CN112815836B - Position conversion method of robot point laser - Google Patents
Position conversion method of robot point laser Download PDFInfo
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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 system p1 (ii) a At the minimum measuring 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 the moment is calculated min (ii) a 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 moment max (ii) a Calculating the Tool coordinate system T under the flange coordinate system Tool0 min And tool coordinate system T max A spatial unit vector e between; obtaining the position T of the flange coordinate system Tool0 under the base coordinate system 0 Based on the position T 0 And the position T of the laser ranging point under the flange plate coordinate system Tool0 0M Calculating the position T of the laser ranging point under the base coordinate system b The device adopted by the method has simple structure, convenient installation and low price. 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 Center Point) 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, and in the calibration process of the method, an operator operates a robot to make a central point of a tool of the robot reach a certain fixed point of a working space of the industrial robot in multiple postures (usually four postures), so that a TCP calibration result is obtained by using a constraint relation. However, a point laser emits a laser beam, and the laser beam is calibrated by the four-point method, so that it is difficult for human eyes to align the same point of the laser beam to a fixed point in space in different postures, and the error generated by the human eyes is large (mainly determined by the human eyes).
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 system p1 ；
S2: 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 moment min ；
S3: aligning the laser point at the maximum measuring range of the laser displacement sensor to the fixed point P1, and calculating the tool coordinate system T of the laser displacement sensor at the moment max ；
S4: calculating the Tool coordinate system T under the flange plate coordinate system Tool0 min And tool coordinate system T max A 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, and acquiring the position T of the flange plate coordinate system Tool0 under the base coordinate system when the laser ranging point is in the measuring range of the laser displacement sensor 0 Calculating the position T of the laser ranging point under the flange plate coordinate system Tool0 through the distance M and the space vector e 0M ；
S6: based on the position T 0 And the laser ranging point is positioned under the flange plate coordinate system Tool0Position T of 0M Calculating the position T of the laser ranging point under the base coordinate system b 。
Further, the tool coordinate system T min ＝T p1 *T 0min -1 Wherein T is 0min The position of the flange coordinate system Tool0 in 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 T max ＝T p1 *T 0max -1 Wherein T is 0max When the laser point at the maximum measuring range of the laser displacement sensor is aligned with the fixed point P1, the flange plate coordinate system Tool0 is at the position under the base coordinate system.
Further, the space vector
Wherein,
tool coordinate system
Tool coordinate system
And x, y and z are coordinate values of the origin of the Tool coordinate system T under the flange plate coordinate system Tool 0.
Further, the laser ranging point is located under the flange coordinate system Tool0Position T 0M ＝T min +M*e。
Further, the position T of the laser ranging point under the base coordinate system b ＝T 0 *T 0M 。
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 price. 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 their equivalents.
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 radio electrical connection, or a wireless communication signal connection, and a person of ordinary skill in the art may 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 plate coordinate system Tool0 of the flange connecting end, and acquiring a position T of the fixed point P1 under the base coordinate system p1 ；
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 moment min (ii) a Tool coordinate system T min ＝T p1 *T 0min -1 Wherein T is 0min The flange coordinate system Tool0 is the position under the base coordinate system 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 moment max (ii) a Tool coordinate system T max ＝T p1 *T 0max -1 Wherein T is 0max The flange coordinate system Tool0 is the position under the base coordinate system 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 Tool0 min And tool coordinate system T max A space vector e therebetween;
finding T max And T min Space 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 plate coordinate system Tool0 are respectively
Wherein,
tool coordinate system
Tool coordinate system
x, y and z are the origin points of the tool coordinate system TThe 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, wherein the laser ranging point is in the measuring range of the laser displacement sensor 2, and acquiring the position T of the flange coordinate system Tool0 under the base coordinate system at the moment 0 Calculating the position T of the laser ranging point under the flange plate coordinate system Tool0 through the distance M and the space vector e 0M ；
According to the rule of vector addition, the position T of the laser ranging point under the flange plate coordinate system Tool0 can be known 0M ＝T min +M*e，。
S6: based on position T 0 And position T 0M Calculating the position T of the laser ranging point under the base coordinate system b Position T of laser ranging point under base coordinate system b ＝T 0 *T 0M 。
The base of the robot 1 is labeled: the basic coordinate system is generally abbreviated as Wobj0 and is located at the center of the base of the robot 1, and the measuring range of the laser displacement sensor 2 is generally 75mm to 130mm, i.e. the minimum measuring range is the laser point at 75mm, and the maximum measuring range is the laser point 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 origin of the flange coordinate system Tool0 is located at the center of the mounting flange of the robot 1, the X axis points to the opposite direction of the control hole of the mounting flange, and the Z axis is perpendicular to the mounting flange and points to the outer surface.
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 system b Position T of laser ranging point under base coordinate system b ＝T 0 *T 0M . 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 adopts a scheme of positioning by using the laser of the emitting point of the laser displacement sensor 2, has lower price and does not need other accessory equipment such as lightA source and an industrial personal computer, etc. 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 system p1 ；
S2: 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 moment min ；
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 moment max ；
S4: calculating the Tool coordinate system T under the flange plate coordinate system Tool0 min And tool coordinate system T max A 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 moment 0 Calculating the position T of the laser ranging point under the flange plate coordinate system Tool0 through the distance M and the space vector e 0M ；
S6: based on the position T 0 And the laser ranging point isPosition T under the flange coordinate system Tool0 0M Calculating the position T of the laser ranging point under the base coordinate system b 。
2. A robot spot laser position translation method according to claim 1, characterized in that said tool coordinate system T min ＝T p1 *T 0min -1 Wherein T is 0min The position of the flange coordinate system Tool0 in 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 translating method according to claim 2, wherein the tool coordinate system T max ＝T p1 *T 0max -1 Wherein T is 0max When the laser point at the maximum measuring range of the laser displacement sensor is aligned with the fixed point P1, the flange plate coordinate system Tool0 is at the position under the base coordinate system.
4. The method of claim 1, wherein the space unit vector is used for converting the laser position of the robot point
Wherein,
tool coordinate system
Tool coordinate system
And x, y and z are coordinate values of the origin of the Tool coordinate system T under the flange plate coordinate system Tool 0.
5. A robot spot laser position conversion method according to claim 4, characterized in that the position T of the laser ranging spot under the flange coordinate system Tool0 0M ＝T min +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 system b ＝T 0 *T 0M 。
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| CN111590588A (en) * | 2020-06-03 | 2020-08-28 | 南京埃斯顿机器人工程有限公司 | Non-contact tool coordinate system calibration method for welding robot |
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| CN109304730B (en) * | 2017-07-28 | 2020-11-17 | 华中科技大学 | Robot kinematic parameter calibration method based on laser range finder |
| CN107726982A (en) * | 2017-10-11 | 2018-02-23 | 北京航空航天大学 | A kind of laser range sensor error in mounting position scaling method |
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| CN106903687A (en) * | 2017-01-18 | 2017-06-30 | 上海交通大学 | Industrial robot calibration system and method based on laser ranging |
| CN111590588A (en) * | 2020-06-03 | 2020-08-28 | 南京埃斯顿机器人工程有限公司 | Non-contact tool coordinate system calibration method for welding robot |
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