Multi-station visual calibration method

The invention discloses a multi-station visual calibration method, which comprises a plurality of goods shelves arranged at intervals and manipulators arranged at adjacent positions of the goods shelves, each goods shelf is provided with an independent manipulator, the displacement of the manipulato...

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Bibliographic Details
Main Authors SONG WENXIA, HE XI, LIANG HANJI
Format Patent
LanguageChinese
English
Published 28.05.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a multi-station visual calibration method, which comprises a plurality of goods shelves arranged at intervals and manipulators arranged at adjacent positions of the goods shelves, each goods shelf is provided with an independent manipulator, the displacement of the manipulators is controlled by a multi-axis driving device, and the position directions of the manipulators comprise an X-axis direction, a Y-axis direction and a Z-axis direction. The manipulator is provided with a visual photographing device; the calibration method comprises the following steps of: 1, importing shelf drawing parameters into the virtual simulation interaction platform, and acquiring the distance Ls between every two material levels; 2, a manipulator is used for teaching the first material position poses (X1, Y1, Z1, Rx1, Ry1 and Rz1) of the goods shelf and the Nth material position poses (Xn, Yn, Zn, Rxn, Ryn and Rzn) of the same row; and according to the two poses, the inclination angles of the two poses at
Bibliography:Application Number: CN202410429608