CN107144236A - A kind of robot automatic scanner and scan method - Google Patents
A kind of robot automatic scanner and scan method Download PDFInfo
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- CN107144236A CN107144236A CN201710376953.1A CN201710376953A CN107144236A CN 107144236 A CN107144236 A CN 107144236A CN 201710376953 A CN201710376953 A CN 201710376953A CN 107144236 A CN107144236 A CN 107144236A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
A kind of robot automatic sweep apparatus and method combined the invention discloses many scan patterns, described device includes six axle robotic arms, MEMS scanning galvanometer laser three-D gauge heads, turntable；Wherein MEMS scanning galvanometers laser three-D gauge head is mainly made up of long-range scanning camera and short range scanning camera, and scanning feeler is placed in six shaft mechanical arm ends.Remote camera is used for quickly being measured for body surface, obtains the whole cloud data of object and is scanned path planning to it.Short range scanning camera is used for carrying out high-acruracy survey to body surface along the measuring route planned.
Description
Technical field
The invention belongs to optical three-dimensional measurement field, six-DOF robot and turntable are combined into the three-dimensional mould of seven freedom
Type reconstructing system, the method being combined especially with full automatic quick measurement with the high-acruracy survey by path planning.
Background technology
Spatial digitizer is used for detecting and analyzing the shape (geometrical construction) and outward appearance number of object or environment in real world
According to (such as color, surface albedo property).The data collected often are used for three-dimensional reconstruction calculating, in virtual world
Create the mathematical model of actual object.These models have quite extensive purposes, such as industrial design, Defect Detection, reverse
Engineering, robot guiding, landforms measurement, medical information, biological information, criminal identification, digital historical relic classical collection, motion picture production, trip
Its all visible application of creation material etc. of playing.Monotechnics, a variety of scanning skills are not dependent in the making of spatial digitizer
Art has its advantage and disadvantage.The general scan mode of one is had no at present, and instrument is often limited to the profile nature of object with method.
Traditional 3D scanner defects are relatively more：Because visual field is limited, cause scanning range too small；Because scanning angle is special
Very, cause final entity that leak occurs.In order to overcome these shortcomings, the band turntable scanner of appearance can so be swept
1 to 2 frees degree of increase are retouched, the scanning range for adding scanner largely adds scanning angle.However, this
Kind of turntable scanner is again without being fully solved these shortcomings, such as the top and bottom of entity can not be scanned, profile is larger
The entity that entity can not be completely covered, surface texture is extremely complex there is also scanning leak etc..
Most of problem of the above is solved using Robot Scanning instrument.But, it is extremely complex in solid object surface structure
In the case of, scanning leak problem still has.Moreover, Robot Scanning instrument with scanned object in order to avoid colliding, using remote
Range sweep, the model accuracy so scanned is just than relatively low.
In order to overcome the defect of Robot Scanning instrument, this patent is scanned using two kinds of scan patterns：Quick scanning and
High accuracy scanning.Quick scanning refers at a distance, quickly scan the low accuracy model of entity；High accuracy scanning refers to use
The point cloud model quickly scanned carries out path planning, then carries out short range scanning according to the path planned.Thus can be with
Solve scanning dead angle and the low defect of precision.
The content of the invention
It is an object of the invention to provide a kind of high-precision, multi-faceted robot automatically scanning device and method.Should
Device is included (shown in Fig. 1) by six axle robotic arms, MEMS scanning galvanometer laser three-D gauge heads, turntable composition；Wherein MEMS is scanned
Galvanometer laser three-D gauge head (shown in Fig. 2) is mainly made up of mode A binocular camera and B-mode binocular camera, and scanning feeler is laid
In six shaft mechanical arm ends.B-mode binocular camera is used for quickly being measured for body surface, obtains the whole point cloud of object
Data simultaneously measure path planning to it.Mode A binocular camera is used for carrying out body surface along the measuring route planned
High-acruracy survey.
Fast scan mode and high-precision scan pattern are combined by this method in same measuring system, with quick
Scanning feeler is preliminary to object quickly to be measured, and obtains the overall cloud data of object, cloud data is carried out into noise reduction filtering
Carry out law vector direction Deng pointwise after post processing and ask for, and then calculate high-precision scanning feeler in measurement process along rotary shaft
The anglec of rotation, the operating distance constraints of combined high precision scanning feeler, generation gauge head under robot base's coordinate system
Motion path and spatial attitude so that realizing route is planned, it is final using high-precision scanning feeler along the good road of above-mentioned planning
Footpath carries out further fine measurement.
Comprise the following steps that：
The first step, carries out Robotic Hand-Eye Calibration.Turntable demarcation is divided into two steps：Mode A hand and eye calibrating and B-mode trick mark
It is fixed.Determine the coordinate relation between robot tool coordinate system and present mode bottom left camera coordinates system.The step for only need mark
Determine once.
Second step, carries out turntable demarcation.Turntable demarcation is divided into two steps：Mode A turntable is demarcated and the demarcation of B-mode turntable.Often
One step is all：Robot end is moved to a certain specific pose, then calculate each self mode bottom left camera coordinates system with
The coordinate relation of turntable center coordinate system.
3rd step, realizes quick scanning.Quick scanning at a distance is carried out for object using B-mode, object is obtained complete
The three dimensional point cloud in portion.
4th step, point cloud post processing.It is near using K- using whole cloud datas of the scanned object obtained in previous step
Adjacent method carries out noise reduction, filtering operation to it, and the cloud data after processing is easy to asking for for next step law vector.
5th step, asks for cloud data law vector direction.Using obtained in previous step it is post-treated after point cloud number
According to the algorithm being fitted using least square plane is carried out law vector direction to its pointwise and asked for.
Scanning pattern under 6th step, planning mode A.Every place in the cloud data obtained using being calculated in previous step
Law vector direction, calculate posture of the mode A in scanning process, with reference to the working range of mode A, generation gauge head is in robot
Motion path and spatial attitude under coordinate system.
7th step, carries out high-precision scanning.Using the mode A of gauge head, according to the motion path planned in previous step
And spatial attitude, high-acruracy survey is carried out for object, the body form measurement result of higher precision is obtained.
Beneficial effect
(1) no matter long-range scanning or short range scanning are automations to the present invention.Long-range scanning only needs to estimate
Calculate the size of model, the scanning pattern of rough calculation robot；Short range scanning is swept according to the accurate calculating robot's of model
Retouch path.
(2) present invention is by the remote quick scan mode of Robot Scanning instrument and closely high-precision in same system
Scan mode is combined, and is further improved measurement accuracy compared with traditional single robot scan mode, is realized thing
The high accuracy scanning of shape.The low defect of the precision of robot long-range scanning is overcome, while solving robot low coverage
The dependence designed a model from scanning for object, it is ensured that the scanning work of object smoothly enters under the deletion condition that designs a model
OK.
Brief description of the drawings
Fig. 1 robot three-dimensional scanning system structure charts；
Fig. 2 MEMS scanning galvanometer laser three-D gauge head schematic diagrames；
Fig. 3 MEMS galvanometer laser feeler coordinate systems and the position orientation relation figure of mechanical arm tail end tool coordinates system；
In figure：1 is six axle robotic arms, and 2 be MEMS scanning galvanometer laser three-D gauge heads, and 3 be turntable, and 4 be projecting apparatus, and 5 are
First camera, 6 be second camera, and 7 be third camera, and 8 be the 4th camera.
Embodiment
As shown in figure 1, a kind of robot automatic sweep apparatus, including by six axle robotic arms, MEMS scanning galvanometers laser three
Tie up gauge head, turntable composition.As shown in Fig. 2 MEMS scanning galvanometer laser three-Ds gauge head is main by projecting apparatus, mode A binocular camera
It is first camera and third camera composition, B-mode binocular camera is second camera and the 4th camera composition, and scanning feeler is placed in
Six shaft mechanical arm ends.B-mode binocular camera is used for carrying out low precision measure for body surface, obtains the whole point cloud of object
Data simultaneously measure path planning to it.Mode A binocular camera is used for carrying out body surface along the measuring route planned
High-acruracy survey.
Lower mask body combination accompanying drawing 2 and Fig. 3 are described in detail to the present invention.
A kind of robot automatic scanning method, specifically includes following steps：
The first step, hand and eye calibrating.
Demarcate MEMS galvanometer laser feeler coordinate systems and the position orientation relation of mechanical arm tail end tool coordinates system.
With A, B, C, D represents 4x4 matrixes, the relative bearing between certain two coordinate system is described respectively, relative bearing is by revolving
Torque battle array R and translation vector T compositions, i.e.,
Wherein, RAWith TASubscript represent representative matrix title.In Fig. 3, CobjThe coordinate system of calibrated reference is represented,
CC1With Ce1The MEMS galvanometer laser feeler coordinate systems and six axle robotic arm ending coordinates before the motion of six axle robotic arms are represented respectively
System, CC2With Ce2Represent that six axle robotic arm post exercise MEMS galvanometer laser feeler coordinate systems and six axle robotic arm ends are sat respectively
Mark system.In CC1With CC2Respectively CCD camera is demarcated to obtain its outer parameter with calibrating block on two positions, its China and foreign countries' parameter
I.e. camera is in CC1With CC2With C on two positionsobjRelative bearing, represented with A with B.Thus, if C represents CC1With Cc2Between
Relative bearing, then
C=AB-1
In CC1With CC2Respectively with calibrating block to camera calibration on two positions, so as to obtain A and B, and then C is obtained.
Ce1With Ce2Between position orientation relation can be read by controller, belong to known parameters, use matrixTable
Show.Because MEMS scanning galvanometer laser three-D gauge heads are fixed on six axle robotic arm ends, as robotic arm is moved together, therefore CC1
With Ce1Between, CC2With Ce2Between position orientation relation all be X.If a point P is in aforementioned four coordinate system C in spaceC1, Cc2, Ce1, Ce3
Coordinate be respectively PC1, PC2, Pe1, Pe2, then have following relation：
PC1=CPC2 (1.1)
PC1=XPe1 (1.2)
Pe1=DPe2 (1.3)
Pc2=XPe2 (1.4)
Obtained by formula (1.1) and formula (1.4)
PC1=CXPe2 (1.5)
Obtained by formula (1.2) and formula (1.3)
PC1=XDPe2 (1.6)
Comparison expression (1.5) is obtained with (1.6)
CX=XD (1.7)
Wherein Matrix C, D is, it is known that MEMS scanning galvanometers laser three-D gauge head coordinate system and machinery therefore can be solved
The position orientation relation of arm ending coordinates system
Second step, turntable demarcation.
The demarcation of turntable center coordinate origin, MEMS scanning galvanometers laser three-D gauge head coordinate system and rotation are carried out first
The translational movement of platform coordinate system coordinate transform is exactly coordinate of the turntable coordinate system origin of coordinates under laser three-D gauge head coordinate system
P0(x0, y0, z0).We can seek P by carrying out the method for center of circle fitting to corresponding points0(xO, y0, z0).Its key is in rotation
Suitable reference point P (x, y, z) is found on turntable working surface.Turntable is rotated M times, by the different point P of correspondence1(x, y, z), P2
(x,y,z),…,PM(x, y, z), in theory, this M point should be on same circumference.Therefore, one piece of demarcation is kept flat on turntable
CCD camera alignment demarcation version shoots a scaling board photo in version, laser feeler, and turntable turns over M position, and now robotic arm is protected
Hold motionless, CCD camera continues to shoot demarcation version.Turntable corotation is crossed M times, and M demarcation pictures are shot altogether.By the data transfer of shooting
To computer, the origin of each angle calibration plate world coordinate system is extracted by computer, it is then that this M world coordinate system is former
Point carries out center of circle fitting and can be obtained by turntable center coordinate origin coordinate.
Then the demarcation of turntable Z axis, the particularity being orientated due to X-axis and Y-axis in X/Y plane, it is only necessary to determine Z are carried out
The direction of axle can set up turntable centre coordinate system.The demarcation of Z axis is similar to the demarcation of the turntable center coordinate system origin of coordinates,
If P0(x0,y0,z0) it is turntable centre coordinate system origin；P (x, y, z) is the reference point on turntable working surface, can
It is considered the world coordinate system origin of any two pieces of scaling boards in previous step, i.e. P1(x1,y1,z1) and P2(x2, y2, z2), then just like
Lower equation
P0P1=(x2-x0)i+(y2-y0)j+(z2-z0)k
P0P2=(x1-x0)i+(y1-y0)j+(z1-z0)k
The direction vector of Z axis can be obtained by the two vectorial vector products.Once the coordinate of turntable centre coordinate system
Origin and Z-direction determination, the position orientation relation that it is mutually changed between laser feeler coordinate systemWill be true
It is fixed.
3rd step, is quickly scanned at a distance using Robot Scanning instrument.Using the B-mode of gauge head, object whole body is carried out
3-D scanning, obtains whole cloud datas of object.
4th step, point cloud post processing.Smoothing denoising, including two are carried out to the cloud data of object using K- nearest neighbour methods
Point, i.e. K- neighbor search and the noise spot based on K- neighbours is removed.
1) K- neighbor search
K- neighbour's computational methods common at present have space cell method, Octree method and K-d tree methods.Used in the present invention
Space cell lattice method.Its algorithm principle is as follows.
If p={ p1,p2,...,pnBe in a sampling point set on unknown curved surface s to be reconstructed, s with tested point piAway from
From the K- neighbours that k nearest tested point turns into this point, Nb (p) is denoted as.The algorithm reads in measurement point set file first, by number
The maximum and minimum value of measurement point set in the X, Y, Z direction are respectively obtained in the coordinate deposit triplets array at strong point.Profit
A minimum cuboid bounding box parallel with reference axis, and the quantity according to measuring point and distribution are formed with the extreme value in three directions
Cuboid bounding box is marked off into m × n × l sub-cube by three coordinate directions, where then judging each data point
Sub-cube, the sequence number of data point is added in the corresponding linear linked list of the sub-cube.
It is if defining min coordinates value on three directions：
sub_min_x,sub_min_y,sub_min_z；
Maximum coordinates are：sub_max_x,sub_max_y,sub_max_z；
The length of sub-cube is sub_size；
The D coordinates value of current point is：p_x,p_y,p_z；So sub-cube divides in the number of three change in coordinate axis direction
It is not：
Then current point call number of three change in coordinate axis direction in sub-cube is respectively：
Consequently, it is possible to calculate some scattered points piK- neighbours when, the index of sub-cube where the point is calculated first
Number, then to searching k most in sub-cube where it and adjacent top to bottom, left and right, front and rear totally 27 (3x3x3) individual sub-cubes
Neighbouring point.A linked list data structure, p are set up for each data pointiDistance with the total strong point of sub-cube is ascending
It is arranged in the chained list, k node is required before taking.Certainly, this searching method can cause some points (such as boundary point)
The numbers of K- Neighbor Points be less than k, so to be modified to the neighbouring of the point, allow the number of its point of proximity to be more than or equal to k, i.e.,
The point that the number of those K- neighbours is less than k is found out, the secondary K- neighbours for asking these to put in bigger scope, so that
The number of the neighbor point of these points is more than or equal to k.
2) noise spot based on K- neighbours is removed
, in principle just can be by the filtering algorithm pair in image procossing after establishing the topological relation between scattered points
Data point carries out denoising.After the K- neighbours for searching each point, document carries out noise spot removal using neighborhood averaging.
Specific algorithm is described as follows：
(1) three-dimensional Scattered Point-Cloud is read in；
(2) utilization space cell method sets up point cloud topological relation；
(3) any point p in Searching point cloudi∈ s K- neighbour Nb (p)；
(4) current point p is calculatediWith the distance between each point in its K- neighborhood, its average value D is takenmid(pi), i.e.,：
(5) average distance D is judgedmid(pi) whether exceed the threshold value D setσIf exceeding,
I.e.：Dmid(pi) ＞ Dσ, then it is assumed that the point is the noise spot that peels off, and is deleted；
(6) (3)~(5) are repeated, until all data points in processing fixed point cloud.
5th step, asks for cloud data law vector direction.
1) each measuring point x is calculatediK- it is neighbouring.Algorithm is identical with the K- neighbor search methods in the 4th step
2) it is fitted a least square plane p (x using these neighbor pointsi) the cutting flat with this point as curved surface to be reconstructed
Face, method is as follows:
The general expression of plane equation is：
Ax+By+Cz+D=0, (c ≠ 0)
Note：
Then：Z=a0x+a1y+a2
Plane equation is fitted：
For k neighborhood point near measuring point：
(xi,yi,zi), i=0,1 ..., k-1
Use point (xi,yi,zi), i=0,1 ..., k-1 the Fitting Calculations go out least square plane, then make：
It is minimum.
Cause S minimum, should meet：
I.e.：
Have,
Or,
Above-mentioned system of linear equations is solved, is obtained：a0,a1,a2
I.e.：Z=a0x+a1y+a2
3) the per unit system arrow n in above-mentioned section is calculatedi, niIt is used as measuring point xiLaw vector.
6th step, planning short range scanning path.
The law vector direction at every place in the cloud data obtained using being calculated in previous step, calculates mode A in scanning
During posture, with reference to the working range of mode A, motion path and space appearance of the generation gauge head under robot coordinate system
State.
7th step, short range scanning is carried out using Robot Scanning instrument.Using high-precision mode A, according in previous step
The motion path and spatial attitude planned, high-acruracy survey is carried out for object, and the body form for obtaining higher precision is surveyed
Measure result.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The embodiment of the present invention is only limitted to this, for general technical staff of the technical field of the invention, is not taking off
On the premise of from present inventive concept, some simple deduction or replace can also be made, the present invention should be all considered as belonging to by institute
Claims of submission determine scope of patent protection.
Claims (7)
1. a kind of robot automatic scanner, it is characterised in that：Surveyed by six shaft machine hand arm, MEMS scanning galvanometers laser three-D
Head, turntable portion composition, six shaft machine hand arm end are equipped with MEMS scanning galvanometer laser feelers, and six shaft machine hand arm drives gauge head
In space movement；Turntable portion realizes testee angle position, speed；MEMS scanning galvanometer laser three-D gauge heads are swept by 2 groups
Equipment composition is retouched, every group of scanning device is made up of two CCD cameras；One of which camera first carries out low essence to testee surface
Degree measurement, obtain the whole cloud data of body surface and path planning simultaneously measured to it, and another group of camera will have been planned
Measuring route carries out high-acruracy survey to body surface, obtains high-precision model.
2. robot automatic scanner as claimed in claim 1, it is characterised in that：Using turntable and 6 axle robot devices, to thing
Body carries out the scanning of 7 frees degree, realizes multi-angle, multi-faceted scan mode.
3. the scan method based on robot automatically scanning described in claim 1, it is characterised in that：In same measuring system
Under, object is scanned using low precision, high-precision binocular gauge head；First by the larger binocular gauge head in visual field to object
Global shape quickly scanned remote lower, the low precision three dimensional point cloud of acquisition object, then these data are entered
After row point cloud noise reduction, filtering, simplified processing, every bit asks for direction vector in model data, and then obtains high-precision binocular
Posture of the gauge head in measurement process, in conjunction with this constrained condition of operating distance of high-precision binocular gauge head, forms gauge head
Motion path and spatial attitude under robot base's coordinate system；Finally according to the good track of above-mentioned planning and posture, use
High-precision binocular gauge head carries out short range scanning to object, obtains the high-precision cloud data of object, and final realization is whole to object
The high-acruracy survey of body.
4. the scan method of robot automatically scanning as claimed in claim 2, it is characterised in that：Sweeping under fast scan mode
It is entirely automatic to retouch path；The topological structure for being first depending on body surface selects different geometrical models, then by object not
In size with size input model；Operating distance finally according to object model and gauge head calculates the path quickly scanned.
5. the scan method of robot automatically scanning as claimed in claim 2, it is characterised in that：Using the binocular gauge head of big visual field
Quick scanning at a distance is carried out to object, the three-dimensional point cloud of the body surface of acquisition is regard as reference number during path planning
According to.
6. the scan method of robot automatically scanning as claimed in claim 2, it is characterised in that：To thing under fast scan mode
Body carries out low precision scanning, and its measurement accuracy is 0.1mm-0.05 ㎜；Object is entered to advance under using high-precision scan pattern
One step is scanned, and its measurement accuracy is 0.05mm-0.02mm.
7. the scan method of robot automatically scanning as claimed in claim 2, it is characterised in that：
The first step, carries out Robotic Hand-Eye Calibration, and turntable demarcation is divided into two steps：Mode A hand and eye calibrating and B-mode hand and eye calibrating；
Determine the coordinate relation between robot tool coordinate system and present mode bottom left camera coordinates system, the step for need to only demarcate one
It is secondary；
Second step, carries out turntable demarcation, and turntable demarcation is divided into two steps：Mode A turntable is demarcated and the demarcation of B-mode turntable, Mei Yibu
Suddenly all：Robot end is moved to a certain specific pose, each self mode bottom left camera coordinates system and turntable is then calculated
The coordinate relation of centre coordinate system；
3rd step, realizes quick scanning, using B-mode for object progress quick scanning at a distance, obtains object whole
Three dimensional point cloud；
4th step, point cloud post processing, using whole cloud datas of the scanned object obtained in previous step, using K- nearest neighbour methods
Noise reduction, filtering operation are carried out to it, the cloud data after processing is easy to asking for for next step law vector；
5th step, asks for cloud data law vector direction, using obtained in previous step it is post-treated after cloud data, adopt
The algorithm being fitted with least square plane, carries out law vector direction to its pointwise and asks for；
Scanning pattern under 6th step, planning mode A, using calculating the method that locate in obtained cloud data in previous step at every
Direction vector, calculates posture of the mode A in scanning process, and with reference to the working range of mode A, generation gauge head is in robot coordinate
Motion path and spatial attitude under system；
7th step, carries out high-precision scanning, using the mode A of gauge head, according to the motion path and sky planned in previous step
Between posture, for object carry out high-acruracy survey, obtain higher precision body form measurement result.
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