移动机器人在自动化生产线上下料中的定位方法

Positioning Method of Mobile Robots in the Process of Automatic Production Line Loading and Unloading

针对移动机器人在自动化生产线上下料中的定位方法,重点研究自动化生产线上下料工位卡盘和末端作业面的视觉定位问题。首先分析了移动机器人在生产线上下料工序中的工作原理及其基本结构,包括移动机器人(AGV+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深度学习算法来识别生产线上下料工位卡盘和末端作业面,进而实现了移动机器人在生产线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深度学习的移动机器人视觉定位方法,该方法可以有效地识别生产线上下料工位卡盘和末端作业面。最后,对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,提出的定位方法能够有效地提高移动机器人在生产线上下料过程中的定位精度和工作效率,位移偏差在8.3 mm以内、角度偏差在6.4°以内时均可以正常工作,超出该偏差则需要重新标定。为移动机器人在生产线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。

Based on the positioning method of mobile robots in the process of automatic production line loading and unloading,the positioning of automatic production line dish and end-end operation surfaces is focused on.Firstly,the working principle and basic structure of mobile robots in the process of automatic production line loading and unloading are analyzed,including the functions and characteristics of AGV(automatic guided vehicle)and cooperative robot.Secondly,a detailed explanation is given on how to use visual systems and deep learning algorithms to identify the cutting station chuck and end working surface on the production line,thereby achieving precise positioning of mobile robots during the cutting operation process on the production line.Then,a positioning method based on visual systems and deep learning is proposed,which can effectively identify automatic production line dish and end-end operation surfaces.Finally,the proposed localization method is experimentally validated and compared with existing localization 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 automatic production line loading and unloading,the automatic production line will regular work at the offset that no more than 8.3 mm of position and 6.4°of angle,otherwise it request a recalibration.The research provides a valuable positioning method for the application of mobile robots in automatic production line loading and unloading,and has a high practical value.