CN109015637A - Automobile manufacture production line vision guide charging method - Google Patents
Automobile manufacture production line vision guide charging method Download PDFInfo
- Publication number
- CN109015637A CN109015637A CN201810914250.4A CN201810914250A CN109015637A CN 109015637 A CN109015637 A CN 109015637A CN 201810914250 A CN201810914250 A CN 201810914250A CN 109015637 A CN109015637 A CN 109015637A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- deviation
- truck
- feeding
- production line
- 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.)
- Pending
Links
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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automobile manufacture production line vision guide charging method, truck is pushed to feeding station, is mounted on the coarse positioning camera above feeding station and takes pictures；Thick deviation of the workpiece on truck is judged according to coarse positioning camera result of taking pictures；Robot adjusts handgrip position according to thick bias contribution；The laser being mounted on handgrip successively takes pictures to corresponding feature point；The smart deviation of workpiece is judged according to result according to laser beat；Robot according to smart deviation adjusting handgrip position, after grabbed, complete feeding.The present invention seeks the two-stage visual guide method of position using camera coarse positioning-laser essence, it solves the windrows such as automobile front floor to put, and the vision guide feeding of the workpiece using truck feeding, feeding process height is intelligent, automates, workpiece locating speed is fast, registration, loading efficiency is high, meets automobile manufacture production line productive temp.
Description
Technical field
The present invention relates to automobile manufacturing field more particularly to a kind of automobile manufacture production line vision guide charging methods.
Background technique
Automobile front floor is one of main member of car body, due to the structure on preceding floor, before when the supplied materials of floor
Windrow is put, and is transported to feeding station by truck.
In feeding process, since vehicle has derivation to distinguish, feeding is error-prone, and carries out high speed crawl using robot,
Grasp speed is fast, and position accuracy demand is high, and artificial teaching again after fixture, sensor sensing positioning is unable to reach position precision
It is required that and preceding floor supplied materials also with angled rotation, even more aforementioned positioning method can not solve.In order to guarantee feeding workpiece model
Correctness and robot feeding grab precision, automobile front floor crawl when introduce vision system preceding floor pieces are sent
Raw identification and guided robot feeding, to guarantee feeding accuracy and grab the demand of beat and precision.
Summary of the invention
The purpose of the present invention is designing one kind to be used in automobile manufacture production line, automobile noseplate etc. needs windrow to put, and leads to
Cross the charging method that truck is transported to the workpiece of feeding station.
For achieving the above object, the technical scheme is that a kind of automobile manufacture production line vision guide feeding
Method needs windrow to put, the workpiece feeding of feeding station is transported to by truck, specifically includes as follows for automobile noseplate etc.
Step:
Step 1, the guidance of camera coarse positioning
Truck is pushed to feeding station, is mounted on the coarse positioning camera above feeding station and takes pictures；
Thick deviation of the workpiece on truck is judged according to coarse positioning camera result of taking pictures；
Robot adjusts posture and the position of handgrip, the plan-position of Primary Location workpiece supplied materials according to thick bias contribution；
Step 2,3D laser accurately seek position
The 3D laser being mounted on handgrip successively takes pictures to character pair point in target workpiece；
The smart deviation of workpiece is accurately calculated according to result according to 3D laser beat；
Robot according to smart deviation adjusting handgrip position, after grabbed, complete feeding.
Further, it is also equipped with laser pen above feeding station, the height of workpiece and base position when for detecting supplied materials
Difference.
Further, thick deviation, smart deviation include offset deviation and rotating deviation of the workpiece on truck.
Further, coarse positioning camera can also complete similar work piece identification by detecting the presence of to feature point.
Further, if monolithic is whole when workpiece, primary smart deviation judgement and adjustment are only needed, it is primary to grab；If
Workpiece is two halves, then smart deviation judgement and adjustment twice, grabs twice.
The beneficial effects of the present invention are:
The present invention seeks the two-stage visual guide method of position using camera coarse positioning-laser essence, solves the windrows such as automobile front floor
It puts, and the vision guide feeding of the workpiece using truck feeding, feeding process height is intelligent, automates, workpiece positioning speed
Degree is fast, registration, and loading efficiency is high, meets automobile manufacture production line productive temp.
Detailed description of the invention
Fig. 1 is the camera coarse positioning schematic diagram of the embodiment of the present invention；
Fig. 2 is that the laser of the embodiment of the present invention accurately seeks a schematic diagram.
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Specific embodiment
Technical solution is clearly and completely described below in conjunction with the embodiment of the present invention.
In automobile manufacture production, windrow is put when the workpiece supplied materials such as automobile front floor, is transported to feeding station by truck.By
Larger in the material frame of truck, placement position of the workpiece in material frame is free, directlys adopt positioning accuracy height but range of taking pictures is smaller
Laser, it may appear that the problem of location hole is except shot region.In order to enable laser to take the location hole on workpiece
Position increases coarse positioning function, provides general deviation post (Δ x of the workpiece in truck before fine positioning step1, Δ y1, Δ
z1, Δ Rx, Δ Rz).Calculated deviation is sent to robot by vision system, and robot is inclined on original teaching position
It moves, then starts 3D laser beat and shine, detect precision runout position (Δ x2, Δ y2, Δ z2, Δ Rx, Δ Ry, Δ Rz) and it sends out again
Robot is given, robot adjusts posture and reaches workpiece position, realizes accurate grabbing workpiece.
The embodiment of the present invention is as follows: a kind of automobile manufacture production line vision guide charging method, is used for automobile noseplate
Etc. needing windrow to put, it is transported to the workpiece feeding of feeding station by truck, specifically comprises the following steps:
Step 1, the guidance of camera coarse positioning
Fig. 1 is camera coarse positioning schematic diagram, as shown in Figure 1,1 windrow of workpiece is on truck 2, truck 2 is pushed to feeding station 3,
Feeding station 3 is equipped with coarse positioning camera 4, and coarse positioning camera 4 is specifically mounted on the surface of 2 stand of truck.Feeding work
3 top of position is also equipped with laser pen, the difference in height of workpiece and base position when for detecting supplied materials.
Truck 2 sets out afterwards in place close to switch, and coarse positioning camera 4 takes pictures to the workpiece 1 on truck 2.
Image processing system judges thick deviation (Δ x of the workpiece on truck according to the result of taking pictures of coarse positioning camera 41, Δ y1,
Δz1, Δ Rx, Δ Rz).
Model differentiation is derived from since the preceding floor of vehicle has, is not prevented from feeding error, coarse positioning camera can also be by spy
Levying Point location detection, whether there is or not complete similar work piece identification.
Robot 8 is according to thick deviation (Δ x1, Δ y1, Δ z1, Δ Rx, Δ Rz) and result adjustment 6 position of handgrip；
Step 2, laser accurately seek position
Fig. 2 is that laser accurately seeks a schematic diagram, as shown in Fig. 2, the laser 7 being mounted on handgrip 6 is successively to corresponding feature
Point 9 is taken pictures.
Smart deviation (the Δ x of workpiece is accurately calculated according to the result of taking pictures of laser 72, Δ y2, Δ z2, Δ Rx, Δ Ry, Δ
Rz)；
Robot 8 is according to smart deviation (Δ x2, Δ y2, Δ z2, Δ Rx, Δ Ry, Δ Rz) adjustment handgrip position, after grabbed, it is complete
At feeding.
If monolithic is whole when workpiece, a deviation is only needed to calculate, it is primary to grab；If workpiece is two halves, need
Deviation is calculated twice, grabbed twice.
Since deviation of the workpiece on truck is in addition to straight-line displacement, it is also possible to which with angled rotation, therefore thick deviation, essence are partially
Difference includes straight-line displacement deviation and rotating deviation of the workpiece on truck.
Fine positioning-essence of the invention seeks a two-stage vision guide, compared to the simple camera being mounted on robot gripper+
The vision system of laser, cost is lower, and camera uses 2D camera, is fixedly mounted on feeding station, and camera precision is high, is not present
With the mobile action error generated of handgrip.The coarse positioning function of coarse positioning camera is realized complete before handgrip reaches feeding station
At, it does not need robot hovering and waits, saving detection time, high production efficiency.
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Claims (5)
1. a kind of automobile manufacture production line vision guide charging method, needs windrow to be placed in truck for automobile noseplate etc.,
The workpiece feeding of feeding station is transported to by truck, which is characterized in that specifically comprise the following steps:
Step 1, the guidance of camera coarse positioning
Truck is pushed to feeding station, is mounted on the coarse positioning camera above feeding station and takes pictures；
Thick deviation of the workpiece on truck is judged according to coarse positioning camera result of taking pictures；
Robot adjusts posture and the position of handgrip, the plan-position of Primary Location workpiece supplied materials according to thick bias contribution；
Step 2,3D laser accurately seek position
The 3D laser being mounted on handgrip successively takes pictures to character pair point in target workpiece；
The smart deviation of workpiece is accurately calculated according to result according to 3D laser beat；
Robot according to smart deviation adjusting handgrip position, after grabbed, complete feeding.
2. automobile manufacture production line vision guide charging method according to claim 1, which is characterized in that on feeding station
Side is also equipped with laser pen, the difference in height of workpiece and base position when for detecting supplied materials.
3. automobile manufacture production line vision guide charging method according to claim 1, which is characterized in that thick deviation, essence
Deviation includes offset deviation and rotating deviation of the workpiece on truck.
4. automobile manufacture production line vision guide charging method according to claim 1, which is characterized in that coarse positioning camera
Similar work piece identification can also be completed by detecting the presence of to feature point.
5. automobile manufacture production line vision guide charging method according to claim 1, which is characterized in that if when workpiece
Monolithic is whole, then only needs primary smart deviation judgement and adjustment, primary to grab；If workpiece is two halves, smart deviation is sentenced twice
Disconnected and adjustment, grabs twice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810914250.4A CN109015637A (en) | 2018-08-13 | 2018-08-13 | Automobile manufacture production line vision guide charging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810914250.4A CN109015637A (en) | 2018-08-13 | 2018-08-13 | Automobile manufacture production line vision guide charging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015637A true CN109015637A (en) | 2018-12-18 |
Family
ID=64632912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810914250.4A Pending CN109015637A (en) | 2018-08-13 | 2018-08-13 | Automobile manufacture production line vision guide charging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015637A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709974A (en) * | 2019-01-04 | 2019-05-03 | 南京航空航天大学 | A kind of two-dimensional space guidance localization method based on laser ranging |
| CN111975389A (en) * | 2020-08-28 | 2020-11-24 | 湛江德利车辆部件有限公司 | Production line based on visual identification robot |
| CN112018424A (en) * | 2020-07-30 | 2020-12-01 | 惠州市德赛电池有限公司 | Automatic correction method for battery production line |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN117103276A (en) * | 2023-10-07 | 2023-11-24 | 无锡斯帝尔科技有限公司 | Precise grabbing method and system for robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5832415A (en) * | 1994-10-18 | 1998-11-03 | Eos Gmbh Electro Optical Systems | Method and apparatus for calibrating a control apparatus for deflecting a laser beam |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN101637908A (en) * | 2008-07-29 | 2010-02-03 | 上海发那科机器人有限公司 | Visual positioning method for robot transport operation |
| CN106625676A (en) * | 2016-12-30 | 2017-05-10 | 易思维（天津）科技有限公司 | Three-dimensional visual accurate guiding and positioning method for automatic feeding in intelligent automobile manufacturing |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
-
2018
- 2018-08-13 CN CN201810914250.4A patent/CN109015637A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5832415A (en) * | 1994-10-18 | 1998-11-03 | Eos Gmbh Electro Optical Systems | Method and apparatus for calibrating a control apparatus for deflecting a laser beam |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN101637908A (en) * | 2008-07-29 | 2010-02-03 | 上海发那科机器人有限公司 | Visual positioning method for robot transport operation |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN106625676A (en) * | 2016-12-30 | 2017-05-10 | 易思维（天津）科技有限公司 | Three-dimensional visual accurate guiding and positioning method for automatic feeding in intelligent automobile manufacturing |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709974A (en) * | 2019-01-04 | 2019-05-03 | 南京航空航天大学 | A kind of two-dimensional space guidance localization method based on laser ranging |
| CN109709974B (en) * | 2019-01-04 | 2021-01-19 | 南京航空航天大学 | Two-dimensional space guiding and positioning method based on laser ranging |
| CN112018424A (en) * | 2020-07-30 | 2020-12-01 | 惠州市德赛电池有限公司 | Automatic correction method for battery production line |
| CN112018424B (en) * | 2020-07-30 | 2021-12-31 | 惠州市德赛电池有限公司 | Automatic correction method for battery production line |
| CN111975389A (en) * | 2020-08-28 | 2020-11-24 | 湛江德利车辆部件有限公司 | Production line based on visual identification robot |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN117103276A (en) * | 2023-10-07 | 2023-11-24 | 无锡斯帝尔科技有限公司 | Precise grabbing method and system for robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015637A (en) | Automobile manufacture production line vision guide charging method | |
| CN109665307B (en) | Work system, work execution method for article, and robot | |
| CN104786865B (en) | A kind of method of docking of being charged for electric automobile is provided based on monocular vision | |
| US10232512B2 (en) | Coordinate system setting method, coordinate system setting apparatus, and robot system provided with coordinate system setting apparatus | |
| KR102056664B1 (en) | Method for work using the sensor and system for performing thereof | |
| CN109249390B (en) | Robot system | |
| US9227323B1 (en) | Methods and systems for recognizing machine-readable information on three-dimensional objects | |
| US9782896B2 (en) | Robot system and control method for robot system | |
| JP4226623B2 (en) | Work picking device | |
| EP2868441A1 (en) | Robot control device, robot system, and robot | |
| JP2018176334A (en) | Information processing device, measurement device, system, interference determination method and article manufacturing method | |
| EP3328181B1 (en) | Component mounting machine and component mounting system | |
| CN112720458B (en) | System and method for online real-time correction of robot tool coordinate system | |
| CN110524697B (en) | Automatic glaze spraying system for toilet bowl blank and positioning method thereof | |
| CN106269548A (en) | A kind of object automatic sorting method and device thereof | |
| JP2016055389A (en) | Article conveyance system | |
| CN209363063U (en) | A kind of high-precision vision application sorting equipment | |
| CN109353815A (en) | The method and system of secondary boot piece uploading are carried out using existing visual sensor | |
| CN109604468B (en) | Workpiece stamping system based on machine vision and control method thereof | |
| CN108067440A (en) | A kind of eyedrops bottle sorting and packaging system and method | |
| CN109483543A (en) | The method and system of secondary boot piece uploading are carried out using workpiece different location characteristic information | |
| CN206643574U (en) | A kind of automatic connector assembly robot system | |
| CN114873401B (en) | Lifting elevator positioning system and method based on gravity energy storage | |
| CN106493731A (en) | A kind of use robot 3D visions realize that brake disc tears the method that stamps open | |
| CN114199130B (en) | Optical information characteristic extraction equipment for inertial pose self-adjustment correction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20181218 |