CN112815836A - Position conversion method of robot point laser - Google Patents
Position conversion method of robot point laser Download PDFInfo
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- CN112815836A CN112815836A CN202011614656.4A CN202011614656A CN112815836A CN 112815836 A CN112815836 A CN 112815836A CN 202011614656 A CN202011614656 A CN 202011614656A CN 112815836 A CN112815836 A CN 112815836A
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- G01—MEASURING; TESTING
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- 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
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Abstract
The invention provides a robot point laser position conversion method, which comprises the following steps: obtaining the position T of the fixed point P1 under the base coordinate systemp1(ii) a Aligning the laser point at the minimum measuring range of the laser displacement sensor with the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor at the momentmin(ii) a Aligning the laser point at the maximum measuring range of the laser displacement sensor with a fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor at the momentmax(ii) a Calculating the Tool coordinate system T under the flange coordinate system Tool0minAnd tool coordinate system TmaxA spatial unit vector e between; obtaining the position T of the flange coordinate system Tool0 under the base coordinate system at the moment0Based on position T0And the position T of the laser ranging point under the flange plate coordinate system Tool00MCalculating the position T of the laser ranging point under the base coordinate systembThe device adopted by the method has simple structure, convenient installation and low cost. When the position is calculated by a computer, the algorithm of coordinate transformation is simple and easy to understand.
Description
Technical Field
The invention relates to the technical field of industrial production, in particular to a robot point laser position conversion method.
Background
In industrial production, due to poor consistency of workpieces or other reasons, positioning of workpieces by using a spot laser is often required, but the spot laser can only measure relative values of the workpieces, such as: measuring the diameter of the workpiece, measuring the thickness of the sheet material, and the like. And actual coordinate values of the workpiece with respect to the robot cannot be obtained.
Industrial robot tcp (tool centerpoint) calibration refers to the position of the calibration tool center point under the robot end coordinate system. In general, a four-point method is commonly used for TCP calibration, in which an operator operates a robot to make a central point of the robot reach a certain fixed point of a working space of the industrial robot in multiple postures (usually four postures) during calibration, so as to obtain a TCP calibration result by using a constraint relationship. However, a point laser emits a laser beam, and the laser beam is calibrated by the four-point method, so that the human eye can hardly align the same point of the laser beam to a fixed point in space in different postures, and the generated error can be large (mainly determined by the human eye).
Disclosure of Invention
The invention aims to provide a robot point laser position conversion method, which is used for positioning a workpiece.
In order to achieve the above purpose, the invention provides the following technical scheme: a robot point laser position conversion method is disclosed, wherein the robot comprises a flange connecting end, a laser displacement sensor is arranged on the flange connecting end, and a tool coordinate system T of the laser displacement sensor is established, and the method comprises the following steps:
s1: obtaining the position T of the fixed point P1 under the base coordinate systemp1；
S2: aligning the laser point at the minimum measuring range of the laser displacement sensor with the fixed point P1, and calculating the pointThe tool coordinate system T of the laser displacement sensormin；
S3: aligning the laser point at the maximum measuring range of the laser displacement sensor with the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor at the momentmax；
S4: calculating the Tool coordinate system T under the flange coordinate system Tool0minAnd tool coordinate system TmaxA spatial unit vector e between;
s5: measuring the distance M between a laser ranging point and the laser displacement sensor through the laser displacement sensor, wherein the laser ranging point is in the measuring range of the laser displacement sensor, and acquiring the position T of the flange coordinate system Tool0 under the base coordinate system at the moment0Calculating the position T of the laser ranging point under the flange coordinate system Tool0 through the distance M and the space vector e0M；
S6: based on the position T0And the position T of the laser ranging point under the flange coordinate system Tool00MCalculating the position T of the laser ranging point under the base coordinate systemb。
Further, the tool coordinate system Tnin＝Tp1*T0min -1Wherein T is0minThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the minimum measuring range of the laser displacement sensor is aligned with the fixed point P1.
Further, the tool coordinate system Tmax＝Tp1*T0max -1Wherein T is0maxThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the maximum measuring range of the laser displacement sensor is aligned with the fixed point P1.
Further, the space vector
Wherein,
tool coordinate system
Tool coordinate system
x, y and z are coordinate values of the origin of the Tool coordinate system T under the flange coordinate system Tool 0.
Further, the position T of the laser ranging point under the flange coordinate system Tool00M＝Tmin+M*e。
Further, the position T of the laser ranging point under the base coordinate systemb＝T0*T0M。
The analysis shows that the invention discloses a robot point laser position conversion method, and the device adopted by the method has the advantages of simple structure, convenient installation and low cost. When the position is calculated by a computer, the algorithm of coordinate transformation is simple and easy to understand. And converting a measured value obtained by point laser into a robot coordinate system through a series of formula conversion, thereby realizing the positioning of the workpiece.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a schematic structural diagram of a robot laser position conversion method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a laser displacement sensor of a robot according to a laser position conversion method of the robot according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for translating a laser position of a robot according to an embodiment of the present invention.
Description of reference numerals: 1-a robot; 2-laser displacement sensor.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
One or more examples of the invention are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the invention. As used herein, the terms "first," "second," "third," and "fourth," etc. may be used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of an individual component.
As shown in fig. 1 to 3, according to an embodiment of the present invention, there is provided a robot laser position conversion method, where a robot 1 includes a flange connection end, a laser displacement sensor 2 is disposed on the flange connection end, and a tool coordinate system T of the laser displacement sensor is established, and the position conversion method includes the following steps:
s1: establishing a base coordinate system of the robot and a flange coordinate system Tool0 of the flange connecting end, and acquiring a position T of a fixed point P1 under the base coordinate systemp1；
S2: aligning the laser point at the minimum measuring range of the laser displacement sensor 2 with the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor 2 at the momentmin(ii) a Tool coordinate system Tmin＝Tp1*T0min -1Wherein T is0nihThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the minimum measuring range of the laser displacement sensor 2 is aligned with the fixed point P1.
S3: aligning the laser point at the maximum measuring range of the laser displacement sensor 2 with the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor 2 at the momentmax(ii) a Tool coordinate system Tnax＝Tp1*T0max -1Wherein T is0maxThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the maximum range of the laser displacement sensor 2 is aligned with the fixed point P1.
S4: calculating the Tool coordinate system T under the flange coordinate system Tool0minAnd tool coordinate system TmaxA space vector e therebetween;
finding TmaxAnd TminSpace vectors e of TCP at the maximum measuring range and the minimum measuring range of the laser pointing to the point from the origin of a flange coordinate system Tool0 respectively
Wherein,
tool coordinate system
Tool coordinate system
x, y and z are coordinate values of the origin of the Tool coordinate system T under the flange coordinate system Tool 0.
S5: measuring the distance M between the laser ranging point and the laser displacement sensor 2 through the laser displacement sensor 2, and acquiring the position T of the flange coordinate system Tool0 under the base coordinate system when the laser ranging point is in the measuring range of the laser displacement sensor 20Calculating the position T of the laser ranging point under the flange plate coordinate system Tool0 through the distance M and the space vector e0M；
According to the rule of vector addition, the position T of the laser ranging point under the flange plate coordinate system Tool0 can be known0M＝Tmin+M*e，。
S6: based on position T0And position T0MCalculating the position T of the laser ranging point under the base coordinate systembPosition T of laser ranging point under base coordinate systemb＝T0*T0M。
The base of the robot 1 is labeled: the base coordinate system, generally abbreviated as Wobj0, is located at the center of the base of the robot 1, and the measurement range of the laser displacement sensor 2 is typically 75mm to 130mm, i.e. its minimum measurement range is the laser spot at 75mm and its maximum measurement range is the laser spot at 130 mm. The tool coordinate system generally refers to the center point of the tool, and the tool center contact point is generally taken as the origin of the tool coordinate system. The flange coordinate system Tool0 has an origin at the center of the mounting flange of the robot 1, an X-axis pointing in the opposite direction of the control hole of the mounting flange, and a Z-axis perpendicular to the mounting flange and pointing outwards.
The invention discloses a robot point laser position conversion method, which can obtain the position T of a laser ranging point under a base coordinate systembPosition T of laser ranging point under base coordinate systemb＝T0*T0M. Compared with the prior art, the method is simple to operate, has no requirement on the installation of the laser displacement sensor 2, and only needs to install the laser displacement sensor on the flange of the robot 1. Compared with a camera and line laser positioning method, the method is a scheme of positioning by using the laser of the emission point of the laser displacement sensor 2, the price is lower, and other accessory equipment such as a light source and an industrial personal computer are not needed. When the calculation is performed by a computer, the algorithm of the coordinate transformation is simple and easy to understand, and can be transformed into a program code of any robot 1, so that the robot positioning is realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A robot point laser position conversion method is characterized by comprising the following steps of:
s1: obtaining the position T of the fixed point P1 under the base coordinate systemp1；
S2: measuring the minimum measurement range of the laser displacement sensorThe laser point is aligned with the fixed point P1 and the tool coordinate system T of the laser displacement sensor at that time is calculatedmin；
S3: aligning the laser point at the maximum measuring range of the laser displacement sensor with the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor at the momentmax；
S4: calculating the Tool coordinate system T under the flange coordinate system Tool0minAnd tool coordinate system TmaxA spatial unit vector e between;
s5: measuring the distance M between a laser ranging point and the laser displacement sensor through the laser displacement sensor, wherein the laser ranging point is in the measuring range of the laser displacement sensor, and acquiring the position T of the flange coordinate system Tool0 under the base coordinate system at the moment0Calculating the position T of the laser ranging point under the flange coordinate system Tool0 through the distance M and the space vector e0M；
S6: based on the position T0And the position T of the laser ranging point under the flange coordinate system Tool00MCalculating the position T of the laser ranging point under the base coordinate systemb。
2. A robot spot laser position translation method according to claim 1, characterized in that said tool coordinate system Tmin＝Tp1*T0min -1Wherein T is0minThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the minimum measuring range of the laser displacement sensor is aligned with the fixed point P1.
3. A robot spot laser position translation method according to claim 2, characterized in that said tool coordinate system Tmax＝Tp1*T0max -1Wherein T is0maxThe position of the flange coordinate system Tool0 under the base coordinate system is when the laser point at the maximum measuring range of the laser displacement sensor is aligned with the fixed point P1.
4. The method of claim 1, wherein the space vector is used for converting the laser position of the robot point
Wherein,
tool coordinate system
Tool coordinate system
x, y and z are coordinate values of the origin of the Tool coordinate system T under the flange coordinate system Tool 0.
5. A robot spot laser position conversion method as claimed in claim 4, characterized in that the laser ranging spot is at the position T under the flange coordinate system Tool00M＝Tmin+M*e。
6. The method as claimed in claim 5, wherein the laser ranging point is located at the position T of the base coordinate systemb＝T0*T0M。
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| CN114654461A (en) * | 2022-02-22 | 2022-06-24 | 廊坊市亿创科技有限公司 | Geometric Decoupling Method for Line Laser Calibration in Robot System |
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