The invention discloses a posture and moving track positioning system and method of robot grabbing an online workpiece. The device comprises a camera support, an industrial camera, the tested workpiece, a workpiece conveying belt, a tail end executer, a robot system, a workbench, an image processor and the like. The method comprises the steps that a depth positioning model of a plane point in an absolute coordinate system in the vertical direction, a depth positioning model of a space point in the absolute coordinate system in the vertical direction, an X-axis positioning model of the plane point in the absolute coordinate system in the horizontal direction and an X-axis positioning model of the space point in the absolute coordinate system in the horizontal direction are established, three-dimensional coordinates of imaging points in all the cameras can be solved through combination of the priori knowledge of the workpiece, accordingly, and a robot can be guided to adopt the accurate tail end executer posture and movement track to intelligently grab the workpiece accurately. The posture and moving track positioning system and method have the advantages that the grabbing precision is high, the structure is simple, and cost is low.

Posture and moving track positioning system and method of robot grabbing online workpiece

The invention provides a hot-line work robot control system based on dual mechanical arms and an auxiliary arm. The first mechanical arm, the second mechanical arm and the auxiliary mechanical arm each carry a binocular camera; the binocular cameras are used for acquiring operation scene images of the mechanical arms and sending the operation scene images to a data process and control system; the data process and control system plans a mechanical arm spatial path according to the operation scene images; according to a specific method, the tail end positions of the mechanical arms and an operation target position are converted into a same reference coordinate system, and the coordinate difference between the tail end positions of the mechanical arms and the operation target position under the same reference coordinate system is acquired; and according to the coordinate difference, the angle expected value of each joint of the mechanical arms is solved out through an inverse kinematic computing method. According to the hot-line work robot control system based on the dual mechanical arms and the auxiliary arm, based on a method in which binocular vision is combined with coordinate conversion, the mechanical arms are autonomously controlled to complete the hot-line work target of a distribution line, the labor intensity of operation personnel is relieved, and safety is improved.

Hot-line work robot control system based on dual mechanical arms and auxiliary arm

The invention relates to the technical field of medical robots, in particular to a robot vision servo control device of a binocular three-dimensional video camera and an application method of the robot vision servo control device. The robot vision servo control device comprises a robot subsystem and a vision control subsystem. The robot subsystem comprises a robot controller and a knuckle type six-freedom-degree robot. The vision control subsystem comprises the binocular three-dimensional video camera and a vision controller. The output end of the robot controller is electrically connected with the input end of the knuckle type six-freedom-degree robot. The robot controller and the vision controller are connected through both-way communication. The output end of the binocular three-dimensional video camera is electrically connected with the input end of the vision controller. The relative position of the robot and a target is detected in real time through the fixed type binocular three-dimensional video camera, the position error is calculated, and following rapidness and accuracy of the robot are guaranteed. Collisions are avoided, the target tracking accuracy of the robot in the medical surgery is effectively improved, the surgery safety is ensured, and the risk coefficient of the surgery is lowered.

Robot vision servo control device of binocular three-dimensional video camera and application method of robot vision servo control device

The invention relates to a coating peeling, surface finishing and burring equipment, in particular to pulse water jet coating peeling and finishing equipment comprising a protecting cover. The protecting cover is provided with collecting box inside, the side of the collecting box is fixedly provided with a robot executing mechanism, a sprayer device is fixed to the front end of a moving arm of the robot executing mechanism, the surface of a high-pressure generating device is provided with a pressure regulator, the high-pressure generating device is connected to the sprayer device through a high-pressure pipeline, the upper end of the sprayer device is fixed to an ultrasonic transducer connected to an ultrasonic generator through a cable, and the lower end of the ultrasonic transducer is connected to a high-pressure water jet sprayer; the top of the protecting cover is provided with a fog absorbing device, and the fog absorbing port of the fog absorbing device corresponds to the washing station of the sprayer device. By the aid of the finishing equipment, carbon deposition and coating of the surfaces of aerospace engine parts, the parts can be washed, and the surfaces can be finished.

Pulse water jet coating peeling and finishing equipment

The invention relates to a robot disordered grabbing device and a method based on a single camera. The device comprises a worktable, a taking frame, a sucker, a robot, the single camera and an emptying frame; the taking frame and the emptying frame are arranged on the worktable at intervals; the robot is arranged on the worktable, and is positioned between the taking frame and the emptying frame; the sucker is arranged on a terminal actuator of the robot; a bracket is arranged on the worktable; the single camera is arranged on the bracket; and the sucker, the robot and the single camera are electrically connected with a central processing unit in an external control cabinet. The device can realize disordered grabbing process of the robot through obtaining pose information of target objects stacked in three-dimensional space disorderly, has such advantages as low measurement cost, high grabbing success rate, high placing precision and convenience to operate, and realizes automation and intelligence of the grabbing process.

Robot disordered grabbing device and method based on single camera

The invention discloses a system and a method for machine vision-based robot sorting. The system comprises a CCD digital camera, a camera lens, a light source, a six-axle joint robot main body, an electrical control cabinet and a vacuum sucker. The CCD digital camera is connected to an industrial computer by a switch. The six-axle joint robot main body is connected to the electrical control cabinet. The electrical control cabinet accesses the switch. The vacuum sucker is rigidly fixed to the tail end of the six-axle joint robot main body. The camera unit is used for making a photo of an object to be sorted, collecting data and transmitting the data to the industrial computer by the switch. The industrial computer is used for treating the acquired photo of the object to be sorted, carrying out accurate positioning and then transmitting a control signal to the electrical control cabinet by the switch. The electrical control cabinet is used for controlling the six-axle joint robot main body to carry out corresponding sorting processes according to the received control signal. The system and the method improve work efficiency, reduce operation workers and reduce a production cost in sorting.

Guo Xudong

Papers

System and method for machine vision-based robot sorting