CN101666619A - Method for calculating absolute coordinates of work piece - Google Patents
Method for calculating absolute coordinates of work piece Download PDFInfo
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Abstract
The invention relates to a method for calculating absolute coordinates of a work piece. The method uses an industrial measuring device to extract and calculate characteristic points of a work piece, the coordinates of the characteristic points of the work piece in a coordinate system of the measuring device are transformed into a coordinate system in the robot world by a space coordinates transformation algorithm, and a coordinate system of the work piece is created by extracting three different characteristic points. The invention solves the difficult problem caused by the position uncertainty of the work piece in the production process of a robot, can effectively reduce difficulties in designing tooling and improve the manufacturing precision.
Description
Technical field
The present invention relates to robot automation's control technology and line Measurement Technique, is a kind of based on workpiece features point is extracted, and calculates the method for workpiece absolute coordinates.
Background technology
In fields such as robot automation's processing, carrying, assemblings, for improving the flexibility and the degree of intelligence of robot system operation, before robot carries out operation to workpiece, at first utilize measuring equipment that the workpiece features point is extracted, measures, utilize the space coordinate transformation algorithm that unique point is transformed in robot world's coordinate system again, thereby obtain the position of workpiece, i.e. workpiece coordinate system with respect to robot world's coordinate system.Calculate under the workpiece coordinate system, processes such as the processing relevant with workpiece, carrying, assembling are that reference frame is set up the robot motion path with workpiece coordinate all, thereby can be implemented in the automated production process, after new workpiece being measured, calculate, is obtained the coordinate system of this workpiece, upgrade original workpiece coordinate system, be the operating path of renewable robot, and the robot operating path after upgrading is to meet current workpiece pose fully at workpiece processing or carrying or assembling etc.
The method that multiple laser measurement location workpiece has been arranged at present, but there is following problem generally: the one, because the coordinate system of most laser measuring equipment self and not sum hardware mounting flange overlap, but in certain position (as CCD center etc.) of measuring equipment inside, can't directly demarcate by the method for physics, therefore need write complicated calibration algorithm and software, be aided with calibration tool, just can finish the staking-out work of measuring equipment, and this calibration process needs remote computer to carry out data operation and communication, increased system complexity; The 2nd, be characteristic portion to the measuring process of object by the single line laser scanning object, gather a large amount of point data, again data are carried out denoising, dilution, algorithm process, coupling etc. successively, finally obtain the deviation of object, carry out deviation compensation, this process complexity with respect to normal place, poor stability, to the requirement height of algorithm and software, and scanning process takies for a long time, greatly influenced rhythm and system benefit.
Summary of the invention
The present invention is intended to solve a difficult problem of bringing owing to location of workpiece uncertainty in the robot production run, to reduce the frock design difficulty, improves manufacturing accuracy, also improves intellectuality, the flexibility degree of robot automation's streamline simultaneously.
The scheme that the present invention deals with problems is: utilize commercial measurement equipment that the unique point of workpiece is extracted, calculated, downconvert under robot world's coordinate system from the measuring equipment coordinate system by the unique point coordinate of space coordinate transformation algorithm workpiece, by extracting three different unique points, create workpiece coordinate system.This procedure may further comprise the steps:
(1) measuring equipment is fixed on the robot executor tail end, and the position of measuring equipment is with respect to the invariant position of robot executor tail end;
(2) in robot motion's process, the position of measured workpiece is constant with respect to robot world's coordinate system;
(3) coordinate origin of measuring equipment is at the mounting flange central point of himself, and the spatial point calibrating function that carries by robot calibrates the coordinate origin of measuring equipment, by the software that measuring equipment carries, calculates the attitude of measuring equipment coordinate system;
(4) measuring equipment measuring workpieces different parts extracts three characteristic point data of workpiece under the measuring equipment coordinate system;
(5) according to the space coordinate transformation algorithm, three unique points of workpiece are downconverted under the world coordinate system of robot from the measuring equipment coordinate system, obtain three unique points of workpiece under robot world's coordinate system;
(6) set up the absolute coordinate system of workpiece according to three unique points, select first unique point as the workpiece coordinate system initial point, what first unique point was pointed to second unique point is the X-direction of workpiece coordinate system, the plane that three unique points are determined is as the XOY plane of workpiece coordinate system, thereby determines final workpiece coordinate system.
Among the present invention, utilize the absolute coordinate system of initialization workpiece that workpiece calibration is finished after, robot to workpiece process, carry, in the process such as assembling, the program of robot all is based upon workpiece coordinate and fastens.
The present invention calculates in the method for workpiece absolute coordinates, and conversion formula is P
Cam* P
Feature=P
Wld, P wherein
CamBe locus and the attitude relation of measuring equipment with respect to the robot executor tail end, P
WldBe the unique point under robot world's coordinate system; P
CamBe the RPY form, at first with P
CamBe converted to the Quaternion form, be converted to 44 matrixes again; P
FeatureFor the spatial point coordinate, with P
FeatureBe converted to the Vector vector format, can draw P by matrix and multiplication of vectors
Wld, P
WldBe the volume coordinate point.
Parameter setting: according to actual condition select robot speed and and the cooperation logic of surrounding devices etc. so that system reaches the most stable running status.
Automated system operation: finishing demarcation, teach, after the work such as setting, system possesses the condition of automatic operation, can put into production.
The invention has the advantages that:
The first, this crucial and complicated work of feature extraction of workpiece is peeled off away from measuring process, be integrated into measuring equipment inside, by the man-machine interaction software that measuring equipment carries the measuring equipment feature extraction algorithm is selected and parameter setting;
The second, can be according to the different choice of each feature of workpiece different feature extraction algorithms, compatible powerful;
The 3rd, compare other and obtain the cloud data at workpiece features position with scan mode, according to the method that cloud data positions workpiece, the process of the present invention design is simple, and stable, speed is fast, and does not need computer software that a cloud is handled;
The 4th, though what finally calculate is absolute workpiece coordinate system with respect to robot world's coordinate system, but in the process of measuring each workpiece, robot always keeps identical attitude and path, thereby shielded the absolute error of robot and measuring equipment, fundamentally improved the measuring accuracy of workpiece.
Description of drawings
Fig. 1, Fig. 2, Fig. 3 are the extraction algorithm figure of measuring equipment to workpiece features point, can handle common workpiece features by three kinds of feature point extraction algorithms among the figure.Fig. 1 represents that measuring equipment extracts breakpoint from the tomography or the section part of surface of the work automatically; Fig. 2 represents that measuring equipment extracts four marginal points (also belonging to breakpoint) from the fabrication hole of workpiece, can return the fabrication hole central coordinate of circle automatically by match; Fig. 3 represents that measuring equipment calculates the point of intersection of tangents according to the tangent line that connects workpiece arc surface two side areas.
Fig. 4, Fig. 5 is the relationship description figure between the coordinate system, robot coordinate is world coordinate system (x0, y0, zO), robot end's flange coordinate is tool coordinates system (x1, the y1 of standard, z1), represent the real-time locus of robot, measuring equipment coordinate system (x2, y2, z2) be the locus of measuring equipment self mounting flange on robot end's flange, invariable with respect to robot end's flange position, workpiece coordinate system (x3, y3, z3) the expression workpiece is with respect to the locus of world coordinate system, putting position according to workpiece changes, the machining path of workpiece (x (1-n), y (1-n), a series of spatial point when z (1-n)) the expression robot handles workpiece, these points are based upon workpiece coordinate and fasten, with respect to workpiece coordinate system, and its position relationship.
Fig. 6 is the establishment synoptic diagram of coordinate system, and measuring equipment at first measures three unique points on the workpiece, and they are transformed under robot world's coordinate system, presses named order with three again and creates coordinate system, i.e. a workpiece coordinate system.
Embodiment
Embodiment operates according to following steps:
Utilize the coordinate system position of the scaling method calibration measurements equipment that robot carries, select for use 6 methods to demarcate usually.Its method is:
A) at taper pin of robot side fixed installation, after in robot controller, selecting 6 method scaling methods, 4 points that attitude is different of teaching respectively, each point guarantees that all the mounting flange center (measuring equipment coordinate origin) and the taper needle point of measuring equipment accurately dock, thereby can calculate the position of measuring equipment flange center;
B) calibrate the measuring equipment true origin after, the selected position that can reach arbitrarily, place a flat board, the laser rays of measuring equipment beaten (flat board is preferably greater than 200 * 200 on flat board, plane planeness is not more than 0.1mm), the position of the terminal flange of the current robot of the endpoint location of two laser rays of mark on flat board, and record respectively;
C) in robot, adorn a taper pin, keep the attitude of robot constant, select robot rectilinear motion pattern, laser rays end points on the tip alignment of teaching the successively flat board and the corresponding position of recorder robot end flange;
D) 4 position datas of the robot that obtains according to step C, calculate the direction of two straight lines in space respectively, after the orthogonalization process, give measuring equipment coordinate system direction with the data of direction, measuring equipment is demarcated and is finished, and setting up tool coordinates system and set according to the position data of measuring equipment becomes current tool coordinates system of robot.
According to the actual conditions of surface of the work feature, select and be provided with feature extraction algorithm, can satisfy the various features requirement as three kinds of feature point extraction algorithms among accompanying drawing 1, Fig. 2, Fig. 3, but to equal extract minutiaes such as the total edge of surface of the work, circular hole, sections.Respectively at the different parts extract minutiae of workpiece, after 3 unique points that obtain workpiece, set up the absolute coordinate system of workpiece according to method shown in Figure 6, with this workpiece coordinate system as current workpiece coordinate system, teaching to put on the standard program of workpiece, that is to say teach since then to have a few all be to be reference frame with this workpiece coordinate.
Teach and carry out the setting of univers parameter, the inspection of logical security etc. after finishing, equipment possesses automatic service condition, and process finishes.
Below in conjunction with accompanying drawing embodiment is described further:
As shown in Figure 1, directly extract the breakpoint on the edge of work or plane, every laser rays all can independently extract the breakpoint of surface of the work, and according to the boundary condition that software kit is set in advance, the measuring equipment controller returns the breakpoint that satisfies condition automatically.
As shown in Figure 2, detection, the The Fitting Calculation center of circle or the boss central point by circular hole on the workpiece or round boss edge breakpoint.
As shown in Figure 4, (x2, y2 z2) are the coordinate system of measuring equipment self to coordinate system C2, and during measuring workpieces, the coordinate figure of workpiece features point is with respect to the C2 coordinate system; (Tx, Ty Tz) are the coordinate of measuring equipment with respect to robot world's coordinate system to Tr, and read the position of robot during according to measurement features point; (x0, y0 z0) are robot world's coordinate system to CO, and C0 is the reference frame of other all coordinate systems.
As shown in Figure 5, C
Wobj(x3, y3 z3) are workpiece coordinate system, and its reference coordinate is C0; Cp (X1-n, Y1-n, Z1-n) for robot to workpiece process, carry, operating path point such as assembling, its reference coordinate is C3.
The coordinate transform flow process:
Known:
C
Wobj: tool coordinates system
C2: measuring equipment coordinate system
Tr: measuring equipment is at the coordinate (TCP) of world coordinate system
C0: robot world's coordinate system
T1_1: the position of unique point 1 under the measuring equipment coordinate system
T1_2: the position of unique point 2 under the measuring equipment coordinate system
T1_3: the position of unique point 3 under the measuring equipment coordinate system
Calculate:
T0_1 (position of workpiece features point 1 under robot world's coordinate system)=Tr*T1_1
T0_2 (position of workpiece features point 2 under robot world's coordinate system)=Tr*T1_2
T0_3 (position of workpiece features point 3 under robot world's coordinate system)=Tr*T1_3
C
wobj＝CREATFRAME(T0_1，T0_2，T0_3)
As shown in Figure 6, the establishment of coordinate system: extract three unique points from body surface, and with three characteristic point coordinates from respect to the measuring equipment coordinate system transformation to coordinate with respect to robot world's coordinate system, with first unique point is coordinate origin, the direction that first unique point is pointed to second unique point is a coordinate system ' X ' axle positive dirction, with plane, three unique point places is coordinate system ' XOY ' plane, thus can set up complete coordinate system.
The data and the data relationship of embodiment of the invention record see Table 1.
Table 1 embodiment data and data relationship table
Claims (1)
1. method of calculating the workpiece absolute coordinates, utilize commercial measurement equipment that the unique point of workpiece is extracted, calculated, it is characterized in that: downconvert under robot world's coordinate system from the measuring equipment coordinate system by the unique point coordinate of space coordinate transformation algorithm with workpiece, by extracting three different unique points, create workpiece coordinate system, this procedure comprises the following steps:
(1) measuring equipment is fixed on the robot executor tail end, and measuring equipment is constant with respect to the pose of robot executor tail end;
(2) in robot motion's process, the pose of measured workpiece is constant with respect to robot world's coordinate system;
(3) the mounting flange central point of the coordinate system of measuring equipment and measuring equipment self overlaps, the spatial point calibrating function that carries by robot calibrates the position of measuring equipment coordinate system with respect to the robot end, by the software that measuring equipment carries, calculate the attitude of measuring equipment coordinate system with respect to the robot end;
(4) measuring equipment measuring workpieces different parts extracts three characteristic point data of workpiece under the measuring equipment coordinate system, the pose number of robot when writing down each position of measuring workpieces simultaneously;
(5) according to the space coordinate transformation algorithm, three unique points of workpiece are downconverted under the world coordinate system of robot from the measuring equipment coordinate system, obtain three unique points of workpiece under robot world's coordinate system;
(6) set up the absolute coordinate system of workpiece according to three unique points, select first unique point as the workpiece coordinate system initial point, what first unique point was pointed to second unique point is the X-direction of workpiece coordinate system, the plane that three unique points are determined is as the XOY plane of workpiece coordinate system, thereby calculates workpiece coordinate system.
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| CN102218738A (en) * | 2010-04-15 | 2011-10-19 | 株式会社神户制钢所 | Robot tool vector exporting method and correcting method |
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| CN104583886A (en) * | 2012-09-03 | 2015-04-29 | 富士机械制造株式会社 | Production line management method and production line management system |
| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
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