Embodiment
The scaling method of multi-robot system collaborative work coordinate system, refer to utilize calibrating block in conjunction with mathematical method by robot independently coordinate system unification in the world coordinate system set up in workplace, set up the coordinate system relation of each adjacent machines people simultaneously, wherein, world coordinate system is the absolute coordinate system of system, before not setting up user coordinate system on picture coordinate be a little all to determine respective position with the initial point of this coordinate system.
The invention provides a kind of scaling method of single robot system synergistic working coordinate system, the conversion between the coordinate system of each self-control robot and world coordinate system, comprises the steps:
The first step: by a calibrating block is according to determining world coordinate system with tag block, and the three-dimensional coordinate of the multiple angle point of recording mark block;
Second step: determine robot coordinate system;
3rd step: the end of a robot obtains the coordinate figure of point under robot coordinate system in calibrating block;
4th step: the world coordinates value of the point of the calibrating block that the end obtaining this robot touches;
5th step: acquired robot coordinate value and corresponding world coordinates value are changed, obtains the transformational relation that robot coordinate is tied to world coordinate system.
The world coordinate system of the described first step is determined according to calibrating block 10, is specifically described as follows:
The structural representation of Fig. 1 three-dimensional scaling block of the present invention, this three-dimensional scaling block 100 for calibrating block be a 3-D solid structure, calibrating block is a square in the present embodiment, this calibrating block 100 is provided with upper surface 11, adjacent with upper surface 11 and meet at the first side 12 and the second side 13 of the first tie point 100 simultaneously, the lower surface (not shown) relative with upper surface 100, the three side (not shown) relative with the first side 12, the four side (not shown) relative with the second side 13, wherein, first side 12 is disposed adjacent with the second side 13, and the first side 12 is positioned at the left side of the second side 13.
Fig. 1 illustrates upper surface 11, first side 12 and second side 13 of calibrating block 100, these three surfaces are divided into multiple lattice, in the present embodiment, three surfaces are divided into 16 lattices, and the length of each grid and width are 5 units, and the intersection point between adjacent two lattices is angle point, each angle point is positioned at the inside of the every one side of calibrating block 100, in the present embodiment, each angle point does not comprise the point crossed with each side, and so every face of calibrating block 100 is provided with 9 angle points
Described first side 12 is provided with the first limit 101 be connected with described first tie point 100, and described second side 13 is provided with the Second Edge 102 be connected with described first tie point 100.The 3rd limit 103 be connected with described first tie point 100 is provided with between described first side 12 and second side 13.
The lower surface central point of setting calibrating block 100 is the initial point 0 of world coordinate system, parallel the first described limit 101, the X-coordinate direction of world coordinate system also extends to the first side 12, the parallel described Second Edge 102 in the Y-coordinate direction of world coordinate system also extends to described second side 12, and parallel described 3rd limit 103 of Z coordinate direction of world coordinate system also extends to described upper surface 11.That is, world coordinate system be using the three-dimensional extension direction of calibrating block 10 as X-coordinate, Y-coordinate and Z coordinate.
By determining that XYZ sits, can search very intuitively and recording arbitrary angle point three-dimensional coordinate position in world coordinate system in calibrating block.
Fig. 2 is the planimetric map schematic diagram of the upper surface 11 of calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of upper surface 11 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-5, 5, 20), (0, 5, 20), (5, 5, 20), three coordinates of second row three angle points are sequentially from left to right: (-5, 0, 20), (0, 0, 20), (5, 0, 20), three coordinates of the 3rd row three angle points are sequentially from left to right: (-5,-5, 20), (0,-5, 20), (5,-5, 20).
The planimetric map schematic diagram of the first side 12 of Fig. 3 calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of the first side 12 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-5,-10, 15), (0,-10,-15), (5,-10, 15), three coordinates of second row three angle points are sequentially from left to right: (-5,-10, 10), (0,-10, 10), (5,-10, 10), three coordinates of the 3rd row three angle points are sequentially from left to right: (-5,-10, 5), (0,-10, 5), (5,-10, 5).
The planimetric map schematic diagram of the second side 13 of Fig. 4 calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of the second side 13 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-10, 5, 15), (-10, 0, 15), (-10,-5, 15), three coordinates of second row three angle points are sequentially from left to right: (-10, 5, 10), (-10, 0, 10), (-10,-5, 10), three coordinates of the 3rd row three angle points are sequentially from left to right: (-10, 5, 5), (-10, 0, 5), (-10,-5, 5).
Fig. 5 is the shift theory figure that robot coordinate is tied to world coordinate system, and wherein, a21 is robot, and a25 is the end of robot, 10 is three-dimensional scaling block, and a23 is robot coordinate system, and a25 is the end of robot, a24 is world coordinate system, i.e. the coordinate system of calibrating block 10, and a26 is worktable.Wherein, the end a25 of robot is used for carrying out work to part to be processed; Robot coordinate system a23 determines according to stationary installation a27 that is fixing and support robot arm, using stationary installation a27 as a three-dimensional devices, determine robot coordinate system a23 according to the bearing of trend of its all directions, the Z axis of robot coordinate system a23 is parallel to the Z axis of world coordinate system a24.
The calibration process being tied to robot coordinate system for world coordinates in order to the calibration process embodying coordinate system is more intuitively described.
Following step 1-7 is the scaling method of single robot system synergistic working coordinate system, and concrete implementation procedure method step is as follows:
Step a1: calibrating block 10 is lain in a horizontal plane in one of worktable a26 on the surface, now the coordinate system of calibrating block 10 is the world coordinate system of this workplace, by observing to select to record calibrating block 10 upper part angular coordinate is:
wherein
refer to the i-th point in world coordinate system a24,
be i-th D coordinates value.
Step a2: utilize the end a25 of robot to contact respectively in calibrating block 10
point (end of robot and the interrelational form of calibrating block associate according to contact method), ensure robot end a25 with
the point coincides of the right-angled intersection of point, now feeds back the position coordinates of end a25 in robot coordinate system a23 of robot
wherein
with
point be one to one.
Above-mentioned steps a2 is the process of the specific implementation of described 3rd step.
Step a3: the X of hypothetical world coordinate system a24 to robot coordinate system a23, the translational movement of Y, Z tri-axles is respectively T
x, T
y, T
z, then homogeneous translation transformation matrix is:
Homogeneous translation transformation matrix (Homogenouscoordinate) is meant to: the method tieing up array representation n dimension coordinate with [n+1], must make new advances after namely the coordinate of any point takes advantage of transformation matrix coordinate.
Step a4: the hypothetical world coordinate system a24 angle [alpha] rotated around X-axis by coordinate system is to the X-axis of robot coordinate system a23, then the homogeneous coordinate transformation matrix that coordinate system rotates around X-axis is:
Step a5: the hypothetical world coordinate system a24 angle beta rotated around Z axis by coordinate system is to the Y-axis of robot coordinate system a23, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
The Z axis of step a6: the hypothetical world coordinate system a24 angle θ to robot coordinate system a23 rotated around Z axis by coordinate system, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
Step a7: world coordinate system a24 is designated as to the transformation matrix of robot coordinate system a23
then transformation relation is as follows:
Wherein,
Trans (X, Y, Z) be the translation transformation matrix of three axles, R (X), R (Y), R (Z) are the rotational transformation matrix of three axles, and the Z axis according to the description known robot coordinate system a23 in Fig. 5 is parallel with the Z axis of world coordinate system a24, namely two coordinate systems convert all without spin in X-axis and Y-axis, therefore
By known many groups
with
the coordinate of point bring solving equation group in above formula into and can obtain the transformation matrix of world coordinate system a24 to robot coordinate system a23
value, in like manner can basis
obtain the transformation matrix of robot coordinate system a23 to world coordinate system a24
value.
Above-mentioned steps 3-7 is the process of the specific implementation of described 5th step, and many groups
with
at least 3 groups.
In the present invention self-control robot coordinate system to the effect that world coordinate system is changed be in order to by uncorrelated coordinate system correlations in same coordinate system, set up the incidence relation of coordinate, be beneficial to coordinate calculate and conversion.
Fig. 6 is the partial enlargement image that robot end contacts with angle point in punctuate block, the end a25 of robot is tapered element, 104 is a focus in calibrating block, namely an angle point in world coordinate system a24, coordinate figure is (-5,0,20), the angle point 104 of the end a25 of robot and the Contact of the angle point 104 of the calibrating block end a25 and calibrating block that will meet robot overlaps.
The scaling method of multiple robot system collaborative work coordinate system, the ordinate transform between any Liang Ge robot, comprises the steps:
The first step: the single robot coordinate described in employing is tied to the transformational relation of world coordinate system;
Second step: the same position of the end difference contact target object of Liang Ge robot arbitrarily, obtains the position coordinates of same position under different machines people coordinate system in calibrating block respectively;
3rd step: the position relationship obtained according to any Liang Ge robot obtains the ordinate transform relation between any Liang Ge robot.
Fig. 7 is the schematic diagram of the shift theory figure between any two robot coordinate systems, Fig. 8 is the partial enlarged drawing that the Liang Ge robot of Fig. 7 contacts with same position in calibrating block, wherein, a31 is robot A, a32 is robot B, 10 is three-dimensional scaling block, a34 is the coordinate system of robot A, a35 is the coordinate system of robot B, a26 is working face, a36 is the end of robot A, a37 is the end of robot B, the end of Liang Ge robot is all tapered element, 104 is an angle point in calibrating block, coordinate figure is (-5, 0, 20), the end a36 of robot A overlaps when contacting with the angle point 104 of calibrating block respectively with the end a37 of robot B completely, what describe in Fig. 8 is that two robot ends contact angle point simultaneously, in an actual situation, need to contact respectively, to avoid interfering and fully overlapping.
In the computation process of the transformation matrix between arbitrary system and Fig. 5, process is similar, and the process of the second step of the scaling method of above-mentioned multiple robot system collaborative work coordinate system is as follows:
Step b1: robot A to contact the same angle point in calibrating block 10 respectively with robot B, feed back identical angle point respectively at different machines people coordinate system a34, the coordinate figure under a35 is
with
Step b2: according to
and
obtain the mutual coordinate conversion relation of robot A and robot B.
The effect of setting up the coordinate relation between adjacent machines people in the present invention has been that the position between adjacent machines people switches.
Fig. 9 is the structural representation of multirobot collaborative work, in the present embodiment, multirobot collaborative work comprises: 4 robot a11, a12, a13, a14, worktable a16 and the target object a15 be positioned on worktable a16, Tu Zhong a11 robot is numbered 1, a12 robot is numbered 2, a13 robot be numbered 3, a14 robot be numbered 4.4 artificial examples of machine illustrate the step of robot collaborative work:
Step c1: the transformation relation that setting world coordinates is tied to four robot coordinate systems is respectively
Step c2: known target object a15 has 4 some positions P1, P2, P3, P4, it is respectively at the coordinate in world coordinate system
Step c3: by the transformation relation of above-mentioned steps a1 to step a7, the world coordinates of corresponding P1, P2, P3, P4 tetra-points in target object a15 is transformed in a11, a12, a13, a14 tetra-robot coordinate systems respectively, obtain the new coordinate figure Q1 of target object point position in robot coordinate system, Q2, Q3, Q4, namely
Step c4: four robots can move to the operation corresponding some position being carried out other actions such as crawl to target object a15 according to new coordinate figure.
The present invention, in order to realize the collaborative work of multirobot, proposes multi-robot system collaborative work coordinate system scaling method.
Figure 10 is the schematic diagram that multirobot works in coordination with that tandem working completes object refile, multirobot collaborative work comprises: 6 robot b11, b12, b13, b14, b15, b16, a worktable b18 and the target object b17 be positioned on worktable b18, wherein relative Liang Ge robot (b11 and b12, b13 and b14, b15 and b16) mode of operation be collaborative work, robot (the b11 of the same side, b13, b15 and b12, b14, b16) mode of operation is tandem working, target object b17 has two gauge point P1 and P2, P1 and P2 is the some position that robot captures, the position of its gauge point in world coordinate system is known, i.e. P
1(x1, y1, z1), P
2(x2, y2, z2).
Concrete job step is:
Steps d 1: make world coordinates be tied to b11, the transformation relation of b12, b13, b14, b15 and b16 robot coordinate system is respectively:
(the first matrix conversion), the transformation relation that b11, b12, b13, b14, b15 and b16 robot coordinate is tied to world coordinate system is respectively:
(the second matrix conversion), the transformation relation between adjacent machines people coordinate system is:
(the 3rd matrix conversion), wherein
represent that m robot coordinate is tied to the transformation matrix of n robot coordinate system.
Steps d 2: by P1 and P2 point coordinate foundation respectively
(the first matrix conversion) transition matrix converts in the coordinate system of robot 11 and robot 12 and goes, namely
(the first kinematic relation formula), robot according to
(the first kinematic relation formula) moves to the crawl that object is carried out in corresponding position.
Steps d 3: robot b11 and robot b12 moves target object b17 and is placed on worktable b18 to certain position.
Steps d 4: next group robot b13 and b14 moves carrying out relay to the target object b17 on this position, there are two kinds of modes the crawl position now obtaining robot b13 and robot b14: the first is when first group of robot b11 and b12 drop target object b17, obtain the coordinate of two gauge point P1 and P2 respectively under this Liang Ge robot b11 and b12 on now target object b17, the coordinate conversion relation between recycling robot
these two point P1 with P2 are transformed to next and organize in the coordinate system of two relative robot b13 and b14 by (the 3rd matrix conversion), and robot b13 and b14 captures object according to the motion of new coordinate figure and transmit; It two is the conversion carrying out twice coordinate system, is when first group of two relative robot b11 and b12 drop target object b17 equally, the coordinate of acquisition point position in corresponding machine people, by the coordinate foundation obtained
(the second matrix conversion), is transformed in world coordinate system, then basis
these two points are transformed into next and organize in the coordinate system of relative amount robot b13 and b14 by (the first matrix conversion), this next organize two relative robot b13 and b14 and move and capture objects and transmit, concrete account form is determined according to actual conditions.
Steps d 5: repeat the refile that steps d 4 completes object in this way.
Figure 11 is that multi-robot system collaborative work coordinate system demarcates process flow diagram, and its step is as follows:
Step e1: make the end of robot overlap with the angle point in calibrating block in a contact fashion.
Step e2: read the position coordinates of angle point in world coordinate system.
Step e3: the position coordinates obtaining robot end.
Step e4: repeat step e2 and e3 and obtain enough points.
Step e5: the coordinate of known corresponding point calculates transformation of coordinates matrix according to homogeneous coordinate transformation relation.
In the present invention, first the determination of the world coordinate system of worktable is carried out, next utilizes calibrating block to feed back the coordinate conversion relation that obtains between each robot coordinate system and determined world coordinate system and the transformation relation between determined world coordinate system and robot coordinate system in conjunction with robot coordinate, again, calibrating block is utilized to obtain the coordinate conversion relation between any Liang Ge robot in conjunction with the coordinates feedback of any Liang Ge robot, comprising the ordinate transform relation between the ordinate transform relation between robot n to robot m and robot m to robot n, the transformational relation of institute's calibrated and calculated each coordinate system out is finally utilized to obtain the coordinate transform of optional position point in world coordinate system, for the some position relation of the collaborative work and tandem working of determining robot.
Above specific embodiments of the invention have been described in detail, but content being only the preferred embodiment of the invention, the practical range for limiting the invention can not being considered to.All equalizations done according to the invention application range change and improve, and all should still belong within patent covering scope of the present invention.