 2 centimetres at a distance from the second side of rectangular operation panel.With reference to figure 1, Fig. 1 is a kind of robot of the utility model
A specific embodiment schematic diagram of rectangular operation panel in adaptive object positioning system；It is provided with eight on rectangular operation panel E
A operative position and three location holes, i.e. first positioning hole A, second location hole B and tri- location holes of third location hole C；Wherein, two
The line of a location hole is parallel with the first side of rectangular operation panel, and a location hole is located at the second side with rectangular operation panel
On parallel straight line.In the present embodiment, the first side of the line and rectangular operation panel E of second location hole B and third location hole C
Parallel, first positioning hole A is located on the straight line parallel with the second side of rectangular operation panel E, and the intersection point of line and straight line is to hand over
Point F.
Below by taking the process control in the partial volume region in battery testing workshop as an example, illustrate the embodiment of the utility model, joins
Fig. 2 is examined, Fig. 2 is an a kind of specific embodiment schematic diagram of the adaptive object positioning system of robot of the utility model；Battery is surveyed
The partial volume region of test cell is provided with partial volume server and multiple grading systems, and partial volume server with multiple grading systems for being led to
Letter；Grading system includes grading system main controller, volume test circuit and partial volume rectangular operation panel, partial volume server and grading system master
Device connection is controlled, volume test circuit is connect with grading system main controller, and partial volume rectangular operation panel is provided with multiple battery installation positions,
Operative position shown in battery installation position, that is, Fig. 1, by the way that battery to be mounted in battery installation position, the control of grading system main controller is held
It measures test circuit and volume test is carried out to battery；Battery testing workshop further includes the Master Control Center as battery testing workshop
MES server, the AGV dispatch servers for dispatching AGV trolleies, in addition, further including the AGV trolleies transported for battery and use
In the robot that battery is carried, robot is arranged above AGV trolleies, and AGV trolleies include AGV trolley main controllers, robot packet
Include robot main controller, range sensor and the 2D cameras for scanning battery Quick Response Code, 2D cameras and range sensor
Output end connect with the input terminal of robot main controller, robot main controller is connect with AGV trolley main controllers, the small car owners of AGV
Control device is connect with AGV dispatch servers, and AGV dispatch servers, partial volume server are connect with MES server, are specifically described below
The workflow of partial volume：
MES server provides the scheduling information of AGV trolleies to AGV dispatch servers, and notice AGV dispatch servers are which point
Hold cabinet and needs feeding, blanking or loading and unloading.AGV dispatch servers distribute a few AGV trolleies according to scheduling information and go in execution
Material, blanking or loading and unloading task.AGV trolley main controllers, which receive to leave for executing from work station with robot after assignment instructions, appoints
Business, after reaching working terminal, AGV trolley main controllers notice robot has arrived at working terminal, can start operation；Robot
Main controller starts to execute feeding, blanking or loading and unloading task after receiving instruction, wherein a box battery is carried out feeding behaviour by robot
Before work, Quick Response Code identification can be carried out to the box battery by 2D cameras, and the 2 D code information recognized is passed through machine
People's main controller is sent to AGV trolley main controllers, and AGV trolleies main controller sends 2 D code information to AGV dispatch servers again,
AGV dispatch servers relay to MES server, and MES server interacts acquisition information with partial volume server, and will be two-dimentional
Code information and the site information of grading system are bound to track the partial volume state of each battery.Robot can lead to after the completion of task
Know that AGV trolley main controller operations are completed, after subsequent work website, AGV trolley main controllers can be gone to receive instruction, goes to next
Operation before website repetition, the battery entrained by AGV trolleies are all assigned, and AGV trolleies return to work station supplement
Battery waits for next dispatch command；
In addition, robot before carrying out grading system loading and unloading, can use range sensor to partial volume rectangular operation panel
It is scanned, scans three location holes on partial volume rectangular operation panel, three location holes determine the unique plane in space, i.e. partial volume
Rectangular operation panel determines the position of line and intersection point further according to three location holes, and according to battery installation position in partial volume rectangle
The accurate loading and unloading of battery may be implemented in the location distribution information of operation panel.
It is to be illustrated to the preferable implementation of the utility model, but the invention is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent variations without departing from the spirit of the present invention
Or replace, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (4)
1. a kind of adaptive object positioning system of robot, for the operative position in robot localization operation cabinet, which is characterized in that
The operation cabinet includes rectangular operation panel, and at least one operative position, the robot are provided on the rectangular operation panel
Adaptive object positioning system include range sensor, robot main controller and be arranged on rectangular operation panel at least three
Location hole；Wherein, the line of at least two location holes is parallel with the first side of rectangular operation panel, and at least one location hole is located at
On the straight line parallel with the second side of rectangular operation panel, the rectangular operation panel first while and second while be rectangular operation
The adjacent both sides of panel, the line are predetermined value at a distance from the intersection point to operative position of straight line；
The range sensor is used to acquire the location information of location hole；
The robot main controller is used to determine the position of operative position according to the location information of location hole；
The output end of the range sensor is connect with the input terminal of robot main controller.
2. the adaptive object positioning system of robot according to claim 1, which is characterized in that the line is grasped with rectangle
The distance for making the first side of panel is no more than 2 centimetres.
3. the adaptive object positioning system of robot according to claim 1, which is characterized in that the straight line is grasped with rectangle
The distance for making the second side of panel is no more than 2 centimetres.
4. the adaptive object positioning system of robot according to any one of claims 1 to 3, which is characterized in that the square
There are three location holes for setting on shape operation panel；Wherein, the line of two location holes is parallel with the first side of rectangular operation panel,
One location hole is located on the straight line parallel with the second side of rectangular operation panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721874302.7U CN207717807U (en) | 2017-12-27 | 2017-12-27 | A kind of adaptive object positioning system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721874302.7U CN207717807U (en) | 2017-12-27 | 2017-12-27 | A kind of adaptive object positioning system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207717807U true CN207717807U (en) | 2018-08-10 |
Family
ID=63050804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721874302.7U Expired - Fee Related CN207717807U (en) | 2017-12-27 | 2017-12-27 | A kind of adaptive object positioning system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207717807U (en) |
-
2017
- 2017-12-27 CN CN201721874302.7U patent/CN207717807U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109976320B (en) | Multi-AGV path planning method based on time window online correction | |
| CN211055414U (en) | Nondestructive testing robot system for surface defects of aircraft skin | |
| CN111427314B (en) | Batching system and batching method | |
| CN105158012A (en) | Automatic sampling system for grain depot | |
| DE102017207970A1 (en) | Injection molding machine management system | |
| CN102722787A (en) | Quality control managing method, system and server | |
| CN110989525B (en) | FPGA-based product intelligent assembly production line monitoring system and method | |
| CN113721605B (en) | Cylinder jacket goods shelf placement self-identification system | |
| CN108803504A (en) | A kind of automatic production line control system and method | |
| US20110270432A1 (en) | Scalable manufacturing assembly verification system | |
| CN108945911A (en) | The Intelligent logistics managing and control system of discrete manufacturing business | |
| CN207717807U (en) | A kind of adaptive object positioning system of robot | |
| CN115892823A (en) | Material storage and matching inspection integrated system and method | |
| CN110170809A (en) | A kind of flexibility single machine assembly line and its control method | |
| CN112085221B (en) | Intelligent operation and detection method and system for digital pole tower | |
| CN109911595B (en) | Full-automatic power distribution terminal detection system and method based on identity recognition | |
| CN102332099A (en) | Server property automatic checking information processing method and device in server machine cabinet | |
| CN208399951U (en) | The equipment and system that the test result of circuit board is marked | |
| CN111461501A (en) | Detection task management system and method | |
| CN108237533A (en) | A kind of adaptive object positioning method of robot and system | |
| CN110850879A (en) | Automatic cruising operation method of wall-climbing robot | |
| US20220057787A1 (en) | Production systems and production control methods with locating system-based simulations of production sequences | |
| CN116347348A (en) | Ship body section workshop logistics information positioning method, device, equipment and medium | |
| CN108957384A (en) | A kind of turnover box and electric energy measuring equipment discriminating direction method and apparatus | |
| CN111121921B (en) | Device and method for detecting material level of head and tail coke hoppers on coke oven ground |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180810 Termination date: 20201227 |