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CN113246142B - Measuring path planning method based on laser guidance - Google Patents

Measuring path planning method based on laser guidance Download PDF

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CN113246142B
CN113246142B CN202110707500.9A CN202110707500A CN113246142B CN 113246142 B CN113246142 B CN 113246142B CN 202110707500 A CN202110707500 A CN 202110707500A CN 113246142 B CN113246142 B CN 113246142B
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coordinate system
laser
mechanical arm
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transformation matrix
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CN113246142A (en
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陈洪宇
陈雪梅
谢颖
申皓
杨林志
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Chengdu Aircraft Industrial Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a measuring path planning method based on laser guidance, and belongs to the field of automatic measurement of robots. The method comprises the steps that firstly, a global camera positioning system is arranged in a space, a specific pattern is projected onto an object to be measured through a laser projection device, a camera system captures the moving track of the projected laser pattern in real time, the pose of the tail end of the robot is calculated according to the relative pose and the measurement distance of the robot and the camera, and then the robot measurement track is generated. The method has the advantages of convenient operation, simple calculation process, small calculated amount, convenient modification, capability of shortening the planning time of the measuring viewpoint, improvement on the working efficiency, easiness in implementation and capability of ensuring the reasonability of the measuring posture of the robot.

Description

Measuring path planning method based on laser guidance
Technical Field
The invention relates to the field of automatic measurement of robots, in particular to a measurement path planning method based on laser guidance.
Background
With the transition from analog quantity transmission mode of 'mould line-sample plate' to digital quantity transmission mode in the aviation manufacturing industry, the measurement of the appearance of product parts is also developed from straight ruler, feeler gauge, clamping plate, etc. to digital measurement method mainly based on laser scanning and structured light measurement. The digital measurement method brings high-precision measurement results and measurement data which are easy to store, but also has the problems of heavy equipment volume, low handheld stability and difficulty in guaranteeing the measurement attitude, and the adoption of the mechanical arm to carry the measurement equipment for automatic measurement is a reasonable solution.
A key problem of adopting a mechanical arm to carry digital measuring equipment for automatic measurement is how to plan a measuring path of a robot. At present, a robot measuring path planning method mainly comprises two methods of artificial teaching programming and measuring path planning based on a three-dimensional model. The method adopting teaching programming not only has long teaching time and large labor intensity, but also is difficult to ensure the relative pose relationship between the measuring equipment and the measured object. The method for planning the measurement path based on the three-dimensional model can well solve the problem of teaching programming, but the operation is complex, the software development difficulty is high, and the existing robot off-line programming software such as Robotstatsidio, Roboguguie, KUKASim, RobotMaster and the like does not realize the robot path planning function aiming at automatic measurement. Therefore, it is necessary to design a simple and reliable path planning method for the problem of automatic measurement path planning of the robot.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a mechanical arm measuring path planning method based on laser guidance, which is convenient to use and simple to operate.
In order to achieve the above object, the technical solution of the present invention is as follows:
a measuring path planning method based on laser guidance is characterized by comprising the following steps:
step 1, projecting a laser pattern to a position to be measured by adopting a laser projection device, wherein the geometric center of the projected pattern is superposed with the central point of the position to be measured;
step 2, after the projected position pattern is stable, controlling a double-camera system to shoot the laser pattern, and transmitting the shot image to a controller for processing;
step 3, establishing an image coordinate system
Figure 937462DEST_PATH_IMAGE001
Solving the center point of the image
Figure 978230DEST_PATH_IMAGE002
In a dual camera system coordinate system
Figure 341078DEST_PATH_IMAGE003
Coordinates of lower
Figure 800004DEST_PATH_IMAGE004
And image coordinate system
Figure 894999DEST_PATH_IMAGE001
To dual camera system coordinate system
Figure 78855DEST_PATH_IMAGE003
Position and attitude transformation matrix of
Figure 855181DEST_PATH_IMAGE005
；
Step 4, solving the pose transfer relation between the mechanical arm tail end coordinate system and the base coordinate system through the transformation matrix among the image coordinate system, the dual-camera system coordinate system, the mechanical arm base coordinate system and the mechanical arm tail end coordinate system as follows:
Figure 480198DEST_PATH_IMAGE006
；
wherein,
Figure 808411DEST_PATH_IMAGE007
a pose transformation matrix between the camera and the mechanical arm base coordinate system;
Figure 338618DEST_PATH_IMAGE008
a pose transformation matrix between the image coordinate system and the coordinate system of the double camera system;
Figure 246531DEST_PATH_IMAGE009
for the end of a robot armA pose transformation matrix between the coordinate system and the image coordinate system;
and 5: according to the pose transformation matrix between the mechanical arm tool coordinate system and the base coordinate system
Figure 788371DEST_PATH_IMAGE010
And calculating the rotation angle of each joint by using the structural parameters of the mechanical arm
Figure 428431DEST_PATH_IMAGE011
；
Step 6: sending a joint movement instruction to the mechanical arm through the controller, driving each joint of the mechanical arm to reach an appointed angle position, and simultaneously checking whether the mechanical arm has a singular pose in the movement process;
and 7: and (6) repeating the steps 1 to 6 until the mechanical arm finishes all teaching tasks.
Furthermore, the projected laser pattern is a cross line laser, and two intersecting lines of the cross line laser projected on the surface of the object to be detected have the characteristic of length which is easy to distinguish.
Further, the image center point
Figure 55722DEST_PATH_IMAGE002
Three-dimensional coordinates in a coordinate system of a dual camera system
Figure 501746DEST_PATH_IMAGE012
Measured by the binocular stereo vision principle.
Further, a pose transformation matrix
Figure 515402DEST_PATH_IMAGE013
According to the image coordinate system
Figure 450997DEST_PATH_IMAGE001
In a dual camera system coordinate system
Figure 768846DEST_PATH_IMAGE003
The following poses are described:
note the book
Figure 425086DEST_PATH_IMAGE001
XYZ axes in a dual camera system coordinate system
Figure 207098DEST_PATH_IMAGE003
The lower unit direction vectors are respectively
Figure 251277DEST_PATH_IMAGE014
Then, then
Figure 977794DEST_PATH_IMAGE001
To a coordinate system
Figure 827938DEST_PATH_IMAGE003
The pose transformation matrix of (a) is expressed as:
Figure 74243DEST_PATH_IMAGE015
；
wherein,
Figure 86061DEST_PATH_IMAGE016
is the image center point
Figure 112923DEST_PATH_IMAGE017
In the normal direction of the axis of the mirror,
Figure 392857DEST_PATH_IMAGE018
in the direction of the long axis of the cross laser
Figure 618302DEST_PATH_IMAGE019
And
Figure 676387DEST_PATH_IMAGE016
the cross product of (a) and (b),
Figure 456125DEST_PATH_IMAGE020
in the direction of
Figure 382492DEST_PATH_IMAGE016
And
Figure 852657DEST_PATH_IMAGE018
the cross product of (a) and (b),
Figure 471857DEST_PATH_IMAGE012
is the three-dimensional coordinate of the origin of the image coordinate system in the coordinate system of the dual camera system.
Further, a pose transformation matrix between the dual camera system and the robot arm base coordinate system
Figure 473311DEST_PATH_IMAGE021
Obtained by hand-eye calibration of the mechanical arm.
Further, a pose transformation matrix between the robot tool coordinate system and the image coordinate system
Figure 344315DEST_PATH_IMAGE022
According to the measurement distance setting of the carried measurement equipment, the direction of a coordinate system at the tail end of the mechanical arm is consistent with the direction of an image coordinate system, and the distance between the origins of the coordinate systems isdThen will be
Figure 278773DEST_PATH_IMAGE022
The description is as follows:
Figure 272137DEST_PATH_IMAGE023
，
wherein,dthe distance is measured optimally by the measuring device.
In summary, the invention has the following advantages:
1. the track planning method provided by the invention is convenient to operate, simple in calculation process, small in calculation amount and convenient to modify, and can shorten the planning time of the measurement viewpoint and improve the working efficiency;
2. the invention adopts the laser-guided measuring path planning method, which can reduce the workload of teaching programming and reduce the working intensity of operators;
3. the invention can ensure the reasonability of the measuring pose and ensure the measuring precision by visually calculating and adjusting the pose between the measuring equipment and the measured object.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic illustration of an embodiment of the present invention;
FIG. 3 is a schematic diagram of the relative position of the measuring device and the projected image;
fig. 4 is a conversion relationship between coordinate systems.
In the figure, the position of the upper end of the main shaft,
1. the device comprises a mechanical arm, 2, a controller, 3, a double-camera system, 4, a laser projection device, 5, a part to be measured, 6, cross line laser, 7 and measuring equipment.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
The terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or may alternatively include other gas steps or elements inherent to such process, method, or apparatus.
Example 1
The invention provides a measuring path planning method based on laser guidance as shown in figure 1, which comprises the following steps:
step 1: as shown in fig. 2, a dual-camera system 3 and a mechanical arm 1 are erected near the object to be measured, the mechanical arm 1, the dual-camera measuring system 3 and the controller 2 are connected and started, and simultaneously, a laser projector 4 is turned on and projects a laser pattern to a part 5 to be measured. The projected laser pattern is cross line laser 6, the two straight lines are vertically intersected, and after the two straight lines are projected on the surface of the object to be measured, the two intersected lines have the characteristic of length which is easy to distinguish.
Step 2: the double-camera system 3 monitors the projection pattern in real time, and after the image is detected to be stable, the controller 2 controls the double-camera system 3 to shoot the laser pattern and transmits the shot image to the controller 2 for processing.
And step 3: establishing an image coordinate system
Figure 180794DEST_PATH_IMAGE001
Solving the origin of the image coordinate system by using the imaging principle of binocular stereo vision
Figure 714543DEST_PATH_IMAGE002
In a dual camera system coordinate system
Figure 972349DEST_PATH_IMAGE003
Coordinates of lower
Figure 808718DEST_PATH_IMAGE004
And image coordinate system
Figure 581502DEST_PATH_IMAGE001
To dual camera system coordinate system
Figure 777997DEST_PATH_IMAGE003
Position and attitude transformation matrix of
Figure 952626DEST_PATH_IMAGE005
. Wherein the origin of the image coordinate system
Figure 22214DEST_PATH_IMAGE002
As the center point of the image
Figure 157660DEST_PATH_IMAGE002
And is also the cross center of the cross laser 6.
Pose transformation matrix
Figure 33212DEST_PATH_IMAGE013
According to the image coordinate system
Figure 265610DEST_PATH_IMAGE001
In a dual camera system coordinate system
Figure 928935DEST_PATH_IMAGE003
And (5) describing the pose. The specific method comprises the following steps:
note the book
Figure 941890DEST_PATH_IMAGE001
XYZ axes in a dual camera system coordinate system
Figure 230920DEST_PATH_IMAGE003
The lower unit direction vectors are respectively
Figure 317825DEST_PATH_IMAGE014
Then, then
Figure 791532DEST_PATH_IMAGE001
To a coordinate system
Figure 150838DEST_PATH_IMAGE003
The pose transformation matrix of (a) is expressed as:
Figure 102613DEST_PATH_IMAGE015
；
wherein,
Figure 309604DEST_PATH_IMAGE016
is the image center point
Figure 829578DEST_PATH_IMAGE017
In the normal direction of the axis of the mirror,
Figure 285967DEST_PATH_IMAGE018
in the direction of the long axis of the cross laser
Figure 244696DEST_PATH_IMAGE019
And
Figure 731959DEST_PATH_IMAGE016
the cross product of (a) and (b),
Figure 813047DEST_PATH_IMAGE020
in the direction of
Figure 959995DEST_PATH_IMAGE016
And
Figure 128939DEST_PATH_IMAGE018
the cross product of (a) and (b),
Figure 107259DEST_PATH_IMAGE012
is the three-dimensional coordinate of the origin of the image coordinate system in the coordinate system of the dual camera system.
And 4, step 4: as shown in fig. 4, the pose transfer relationship between the robot tool coordinate system and the base coordinate system is solved by the transformation matrix among the image coordinate system, the dual-camera system coordinate system, the robot arm base coordinate system and the robot arm end coordinate system as follows:
Figure 296932DEST_PATH_IMAGE006
；
wherein,
Figure 852547DEST_PATH_IMAGE007
the pose transformation matrix between the camera and the base coordinate system of the mechanical arm is obtained by the hand-eye calibration of the mechanical arm, and the hand-eye calibration is a technique well known by the technical personnel in the field;
Figure 215395DEST_PATH_IMAGE008
solving a pose transformation matrix between the image coordinate system and the coordinate system of the double-camera system according to the method in the step 3;
Figure 658009DEST_PATH_IMAGE009
for end-of-arm tool seatsAnd a pose transformation matrix between the coordinate system and the image coordinate system is set according to the optimal measurement distance of the measurement equipment 7 carried on the mechanical arm. As shown in fig. 3, the specific method is: if the direction of the coordinate system at the tail end of the mechanical arm is consistent with the direction of the image coordinate system, the distance of the origin of the coordinate system in the Z direction isd（dIs the optimum measurement distance of the measuring device), then
Figure 18583DEST_PATH_IMAGE009
Expressed as:
Figure 936861DEST_PATH_IMAGE023
。
and 5: according to a pose transformation matrix between a tool coordinate system at the tail end of the mechanical arm and a base coordinate system
Figure 463919DEST_PATH_IMAGE024
And calculating the rotation angle of each joint according to the structural parameters of the mechanical arm
Figure 354515DEST_PATH_IMAGE025
。
Step 6: a joint motion instruction is sent to the mechanical arm 1 through the controller 2, each joint of the mechanical arm is driven to reach an appointed angle position, and whether the mechanical arm has a singular pose in the motion process is checked.
And 7: and (6) repeating the steps 1 to 6 until the mechanical arm finishes all teaching tasks.
While the present invention has been described in detail with reference to the illustrated embodiments, it should not be construed as limited to the scope of the present patent. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims (6)

1. A measuring path planning method based on laser guidance is characterized by comprising the following steps:
step 1, projecting a laser pattern to a position to be measured by adopting a laser projection device, wherein the geometric center of the projected pattern is superposed with the central point of the position to be measured;
step 2, after the projected position pattern is stable, controlling a double-camera system to shoot the laser pattern, and transmitting the shot image to a controller for processing;
step 3, establishing an image coordinate system
Figure 900700DEST_PATH_IMAGE001
Solving the center point of the image
Figure 243957DEST_PATH_IMAGE002
In a dual camera system coordinate system
Figure 355132DEST_PATH_IMAGE003
Coordinates of lower
Figure 287185DEST_PATH_IMAGE004
And image coordinate system
Figure 989562DEST_PATH_IMAGE001
To dual camera system coordinate system
Figure 616852DEST_PATH_IMAGE003
Position and attitude transformation matrix of
Figure 734981DEST_PATH_IMAGE005
；
Step 4, solving the pose transfer relation between the mechanical arm tail end coordinate system and the base coordinate system through the transformation matrix among the image coordinate system, the dual-camera system coordinate system, the mechanical arm base coordinate system and the mechanical arm tail end coordinate system as follows:
Figure 396906DEST_PATH_IMAGE006
；
wherein,
Figure 270184DEST_PATH_IMAGE007
a pose transformation matrix between the camera and the mechanical arm base coordinate system;
Figure 276449DEST_PATH_IMAGE008
a pose transformation matrix between the image coordinate system and the coordinate system of the double camera system;
Figure 57323DEST_PATH_IMAGE009
a pose transformation matrix between a mechanical arm tail end coordinate system and an image coordinate system;
and 5: according to the pose transformation matrix between the mechanical arm tool coordinate system and the base coordinate system
Figure 777017DEST_PATH_IMAGE010
And calculating the rotation angle of each joint by using the structural parameters of the mechanical arm
Figure 493301DEST_PATH_IMAGE011
；
Step 6: sending a joint movement instruction to the mechanical arm through the controller, driving each joint of the mechanical arm to reach an appointed angle position, and simultaneously checking whether the mechanical arm has a singular pose in the movement process;
and 7: and (6) repeating the steps 1 to 6 until the mechanical arm finishes all teaching tasks.
2. The laser-guidance-based measurement path planning method according to claim 1, wherein the projected laser pattern is a cross line laser, and two intersecting lines of the cross line laser projected on the surface of the object to be measured have easily distinguishable long and short characteristics.
3. The laser-guided measurement path planning method according to claim 1, wherein the image center point
Figure 360762DEST_PATH_IMAGE002
Three-dimensional coordinates in a coordinate system of a dual camera system
Figure 69961DEST_PATH_IMAGE012
Measured by the binocular stereo vision principle.
4. The laser-guidance-based measurement path planning method according to claim 1, wherein the pose transformation matrix
Figure 644162DEST_PATH_IMAGE013
According to the image coordinate system
Figure 921560DEST_PATH_IMAGE001
In a dual camera system coordinate system
Figure 620525DEST_PATH_IMAGE003
The following poses are described:
note the book
Figure 212044DEST_PATH_IMAGE001
XYZ axes in a dual camera system coordinate system
Figure 703068DEST_PATH_IMAGE003
The lower unit direction vectors are respectively
Figure 508957DEST_PATH_IMAGE014
Then, then
Figure 85431DEST_PATH_IMAGE001
To a coordinate system
Figure 887165DEST_PATH_IMAGE003
The pose transformation matrix of (a) is expressed as:
Figure 170379DEST_PATH_IMAGE015
；
wherein,
Figure 789579DEST_PATH_IMAGE016
is the image center point
Figure 977984DEST_PATH_IMAGE017
In the normal direction of the axis of the mirror,
Figure 645726DEST_PATH_IMAGE018
in the direction of the long axis of the cross laser
Figure 845763DEST_PATH_IMAGE019
And
Figure 776810DEST_PATH_IMAGE016
the cross product of (a) and (b),
Figure 796718DEST_PATH_IMAGE020
in the direction of
Figure 533730DEST_PATH_IMAGE016
And
Figure 214373DEST_PATH_IMAGE018
the cross product of (a) and (b),
Figure 909796DEST_PATH_IMAGE012
is the three-dimensional coordinate of the origin of the image coordinate system in the coordinate system of the dual camera system.
5. The laser-guided survey path planning method of claim 1 wherein the pose transformation matrix between the dual camera system and the robotic arm based coordinate system
Figure 823525DEST_PATH_IMAGE021
Obtained by hand-eye calibration of the mechanical arm.
6. The laser-guidance-based measurement path planning method according to claim 1, wherein a pose transformation matrix between a robot arm end coordinate system and an image coordinate system
Figure 895387DEST_PATH_IMAGE022
According to the measurement distance setting of the carried measurement equipment, the direction of a coordinate system at the tail end of the mechanical arm is consistent with the direction of an image coordinate system, and the distance between the origins of the coordinate systems isdThen will be
Figure 929071DEST_PATH_IMAGE022
The description is as follows:
Figure 264237DEST_PATH_IMAGE023
，
wherein,dthe distance is measured optimally by the measuring device.
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