CN106903720A - A kind of auto-correction method of the coordinate vision of delivery platform and robot - Google Patents
A kind of auto-correction method of the coordinate vision of delivery platform and robot Download PDFInfo
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- CN106903720A CN106903720A CN201710290661.6A CN201710290661A CN106903720A CN 106903720 A CN106903720 A CN 106903720A CN 201710290661 A CN201710290661 A CN 201710290661A CN 106903720 A CN106903720 A CN 106903720A
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- frock
- test block
- delivery platform
- robot
- coordinate
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims abstract description 4
- 238000004519 manufacturing process Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of delivery platform and the auto-correction method of the coordinate vision of robot, it is characterised in that comprise the following steps：A frock of " work " shape is made, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed at the calibration point of robot system, and the other end is placed in the visual range of vision system；A test block is made, test block imitates actual production material and made；Test block is placed on a moving belt, conveyer is opened；Adjust vision system one end of frock, it is ensured that frock angle is parallel with test block movement route, after correction is parallel, open vision system, position and attitude of the analysis frock in visual range calculates correction parameter, realize that the coordinate of two systems is demarcated automatically.Auto-correction method of the invention is easy and effective, the coordinate of the vision system of delivery platform and robot system can automatically efficiently easily be corrected into pairing, so as to realize intuitively operating machine from operating system.
Description
Technical field
The present invention relates to robot device, the automatic correction side of the coordinate vision of specifically a kind of delivery platform and robot
Method.
Background technology
During current plant produced, the plant equipment of Based Intelligent Control can be all used, robot is commonly refereed to as by most company,
General robot is all the operation machinery on the screen of operating system, but the machinery bought all is to need when generally entering factory
To be corrected, it is necessary to unified the vision system of delivery platform with the coordinate of robot system.
The content of the invention
It is simple to operate it is an object of the present invention to provide one kind, convenient and practical delivery platform and the coordinate vision of robot from
Dynamic bearing calibration.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of delivery platform and the auto-correction method of the coordinate vision of robot, comprise the following steps：
A, one frock of " work " shape of making；
B, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed in the calibration point of robot system
Place, the other end is placed in the visual range of vision system；
C, one test block of making, test block imitate actual production material and are made；
D, by test block place on a moving belt, open conveyer, test block is run on a moving belt；
Vision system one end of E, regulation frock, it is ensured that frock angle is parallel with test block movement route, after correction is parallel,
Vision system is opened, position and attitude of the analysis frock in visual range calculates correction parameter, realize the seat of two systems automatically
Mark is demarcated.
Preferably, laser detection parallel device is housed, for detecting test block operating path in the frock, it is ensured that operation
Path is straight line.
The beneficial effects of the invention are as follows：
Auto-correction method of the invention is easy and effective, without manual adjustment, can easily efficiently by delivery platform
The coordinate of vision system and robot system correct pairing automatically, so as to realize intuitively operating machine from operating system
Device people.
Specific embodiment
In order to be easy to understand to technological means of the invention, creation characteristic, reached purpose and effect, further below
Illustrate the present invention.
The present invention discloses the auto-correction method of a kind of delivery platform and the coordinate vision of robot, comprises the following steps：
A, one frock of " work " shape of making；
B, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed in the calibration point of robot system
Place, the other end is placed in the visual range of vision system；
C, one test block of making, test block imitate actual production material and are made；
D, by test block place on a moving belt, open conveyer, test block is run on a moving belt；
Vision system one end of E, regulation frock, it is ensured that frock angle is parallel with test block movement route, after correction is parallel,
Vision system is opened, position and attitude of the analysis frock in visual range calculates correction parameter, realize the seat of two systems automatically
Mark is demarcated.
Preferably, laser detection parallel device is housed, for detecting test block operating path in the frock, it is ensured that operation
Path is straight line.
Invention described above implementation method, is not intended to limit the scope of the present invention..It is any in the present invention
Spirit and principle within modification, equivalent and the improvement made etc., should be included in claim protection model of the invention
Enclose it.
Claims (2)
1. the auto-correction method of the coordinate vision of a kind of delivery platform and robot, it is characterised in that comprise the following steps：
A, one frock of " work " shape of making,
B, " work " shape frock is placed on delivery platform, " work " shape frock one end is placed at the calibration point of robot system, separately
One end is placed in the visual range of vision system；
C, one test block of making, test block imitate actual production material and are made；
D, by test block place on a moving belt, open conveyer；
Vision system one end of E, regulation frock, it is ensured that frock angle is parallel with test block movement route, after correction is parallel, opens
Vision system, position and attitude of the analysis frock in visual range, calculates correction parameter automatically, realizes the coordinate mark of two systems
It is fixed.
2. a kind of auto-correction method of the coordinate vision of delivery platform and robot according to claim 1, its feature exists
In equipped with laser detection parallel device in the frock, for detecting test block operating path, it is ensured that operating path is one straight
Line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290661.6A CN106903720A (en) | 2017-04-28 | 2017-04-28 | A kind of auto-correction method of the coordinate vision of delivery platform and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290661.6A CN106903720A (en) | 2017-04-28 | 2017-04-28 | A kind of auto-correction method of the coordinate vision of delivery platform and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903720A true CN106903720A (en) | 2017-06-30 |
Family
ID=59210109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710290661.6A Pending CN106903720A (en) | 2017-04-28 | 2017-04-28 | A kind of auto-correction method of the coordinate vision of delivery platform and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903720A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN105234943A (en) * | 2015-09-09 | 2016-01-13 | 大族激光科技产业集团股份有限公司 | Industrial robot demonstration device and method based on visual recognition |
| EP2993002A1 (en) * | 2014-09-03 | 2016-03-09 | Canon Kabushiki Kaisha | Robot apparatus and method for controlling robot apparatus |
| CN106018421A (en) * | 2016-07-07 | 2016-10-12 | 李大伟 | Method for adjusting surface of plane component to be parallel to motion plane |
| WO2017055955A1 (en) * | 2015-09-29 | 2017-04-06 | Koninklijke Philips N.V. | Automatic robotic arm calibration to camera system using a laser |
-
2017
- 2017-04-28 CN CN201710290661.6A patent/CN106903720A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| EP2993002A1 (en) * | 2014-09-03 | 2016-03-09 | Canon Kabushiki Kaisha | Robot apparatus and method for controlling robot apparatus |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN105234943A (en) * | 2015-09-09 | 2016-01-13 | 大族激光科技产业集团股份有限公司 | Industrial robot demonstration device and method based on visual recognition |
| WO2017055955A1 (en) * | 2015-09-29 | 2017-04-06 | Koninklijke Philips N.V. | Automatic robotic arm calibration to camera system using a laser |
| CN106018421A (en) * | 2016-07-07 | 2016-10-12 | 李大伟 | Method for adjusting surface of plane component to be parallel to motion plane |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |