CN113799140A - Flight vision positioning material taking method applied to composite robot - Google Patents
Flight vision positioning material taking method applied to composite robot Download PDFInfo
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- CN113799140A CN113799140A CN202111198542.0A CN202111198542A CN113799140A CN 113799140 A CN113799140 A CN 113799140A CN 202111198542 A CN202111198542 A CN 202111198542A CN 113799140 A CN113799140 A CN 113799140A
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- material taking
- control system
- flight vision
- mechanical arm
- robot
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- 239000000463 material Substances 0.000 claims abstract description 27
- 239000002131 composite material Substances 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 14
- 150000001875 compounds Chemical class 0.000 claims abstract description 11
- 238000007599 discharging Methods 0.000 abstract 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明属于智能机器人技术领域，涉及一种应用在复合机器人上的飞行视觉定位取料方法，其步骤为：S1、在复合机器人的控制系统中设置飞行视觉机构的拍照时间差；S2、复合机器人通过移动机构按照控制系统设定的移动路径移动到取放料位置，取放料位置会有补正图形作为位置标准，在预计到达取放料位置的时间前一个拍照时间差的时刻利用飞行视觉机构对取放料位置进行拍照并将图像发送给控制系统；S3、在拍照时间差的时段内，移动机构继续完成移动，同时控制系统依照图像测算出机械手臂的补正值，然后控制机械手臂完成调整；S4、机械手臂完成取料动作。本方法能够在复合机器人的行径间完成机械手臂的位置补正，节省了停顿时间，提高了搬运效率。The invention belongs to the technical field of intelligent robots, and relates to a method for positioning and reclaiming materials with flying vision applied to a composite robot. The moving mechanism moves to the picking and discharging position according to the moving path set by the control system. The picking and discharging position will have a correction graphic as the position standard. At the moment when the time difference between taking pictures is before the estimated time of reaching the picking and discharging position, the flight vision mechanism is used to check the picking and discharging position. Take pictures at the feeding position and send the image to the control system; S3. During the period of time difference between taking pictures, the moving mechanism continues to complete the movement, and the control system calculates the correction value of the robotic arm according to the image, and then controls the robotic arm to complete the adjustment; S4, The mechanical arm completes the reclaiming action. The method can complete the position correction of the mechanical arm between the movements of the compound robot, save the pause time and improve the handling efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a flight vision positioning material taking method applied to a composite robot.
Background
At present, the vision used by the compound robot is mainly of three types:
the two-dimensional code is pasted on the floor, and the error is calculated and corrected by the mobile unit after being shot by the CCD of the device under the composite robot.
And secondly, the distinguishing plan is attached to the floor vertical surface right in front of the stopping area, and after the distinguishing plan is shot by a CCD (charge coupled device) of a device in front of the composite robot, the error is calculated and corrected by a mobile unit.
Sticking the distinguishing pattern to the horizontal position or vertical position near the object, after CCD on the robot arm shoots, calculating error value by computer software, adding calculated error value according to the original plan, making the arm move to the corrected position, and waiting for the time calculated by computer software, the arm will have idle time.
The first two are compensated by the mobile unit, so the compensation effect is not ideal. In either case, the correction operation is performed after the error is calculated after the CCD image is captured, and the waiting time reduces the work efficiency.
There is therefore a need for improved methods to improve the efficiency of operation.
Disclosure of Invention
The invention mainly aims to provide a flight vision positioning material taking method applied to a composite robot, which can save the pause time.
The invention realizes the purpose through the following technical scheme: a flight vision positioning material taking method applied to a composite robot adopts the composite robot with a mechanical arm, a moving mechanism and a flight vision mechanism, and comprises the following steps:
s1, setting the photographing time difference of the flight vision mechanism in the control system of the compound robot;
s2, the composite robot moves to a material taking and placing position through the moving mechanism according to a moving path set by the control system, the material taking and placing position has a correction graph as a position standard, and the flight vision mechanism is used for taking a picture of the material taking and placing position and sending the picture to the control system at a moment of the shooting time difference before the time of the material taking and placing position is predicted;
s3, in the time period of the photographing time difference, the moving mechanism continues to finish moving, meanwhile, the control system calculates the correction amount of the mechanical arm according to the received image, and then controls the mechanical arm to finish position adjustment according to the correction amount;
and S4, finishing the material taking action by the mechanical arm.
Specifically, the photographing time difference is not more than 5 s.
Specifically, the flight vision mechanism is arranged at the tail end of the mechanical arm.
The technical scheme of the invention has the beneficial effects that:
the method can finish the position correction of the mechanical arm between the paths of the composite robot, save the pause time and improve the carrying efficiency.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Example (b):
the invention relates to a flight vision positioning material taking method applied to a composite robot, which adopts the composite robot with a mechanical arm, a moving mechanism and a flight vision mechanism, and comprises the following steps:
s1, setting the photographing time difference of the flight vision mechanism in the control system of the compound robot;
s2, the composite robot moves to a material taking and placing position through a moving mechanism according to a moving path set by the control system, the material taking and placing position has a correction graph as a position standard, and the flight vision mechanism is used for taking a picture of the material taking and placing position at the moment of a shooting time difference before the time of reaching the material taking and placing position is predicted and sending the picture to the control system;
s3, in the time period of the photographing time difference, the moving mechanism continues to finish moving, meanwhile, the control system calculates the correction amount of the mechanical arm according to the received image, and then the mechanical arm is controlled to finish position adjustment according to the correction amount;
and S4, finishing the material taking action by the mechanical arm.
The flight vision device can solve the problem of image definition when a shot object moves, so that a clear pick-and-place position image can be obtained under the condition that the composite robot moves. Therefore, the control system of the compound robot can accurately calculate the correction amount. Because the photographing time difference is set, the control system can start the calculation process in advance, as long as the time difference is sufficient, the position correction of the mechanical arm can be completed by the composite robot in the moving process, the composite robot can directly start to take materials after being in place, the pause time is saved, and the carrying efficiency is improved.
The photographing time difference does not exceed 5 s. The time difference of shooing can influence when shooing compound robot and get the distance between the material position of putting, if the time difference of shooing overlength, the distance of shooing is just far away, and the error will increase, is unfavorable for getting the action reliability of blowing.
The flight vision mechanism is arranged at the tail end of the mechanical arm. At the moment, the flight vision mechanism is closer to the grabbing position of the mechanical arm, so that the adjusted initial position can be represented more accurately, and the accuracy of material taking after adjustment is improved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (3)
1. The utility model provides an use flight vision location material taking method on compound robot, adopts the compound robot who has robotic arm, moving mechanism and flight vision mechanism, its characterized in that, the step is:
s1, setting the photographing time difference of the flight vision mechanism in the control system of the compound robot;
s2, the composite robot moves to a material taking and placing position through the moving mechanism according to a moving path set by the control system, the material taking and placing position has a correction graph as a position standard, and the flight vision mechanism is used for taking a picture of the material taking and placing position and sending the picture to the control system at a moment of the shooting time difference before the time of the material taking and placing position is predicted;
s3, in the time period of the photographing time difference, the moving mechanism continues to finish moving, meanwhile, the control system calculates the correction amount of the mechanical arm according to the received image, and then controls the mechanical arm to finish position adjustment according to the correction amount;
and S4, finishing the material taking action by the mechanical arm.
2. The flight vision positioning material taking method applied to the compound robot as claimed in claim 1, characterized in that: the photographing time difference is not more than 5 s.
3. The flight vision positioning material taking method applied to the compound robot as claimed in claim 1, characterized in that: the flight vision mechanism is arranged at the tail end of the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198542.0A CN113799140A (en) | 2021-10-14 | 2021-10-14 | Flight vision positioning material taking method applied to composite robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198542.0A CN113799140A (en) | 2021-10-14 | 2021-10-14 | Flight vision positioning material taking method applied to composite robot |
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| Publication Number | Publication Date |
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| CN113799140A true CN113799140A (en) | 2021-12-17 |
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| CN202111198542.0A Pending CN113799140A (en) | 2021-10-14 | 2021-10-14 | Flight vision positioning material taking method applied to composite robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
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2021
- 2021-10-14 CN CN202111198542.0A patent/CN113799140A/en active Pending
Patent Citations (9)
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| CN208614793U (en) * | 2018-06-29 | 2019-03-19 | 苏州东控自动化科技有限公司 | A kind of vision positioning system of combined mobile robot |
| WO2020049768A1 (en) * | 2018-09-07 | 2020-03-12 | オムロン株式会社 | Manipulator and mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
| CN114538088B (en) * | 2022-02-11 | 2024-02-13 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision material taking and placing method based on fly shooting |
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Application publication date: 20211217 |