Processing

Please wait...

Settings

Settings

Goto Application

1. WO2020133873 - THREE-DIMENSIONAL VISION-BASED PRODUCTION METHOD BY AUTOMATICALLY CALCULATING ROBOT GLUE COATING TRAJECTORY

Publication Number WO/2020/133873
Publication Date 02.07.2020
International Application No. PCT/CN2019/086537
International Filing Date 13.05.2019
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
CPC
B25J 11/0075
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
0075Manipulators for painting or coating
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
Applicants
  • 南京埃克里得视觉技术有限公司 EUCLID LABS (NANJING) CORPORATION LIMITED. [CN]/[CN]
Inventors
  • 章悦晨 ZHANG, Yuechen
  • 王杰高 WANG, Jiegao
  • 严律 YAN, Lv
  • 王明松 WANG, Mingsong
Agents
  • 南京睿之博知识产权代理有限公司 NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
201811609355.527.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) THREE-DIMENSIONAL VISION-BASED PRODUCTION METHOD BY AUTOMATICALLY CALCULATING ROBOT GLUE COATING TRAJECTORY
(FR) PROCÉDÉ DE PRODUCTION ASSISTÉE PAR VISION TRIDIMENSIONNELLE, PAR CALCUL AUTOMATIQUE D'UNE TRAJECTOIRE D’APPLICATION DE COLLE POUR ROBOT
(ZH) 基于三维视觉的机器人涂胶轨迹自动生产方法
Abstract
(EN)
A three-dimensional vision-based production method by automatically calculating a robot gluing trajectory, comprising: first, using a three-dimensional camera to acquire a three-dimensional point cloud for a product to be glued for which a trajectory needs to be set; then, processing the acquired data by means of parameters and corresponding calculations to implement contour recognition of said product; and finally, automatically calculating robot gluing points and the posture corresponding to each point according to the trajectory and posture setting required by a gluing process of said product. Compared with the method of setting a robot gluing trajectory by manual teaching, the present method can save labor costs, shorten the overall production cycle, improve production efficiency, and achieves a quick and convenient process.
(FR)
L’invention concerne un procédé de production assistée par vision tridimensionnelle, par calcul automatique d'une trajectoire d’encollage pour robot, consistant : premièrement, à utiliser une caméra tridimensionnelle pour acquérir un nuage de points tridimensionnel pour un produit à coller pour lequel une trajectoire doit être réglée ; puis, à traiter des données acquises au moyen de paramètres et de calculs correspondants pour effectuer une reconnaissance de contour dudit produit ; et enfin, à calculer automatiquement des points d’encollage de robot et de l’orientation correspondant à chaque point selon le réglage de trajectoire et d’orientation requis par un processus d’encollage dudit produit. Par comparaison avec le procédé de réglage d'une trajectoire d’encollage de robot par apprentissage manuel, le présent procédé peut économiser des coûts de main-d’œuvre, raccourcir le cycle de production global, améliorer l'efficacité de production, et permet un processus rapide et pratique.
(ZH)
一种基于三维视觉的机器人涂胶轨迹自动生产方法,先采用三维相机对需要设置轨迹的待涂胶产品进行三维点云的采集;然后通过参数及对应的系列计算对采集的数据进行处理,完成待涂胶产品轮廓的识别;最后通过对应待涂胶产品的涂胶工艺要求的轨迹姿态设置来自动计算出机器人涂胶点位以及每个点对应的姿态。本方法相比人工示教机器人涂胶轨迹的方法更节约人工成本,缩短整体生成周期、提高生产效率,工艺变更快捷方便。
Also published as
Latest bibliographic data on file with the International Bureau