CN208614793U - A kind of vision positioning system of combined mobile robot - Google Patents
A kind of vision positioning system of combined mobile robot Download PDFInfo
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- CN208614793U CN208614793U CN201821025132.XU CN201821025132U CN208614793U CN 208614793 U CN208614793 U CN 208614793U CN 201821025132 U CN201821025132 U CN 201821025132U CN 208614793 U CN208614793 U CN 208614793U
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Abstract
The utility model discloses a kind of vision positioning system of combined mobile robot, it includes AGV mobile robot, Multi-shaft mechanical arm on the AGV mobile robot platform is set, it is mounted on the grasping mechanism of the Multi-shaft mechanical arm end, dial plate by each band crawl product website is set, and robot controller, the bodies side surface of the AGV mobile robot is provided with image collecting device, the calibration pattern for being provided on the dial plate and taking pictures for described image acquisition device, the robot controller controls the AGV mobile robot, the movement of the Multi-shaft mechanical arm and the grasping mechanism and with described image acquisition device data connection.The utility model improves the working efficiency of combined mobile robot, reduces the load of mechanical arm tail end, improves the crawl position precision of mechanical arm.
Description
[technical field]
The utility model relates to a kind of combined mobile robot design fields, move more particularly to a kind of combined type
The vision positioning system of mobile robot.
[background technique]
Compound machine people is that a kind of set AGV control, robot control, navigation scheduling are controlled in integrated equipment.One
As have the work of transport and loading and unloading of the material between assembly line in large-scale workshop, use mobile robot to carry out loading and unloading
When, due to AGV running precision, there can be certain deviation with target piece when robot goes to fixed teaching position.Institute
To need to correct this deviation using vision positioning, so that no matter AGV operating position is equipped with much deviations, robot can be accurate
Grab material.
In the prior art, combined mobile robot is made of mobile robot, mechanical arm, vision and frock clamp.It moves
The pedestal that mobile robot is formed as whole system carries mechanical arm, the base that mobile robot is formed as whole system above
Seat carries mechanical arm, the camera and light source and frock clamp of the end installation vision system of mechanical arm above.It is multiple when work
Box-like mobile robot is walked along magnetic conduction item, is halted after scanning to RFID (land marking), mechanical arm extend out to board
Fixation on surface is taken pictures a little, and vision system opens camera, shoots uncalibrated image, carries out alignment operation, is transmitted after obtaining data
To robot master control, data operation is carried out, while mechanical arm takes material on the platform of mobile robot, is put into the feeding of board
Point, and mechanical arm is retracted to home after the material completed the process under the blanking point of board is gone, before mobile robot continues
Row, goes to next place's board to work.Above-mentioned technical proposal has the following deficiencies: that 1) locating speed is slow, inefficient: compound
Formula mobile robot is reached every time at the fixed RFID mark in the preceding ground of board, and mechanical arm is being stretched, and reaches the fixed bat of board
It according to point, takes pictures, this process needs take a certain time, and have taken photograph and have shunk back again later, have taken material, are put into the fixed feeding of board
Point so acts, increases the working time, and much movement is all unnecessary, and the speed of production can not increase；2) interference is asked
Topic: since the end of mechanical arm needs while carrying the camera of vision system and carries the frock clamp of material, design does not conform to
Reason or board allow the inadequate words of working space, interference will be generated to the running track of robot, so that robot
It can not be run with optimal trajectory, increase robot runing time, production efficiency can not be improved；3) robot loads: due to machinery
The end of arm needs while carrying the camera of vision system and carries the frock clamp of material, the weight of vision system, it is also desirable to
It calculates inside the load of robot, greatly limits the actual transporting capacity of robot, lead to such a case
Generating --- the work that can be completed with the robot that 5kg is loaded originally has to the robot for using 10kg now,
The raising of cost certainly will be will lead to；4) range accuracy is not high: since the camera of vision system is mounted in mechanical arm tail end, moving
The variation for the position that mobile robot stops every time having an impact precision, and different mechanical arms itself repetitive positioning accuracies is not
Together, precision can also be had an impact.
Therefore, it is necessary to provide a kind of vision positioning system of new combined mobile robot to solve the above problems.
[utility model content]
The main purpose of the utility model is to provide a kind of vision positioning systems of combined mobile robot, improve
The working efficiency of combined mobile robot reduces the load of mechanical arm tail end, improves the crawl position precision of mechanical arm.
The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of vision positioning of combined mobile robot
System comprising AGV mobile robot, the Multi-shaft mechanical arm being arranged on the AGV mobile robot platform, be mounted on it is described
The grasping mechanism of Multi-shaft mechanical arm end, the dial plate and robot controller being arranged in by each band crawl product website,
The bodies side surface of the AGV mobile robot is provided with image collecting device, is provided on the dial plate and supplies the figure
As the calibration pattern that acquisition device is taken pictures, the robot controller controls the AGV mobile robot, the Multi-shaft mechanical arm
And the grasping mechanism movement and with described image acquisition device data connection.
Further, the calibration pattern is asymmetric pattern.
Further, described image acquisition device is CCD photographic device.
Further, the bodies side surface of the AGV mobile robot is provided with vision system mounting plate, the vision system
System mounting plate is arranged on the height adjustment device that a upper-lower height can be adjusted flexibly.
Further, the height adjustment device includes two parallel vertically arranged fixed strips, is set on the fixed strip
Several kidney slots being spaced apart are equipped with, the vision system mounting plate passes through the kidney slot by bolt and realizes fastening and height
Degree is adjusted.
Further, the dial plate is additionally provided with the two dimensional code that can show product information.
Compared with prior art, the beneficial effect of the vision positioning system of the utility model combined mobile robot exists
In: 1) after mobile robot stops in place it is i.e. capable of taking pictures, eliminate originally also wait for after manipulator motion to designated position
The time taken pictures, improve production efficiency；2) mounting means of side enables vision system to have more abundant place to install,
It can installation function camera more abundant；3) since mechanical arm tail end no longer installs vision system, so that mechanical arm has
Effect load obtains a promotion, improves the utilization rate of mechanical arm, also enhanced convenience when the Fixture designing installation of end,
The flexibility of work opportunity tool arm has also obtained a promotion in the limited region of certain scopes of activities, and mechanical arm can be with optimal
Track, most fast speed further improves production efficiency come the task of fulfiling assignment.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the utility model embodiment.
[specific embodiment]
Embodiment:
Fig. 1 is please referred to, the present embodiment is the vision positioning system of combined mobile robot comprising the mobile machine of AGV
People 1, is mounted on grabbing for 2 end of Multi-shaft mechanical arm at the Multi-shaft mechanical arm 2 being arranged on 1 platform of AGV mobile robot
The dial plate 4 and robot controller for taking mechanism 3, being arranged in by each band crawl product website, the AGV mobile robot
1 bodies side surface is provided with image collecting device 5, is provided on the dial plate 4 and takes pictures with for described image acquisition device 5
Calibration pattern 6, the calibration pattern 6 is asymmetric pattern, the robot controller control the AGV mobile robot,
The movement of the Multi-shaft mechanical arm 2 and the grasping mechanism 3 and with 5 data connection of described image acquisition device.
Described image acquisition device 5 is CCD photographic device.
The bodies side surface of the AGV mobile robot 1 is provided with vision system mounting plate, the setting of vision system mounting plate
On the height adjustment device that a upper-lower height can be adjusted flexibly, height adjustment device includes two parallel vertically arranged fixations
Item is provided with several kidney slots being spaced apart on the fixed strip.Vision system mounting plate passes through the kidney-shaped by bolt
Slot realizes fastening, and its height can be adjusted flexibly according to demand.
The present embodiment vision system is arranged in AGV mobile robot, and vision system can be according to AGV mobile robot
Height, which is made, to be adjusted flexibly.
The dial plate 4 is additionally provided with the two dimensional code 7 that can show product information.
The working principle of the vision positioning system of the present embodiment combined mobile robot are as follows: AGV mobile robot 1 along
The walking of magnetic conduction item, halts after scanning to RFID (land marking), at this point, image collecting device 5 faces on dial plate 4
Pattern 6 is demarcated, the image collecting device 5 of 1 side of AGV mobile robot is mounted on, is taken pictures to calibration pattern 6, and
To data pass the robot controller back, carry out data operation, Multi-shaft mechanical arm 2 is on the platform of AGV mobile robot 1
Material is taken, is put into the upper shots of board, and be retracted to home after the blanking point of board removes the material completed the process,
AGV mobile robot 1 continues to move ahead, and next place's board is gone to work, these movements are accomplished without any letup, and sequence is coherent, does not have
The least bit stops, and greatly improves working efficiency.
The beneficial effect of the vision positioning system of the present embodiment combined mobile robot is: 1) mobile robot is in place
It is i.e. capable of taking pictures after stopping, it eliminates after originally also waiting for manipulator motion to designated position in the time taken pictures, improves life
Produce efficiency；2) mounting means of side enables vision system to have more abundant place to install, so that it may which installation function is more
Camera abundant；3) since mechanical arm tail end no longer installs vision system, so that the payload of mechanical arm obtains a promotion,
Improve the utilization rate of mechanical arm, also enhanced convenience when the Fixture designing installation of end is limited in certain scopes of activities
The flexibility of work opportunity tool arm has also obtained a promotion in region, and mechanical arm can use optimal track, most fast speed
Come the task of fulfiling assignment, production efficiency is further improved.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
Without departing from the concept of the present invention, various modifications and improvements can be made, these belong to practical
Novel protection scope.
Claims (6)
1. a kind of vision positioning system of combined mobile robot, it is characterised in that: it includes AGV mobile robot, setting
Multi-shaft mechanical arm on the AGV mobile robot platform, the grasping mechanism for being mounted on the Multi-shaft mechanical arm end, setting
Dial plate and robot controller by each band crawl product website, the bodies side surface of the AGV mobile robot
It is provided with image collecting device, the calibration pattern for being provided on the dial plate and taking pictures for described image acquisition device is described
Robot controller control the movement of the AGV mobile robot, the Multi-shaft mechanical arm and the grasping mechanism and with institute
State image collecting device data connection.
2. the vision positioning system of combined mobile robot as described in claim 1, it is characterised in that: the calibration pattern
For asymmetric pattern.
3. the vision positioning system of combined mobile robot as described in claim 1, it is characterised in that: described image acquisition
Device is CCD photographic device.
4. the vision positioning system of combined mobile robot as described in claim 1, it is characterised in that: the AGV is mobile
The bodies side surface of robot is provided with vision system mounting plate, and the vision system mounting plate setting can spirit in a upper-lower height
On the height adjustment device of adjustment living.
5. the vision positioning system of combined mobile robot as claimed in claim 4, it is characterised in that: the height adjustment
Device includes two parallel vertically arranged fixed strips, is provided with several kidney slots being spaced apart on the fixed strip, described
Vision system mounting plate passes through the kidney slot by bolt and realizes fastening and height adjustment.
6. the vision positioning system of combined mobile robot as described in claim 1, it is characterised in that: the dial plate is also
It is provided with the two dimensional code that can show product information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821025132.XU CN208614793U (en) | 2018-06-29 | 2018-06-29 | A kind of vision positioning system of combined mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821025132.XU CN208614793U (en) | 2018-06-29 | 2018-06-29 | A kind of vision positioning system of combined mobile robot |
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| CN208614793U true CN208614793U (en) | 2019-03-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111881911A (en) * | 2020-07-31 | 2020-11-03 | 珠海格力电器股份有限公司 | Positioning method and device |
| CN113799140A (en) * | 2021-10-14 | 2021-12-17 | 友上智能科技(苏州)有限公司 | Flight vision positioning material taking method applied to composite robot |
-
2018
- 2018-06-29 CN CN201821025132.XU patent/CN208614793U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111881911A (en) * | 2020-07-31 | 2020-11-03 | 珠海格力电器股份有限公司 | Positioning method and device |
| CN111881911B (en) * | 2020-07-31 | 2024-05-28 | 珠海格力电器股份有限公司 | Positioning method and device |
| CN113799140A (en) * | 2021-10-14 | 2021-12-17 | 友上智能科技(苏州)有限公司 | Flight vision positioning material taking method applied to composite robot |
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