%0 Journal Article
%T 基于视觉的移载协作机器人机床上下料末端纠偏算法<br>Vision-Based end Correction Algorithm for Collaborative Robot Machine Tool Loading and Unloading
%A 李晨杰
%A 彭卓然
%A 唐渝伟
%A 周昊晖
%A 余杰先
%A 张旭
%A 李树强
%A 李腾飞
%J Artificial Intelligence and Robotics Research
%P 130-142
%@ 2326-3423
%D 2024
%I Hans Publishing
%R 10.12677/AIRR.2024.131015
%X 针对复合机器人在机床上下料中的定位方法，本文主要关注识别机床卡盘和末端作业面的定位。首先分析了复合机器人在机床上下料过程中的工作原理及其基本结构，包括AGV (自动导引车)和协作机器人的功能及特点。然后，详细阐述了如何使用视觉系统和纠偏算法来识别机床卡盘和末端作业面，进而实现了复合机器人在机床上下料作业过程中的精确定位。接着提出了一种基于视觉系统和纠偏算法的复合机器人定位方法，该方法可以有效地识别机床卡盘和末端作业面。最后，对文中所提出的定位方法进行了实验验证，并与现有的定位方法进行了比较。实验结果表明，本文提出的定位方法能够有效地提高复合机器人在机床上下料过程中的定位精度和工作效率。总之，本研究为复合机器人在机床上下料中的应用提供了一种有效的定位方法，具有较高的实用价值。<br />
Based on the positioning method of composite robots in machine tool stacking and unloading, this paper focuses on the positioning of machine tool dishes and end-end operation surfaces. Firstly, based on the working principle and basic structure of composite robots in the process of machine tool stacking and unloading, including the functions and characteristics of AGV (automatic guided vehicle) and assistant robot, we have elaborately elaborated on how to identify machine tool dish and end-end operation surfaces through visual systems and end correction algorithm. In this way, we can achieve accurate positioning of composite robots in the process of machine tool stacking and unloading. Then this paper proposed a positioning method based on visual systems and end correction algorithm, which can effectively identify machine tool dish and end-end operation surfaces. Finally, conducted experiments to verify the proposed positioning method and compare it with existing positioning methods. The experimental results show that the proposed positioning method can effectively improve the positioning accuracy and work efficiency of composite robots in the process of machine tool stacking and unloading. In summary, this research provides a valuable positioning method for the application of composite robots in machine tool loading and unloading and has a high practical value.
%K 机器人，视觉识别，AGV，坐标转换，机床上下料<br>Robot
%K Vision Recognition
%K AGV
%K Coordinate Transformation
%K Machine Loading and Unloading
%U http://www.hanspub.org/journal/PaperInformation.aspx?PaperID=81972