CN108286949B - Movable three-dimensional detection robot system - Google Patents
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Abstract
The invention discloses a movable three-dimensional detection robot system which comprises a path planning subsystem, a movable three-dimensional detection robot subsystem and a detection data acquisition and analysis subsystem. The path planning subsystem is used for generating a platform path instruction and a mechanical arm tail end path instruction in the whole detection process; the movable three-dimensional detection robot subsystem comprises an omnidirectional intelligent mobile platform, a mechanical arm module and a three-dimensional detection module, wherein the omnidirectional intelligent mobile platform and the mechanical arm module are matched with each other, move according to respective preset path instructions, control the three-dimensional detection module to align to a detected viewpoint, perform three-dimensional detection and send a detection result to the detection data acquisition and analysis subsystem; and the detection data acquisition and analysis subsystem is used for analyzing the shape error and the position error of the surface of the detected part according to the detection result and visually displaying the analysis result. The invention enables the whole detection process to be automatically controllable, and improves the three-dimensional detection efficiency.
Description
Technical Field
The invention relates to a movable three-dimensional detection robot system for a large-scale structure, and belongs to the field of industrial robot application.
Background
The large-scale of high-end equipment adopts traditional fixed equipment to detect the product and can bring a series of problems. With the increasing size of high-end equipment such as large-scale spacecrafts, large-scale passenger planes, large-scale locomotives, ships and the like, the precision is continuously improved. No matter large-scale fixed detection equipment is difficult to satisfy the detection demand of these equipments in stroke, function, consequently need form and use the removal detection equipment as the main flexible intelligent detection system of integration, cooperative control, form a new three-dimensional detection mode.
Based on this, robot manufacturing technology has been rapidly developed. A conventional robot manufacturing system, for example, CN201310680291.9 "a method for operating an industrial robot" describes only a work flow of a general industrial robot, and compared with a mobile robot, the work flow differs depending on a movement route, and the composition of the manufacturing system is not specified. CN201710257168.4 describes only the basic principle and graphic collection process for three-dimensional detection of large structures, and does not combine mechanical arms to explain the moving mode and control strategy of detection equipment, and the degree of automation and intelligence is low. CN201410545718.9 discloses a station planning and mechanical arm trajectory planning method for a spraying robot with a large free-form surface, wherein the spraying object is a large curved surface, and the working procedures are different.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the movable three-dimensional detection robot system is used for solving the three-dimensional detection task of a large-scale structure, planning and simulating the detection process can be realized through the system, and detection data are collected and processed.
The technical solution of the invention is as follows: a movable three-dimensional detection robot system comprises a path planning subsystem, a movable three-dimensional detection robot subsystem and a detection data acquisition and analysis subsystem, wherein:
the movable three-dimensional detection robot subsystem comprises an omnidirectional intelligent mobile platform, a mechanical arm module and a three-dimensional detection module, wherein the three-dimensional detection module is arranged at the tail end of a mechanical arm and used as an actuator at the tail end of the mechanical arm;
the detection data acquisition and analysis subsystem is used for analyzing the shape error and the position error of the surface of the detected part according to the detection result and visually displaying the analysis result;
and the path planning subsystem determines the coordinates of the detection viewpoint under the body coordinate system of the object to be detected and the field detection direction thereof according to the position of each part to be detected in the body coordinate system of the object to be detected and the optimal shooting distance of the three-dimensional detection equipment based on the three-dimensional model of the object to be detected, and generates a platform path instruction and a mechanical arm tail end path instruction in the whole detection process according to the coordinates and the field detection direction.
Intelligent moving platform of qxcomm technology for realize that movable three-dimensional inspection robot surpasss the removal outside the arm module motion stroke in the work place, specifically do: moving along a specified path according to a preset platform path instruction, automatically pausing when reaching each target station point, and sending a starting instruction to the mechanical arm;
the mechanical arm module is used for moving the tail end of the mechanical arm module to a first detection viewpoint on the surface of the part to be detected within the reach range according to a preset mechanical arm path instruction after receiving the starting instruction, controlling the tail end of the mechanical arm to align the three-dimensional detection module to the detection viewpoint and then sending a measurement instruction to the three-dimensional detection module;
the three-dimensional detection module executes measurement actions after receiving the measurement instruction, sends the measurement result to the detection data acquisition and analysis subsystem, then sends a viewpoint measurement ending signal to the mechanical arm module, the mechanical arm controls the tail end of the mechanical arm to align the three-dimensional detection module to a next detection viewpoint on the surface of the part to be detected according to a preset mechanical arm path instruction, then sends a measurement instruction to the three-dimensional detection module, the three-dimensional detection module aligns the detection viewpoint for measurement, the process is repeated until the three-dimensional detection module finishes the measurement tasks of all the detection viewpoints within the reach range of the target station, and the mechanical arm module sends a viewpoint measurement ending signal to the omnidirectional intelligent mobile platform;
and after receiving the station measurement finishing signal, the omnidirectional intelligent mobile platform moves along the specified path according to a preset platform path instruction, moves to the next target station, and repeats the process until all the target station points are traversed.
The three-dimensional detection module comprises binocular stereoscopic vision equipment and photogrammetry equipment, the binocular stereoscopic vision equipment and the photogrammetry equipment respectively image the surface of a detected part and the whole situation of a detected object, and send obtained local image information and global image information to the detection data acquisition and analysis subsystem, the local image information is point cloud information in the field range of the binocular stereoscopic vision equipment and comprises point cloud information of the surface of the detected part and at least four public target point cloud information thereof, and the global image information comprises the image information of the whole situation of the detected object and at least four public target point information.
The public punctuations are uniformly distributed on the surface of the measured object.
And the coordinates of the public target points under the measured object coordinate system are obtained by the target positioning and measuring equipment.
The path planning module comprises a viewpoint planning module, a platform station and path planning module thereof, a mechanical arm body path generating module, a collision interference checking and simulating module and a path instruction generating module, wherein:
the viewpoint planning module is used for determining the coordinates and the view field detection direction of the detection viewpoint under the coordinate system of the object to be detected according to the position of each part to be detected in the coordinate system of the object to be detected and the optimal shooting distance of the three-dimensional detection equipment based on the three-dimensional model of the object to be detected, and sending the coordinates and the view field detection direction to the platform station position and path planning module of the platform station position and the path planning module of the mechanical arm body;
the platform station and path planning module calculates the range of the mechanical arm base position corresponding to each detection viewpoint according to the coordinates of the detection viewpoints under the coordinate system of the measured object and the plane where the mechanical arm base is installed, adopts a mechanical arm inverse kinematics method to determine the minimum number of mechanical arm base target position areas according to the range of the mechanical arm base position corresponding to the detection viewpoints, so that the working space range reached by the tail end of the mechanical arm positioned in the areas covers all the detection viewpoints, takes the central point of the mechanical arm base target position area as the target station point of the omnidirectional intelligent mobile platform, and determines a piece of non-collision platform path information according to the current position information of the omnidirectional intelligent mobile platform, the coordinates of the target station points and the scenes between the station points and the current position by taking the mechanical arm working space with the three-dimensional detection module as constraint, the platform path information comprises current position information, intermediate point coordinates between each target station and each station point, a yaw angle of the platform at the current position, each target station and each intermediate point, a platform moving speed and a yaw angle speed;
the mechanical arm body path generating module is used for traversing all detection viewpoints corresponding to the station positions by adopting a genetic algorithm according to the sequence of target station positions in the platform path information and the principle that the distance between the detection viewpoints is shortest and all detection viewpoints corresponding to the station positions are taken as input for each station position, optimizing a shortest path which passes through each viewpoint and only passes through each detection viewpoint once, and generating mechanical arm tail end detection path information;
the collision interference detection and simulation module is used for detecting whether the mechanical arm module collides and interferes with peripheral objects or not according to the detection path information of the tail end of the mechanical arm, the view field detection direction information of each detection viewpoint, the structure of the mechanical arm and all joint motion processes of the mechanical arm by combining scene information around the mechanical arm, inserting an avoidance point in a path where collision interference occurs if collision interference occurs, adjusting the motion form between the avoidance point and two adjacent viewpoints, updating the detection path information of the tail end of the mechanical arm to ensure that the mechanical arm module does not collide and interfere with the peripheral objects, and keeping the original detection path if collision interference does not occur;
the system comprises an instruction generation module, a platform target station position detection module, a platform monitoring module and a monitoring module, wherein the instruction generation module is used for converting mechanical arm path information corresponding to each platform target station position and view field detection direction information of each detection viewpoint into mechanical arm path control instructions, replacing station positions, circulating the process to generate mechanical arm path control instructions corresponding to all the target station positions along the platform path, matching the omnidirectional intelligent mobile platform and the mechanical arm module with each other in time sequence, adding start and pause control instructions to form a whole-process executable program, and loading the whole-process executable program to the mechanical arm module; the method comprises the steps of converting the path information of the omnidirectional intelligent mobile platform into a platform path control instruction, matching the omnidirectional intelligent mobile platform and a mechanical arm module with each other in time sequence, adding a start and pause control instruction, forming a whole-process executable program, and loading the program to the omnidirectional intelligent mobile platform.
The coordinates and the detection direction of the detection viewpoint are determined by the following method:
the method comprises the steps of taking a surface center point of a part to be detected as a starting point, taking a normal vector of the point as a deviation direction, taking the optimal shooting distance of three-dimensional detection equipment as a deviation distance, taking a position reached after the surface center point of the part to be detected is deviated according to the deviation direction and the deviation distance as a detection viewpoint position, and taking the normal vector direction of the surface center point of the part to be detected as a detection direction.
The detection module comprises a detection data acquisition module, a detection data processing module and a processing result display module, wherein:
the detection data acquisition module receives point cloud information in the field of view of the binocular stereoscopic vision equipment sent by the three-dimensional detection module and sends the point cloud information to the detection data processing module;
the detection data processing module is used for fitting point cloud information in a field of view of binocular stereoscopic vision equipment to obtain the real morphology of the measured surface, and comparing the real morphology with the theoretical morphology to obtain a morphology error; determining the coordinates of each point on the surface of the part to be measured under the coordinate system of the measured object according to the coordinate information of the common target point in the field of view range of the binocular stereoscopic vision equipment under the coordinate system of the measured object and the point cloud information in the field of view range of the binocular stereoscopic vision equipment, and comparing the coordinates with the coordinates of each point on the theoretical processing surface to obtain a position error; sending the shape error and the position error to a processing result display module
A processing result display module: and carrying out visual display on the received morphology errors and the position errors.
Compared with the prior art, the invention has the advantages that:
(1) the invention integrates an omnidirectional intelligent mobile platform, an industrial mechanical arm and high-precision three-dimensional detection equipment into a whole to form a flexible execution system, changes the traditional three-coordinate and manual detection mode of a machine tool, meets the in-situ detection of large or overlarge and heavy-load products, and improves the detection precision, efficiency and flexibility;
(2) aiming at the fact that the size of high-end equipment is continuously increased and the machining precision is continuously improved, the station position of the movable detection robot system in the detection process can be optimized through the path planning subsystem under the condition that the detection precision is guaranteed, the station switching times of the movable detection robot are reduced, the detection path is optimized aiming at the detection process under the fixed station position, the detection efficiency is improved, and the overall detection precision is guaranteed;
(3) according to the characteristics of the object to be detected and the characteristics of the detection equipment, the detection path is planned in advance through the path planning subsystem, the programs executable by the mechanical arm and the omnidirectional intelligent mobile platform are generated in an off-line mode, the three-dimensional detection data are automatically collected and analyzed after detection is finished, the whole process is automatically controllable, and the three-dimensional detection efficiency is improved.
(4) Aiming at the three-dimensional detection process of a large-scale structure, the invention firstly adopts large-view-field-range photogrammetry equipment to establish the reference of the whole measurement field, and then carries out small-view-field-range binocular stereoscopic vision measurement equipment detection aiming at local parts, thereby reducing the error caused by splicing large-range three-dimensional detection images and improving the three-dimensional detection precision.
(5) According to the invention, the path information of the mechanical arm is simulated through the collision interference check and simulation module, so that the mechanical arm module is prevented from colliding and interfering with surrounding objects, parts are prevented from being damaged, and the test reliability is improved;
(6) the detection data can be acquired through the detection data acquisition and analysis subsystem, and the comparison with a theoretical model is automatically completed through the integrated analysis of the data, so that an intuitive error cloud picture is formed.
Drawings
FIG. 1 is a system block diagram of a mobile three-dimensional inspection robot system according to the present invention;
FIG. 2 is a hardware diagram of a movable three-dimensional inspection robot system according to the present invention;
in the figure: the system comprises an omnidirectional intelligent mobile platform 1, a detection data processing upper computer 2, a display 3, an electric control cabinet 4, a mechanical arm controller 5, a mechanical arm 6, a three-dimensional detection module 7 and a camera 8.
Detailed Description
The invention is described in detail below with reference to the figures and specific examples.
The robot detection system can greatly improve the working efficiency, improve the product quality, reduce the labor cost and be more and more widely applied in the industrial field. The movable three-dimensional detection robot system has a movable system moving in all directions, a guide rail does not need to be laid in a factory building in advance, and station conversion in an ultra-large range can be achieved. According to the work task and the flow arrangement, the process layout is changed rapidly, and the intelligent flexible manufacturing of the product is realized in the true sense. Therefore, the movable three-dimensional detection robot system has greater spatial flexibility, technical advancement and frontier performance, and is an important development direction in the field of industrial manufacturing.
The invention provides a movable three-dimensional detection robot system which can effectively improve the three-dimensional detection efficiency and precision. As shown in fig. 1 and 2, the system comprises a path planning subsystem, a movable three-dimensional detection robot body subsystem and a detection data acquisition and analysis subsystem.
1. Path planning subsystem
The path planning subsystem is a planning and control mechanism of the movable three-dimensional detection robot system.
The path planning subsystem determines coordinates of a detection viewpoint under a coordinate system of the object to be detected and a field detection direction thereof according to the position of each part to be detected in the coordinate system of the object to be detected and the optimal shooting distance of the three-dimensional detection equipment based on the three-dimensional model of the object to be detected, generates a platform path instruction in the whole detection process and a mechanical arm tail end path instruction according to the coordinates, and loads the platform path instruction and the mechanical arm tail end path instruction to the omnidirectional intelligent mobile platform and the mechanical arm module respectively.
The path planning subsystem comprises a viewpoint planning module, a platform station and path planning module thereof, a mechanical arm body path generating module, a collision interference checking and simulating module and a path instruction generating module, wherein:
1.1 viewpoint planning module
Based on the three-dimensional model of the object to be detected, the coordinates of the detection viewpoint under the coordinate system of the object to be detected and the detection direction of the view field of the detection viewpoint are determined according to the position of each part to be detected in the coordinate system of the object to be detected, the optimal shooting distance of the three-dimensional detection equipment, and the coordinates are sent to the platform station, the path planning module of the platform station and the path generating module of the mechanical arm body. The optimal shooting distance is determined according to the depth of field and the field range of the three-dimensional detection equipment.
The method for determining the coordinates and the detection direction of the detection viewpoint comprises the following steps:
the method comprises the steps of taking a surface center point of a part to be detected as a starting point, taking a normal vector of the point as a deviation direction, taking the optimal shooting distance of three-dimensional detection equipment as a deviation distance, taking a position reached after the surface center point of the part to be detected is deviated according to the deviation direction and the deviation distance as a detection viewpoint position, and taking the normal vector direction of the surface center point of the part to be detected as a detection direction.
The method for determining the surface center point and the normal vector of the part to be detected comprises the following steps: the surface F to be detected of the object is parameterized by u and v, wherein F (u, v) is F (x (u, v), y (u, v), z (u, v)), and the value ranges of u and v are both [0, 1%]Selecting the values of u and v to be 0.5, and obtaining the surface center coordinates (x (u, v), y (u, v) and z (u, v)) to be detected; further finding the normal vector at the central point, fixing one of the two parameters u and v, e.g. given v ═ vi,vi∈[0,1]Then, a curve p (u, v) about u on the surface is obtainedi) In the same way, given u ═ ui,ui∈[0,1]Then, a curve p (u) about v on the surface is obtainediV) they are at this point (x (u)i,vi),y(ui,vi),z(ui,vi) Respectively have u-directional partial derivative vectors pu(ui,vi) And v-directed partial derivative vector pv(ui,vi)：
The unit normal vector of the point is obtained as:
it is thus possible to obtain a normal vector n (0.5 ) for the center point of the surface to be detected.
1.2 platform station and path planning module thereof
The robot in a single station has a limited motion range, cannot meet the three-dimensional detection of a large structure, and generates platform station information by taking the minimum station as a division principle based on a detection viewpoint output by a viewpoint planning module and the motion accessibility constraint of a mechanical arm module.
The platform station and path planning module thereof calculates the range of the position of the mechanical arm base corresponding to each detection viewpoint by adopting a mechanical arm inverse kinematics method according to the coordinates of the detection viewpoints in the coordinate system of the measured object and the plane where the mechanical arm base is installed, determines the minimum number of target position areas of the mechanical arm base according to the intersection of the ranges of the positions of the mechanical arm base corresponding to the detection viewpoints, so that the working space range reached by the tail end of the mechanical arm positioned in the areas covers all the detection viewpoints, takes the central point of the target position areas of the mechanical arm base as the target station point of the omnidirectional intelligent mobile platform, and one station possibly corresponds to one or more detection viewpoints. Determining a piece of collision-free platform path information by taking a mechanical arm working space with a three-dimensional detection module as a constraint according to the current position information of the omnidirectional intelligent mobile platform, the coordinates of each target station point and the scenes between each station point and the current position, wherein the platform path information comprises the current position information and the coordinates of intermediate points between each target station point and each station point,the yaw angle of the platform at the current position, each target occupation point and the middle point, the moving speed of the platform and the yaw angular speed. The moving speed of the platform is the X-direction and Y-direction speeds v of a Cartesian coordinate system of the omnidirectional intelligent mobile platform modulex、vyValue, yaw rate ωθ. The Cartesian coordinate system of the omnidirectional intelligent mobile platform module takes the center of the omnidirectional intelligent mobile platform module as an original point, the X direction is consistent with the advancing direction of the omnidirectional intelligent mobile platform module, and the Y direction is parallel to the wheel train axis of the omnidirectional intelligent mobile platform module.
1.3 mechanical arm body path generation module
The mechanical arm body path generating module traverses all detection viewpoints corresponding to the station positions by adopting a genetic algorithm according to the sequence of target station positions in the platform path information and taking all detection viewpoint position information corresponding to the station positions as input and the shortest distance between the detection viewpoints as a principle, and optimizes a shortest path which passes through each viewpoint and only passes through each detection viewpoint once to generate mechanical arm tail end detection path information, wherein the mechanical arm tail end detection path information comprises the sequence and coordinates of the viewpoints, the mechanical arm tail end movement speed and the movement form of the mechanical arm tail end between the detection viewpoints, such as a straight line, an arc, a spline curve and the like.
1.4 Collision interference checking and simulating module
The collision interference checking and simulating module checks whether the mechanical arm module collides and interferes with peripheral objects according to the detection path information of the tail end of the mechanical arm, the view field detection direction information of each detection viewpoint, the structure of the mechanical arm and the motion process of all joints of the mechanical arm and by combining the scene information of the periphery of the mechanical arm, if so, an avoidance point is inserted into a path where collision interference occurs, the motion form between the avoidance point and two adjacent viewpoints is adjusted, the detection path information of the tail end of the mechanical arm is updated, so that collision interference between the mechanical arm module and peripheral objects does not occur, if collision interference does not occur, the original detection path is reserved, and the updated tail end detection path information of the mechanical arm comprises the sequence and the coordinates of a viewpoint and an avoidance point, the tail end movement speed of the mechanical arm and the movement form of the mechanical arm between each point, such as a straight line, an arc and a spline curve.
The collision interference checking and simulating module can be realized by Siemens Process simulation software, the models and controller versions of the mechanical arm and the intelligent mobile platform are input into the simulation software, the simulation software can automatically extract the structures and control algorithms of the mechanical arm and the intelligent mobile platform to complete modeling of the whole movable three-dimensional detection robot system, and path information simulation can be carried out by omnibearing movement definition of the intelligent platform and the mechanical arm through scene layout and simulation Process of an object to be detected.
1.5 instruction generating module
The command generation module is combined with the set maximum acceleration of each joint, a mechanical arm base coordinate system, a tool coordinate system and the posture and position of a binocular stereo detection equipment body coordinate system in a tool coordinate system of a mechanical arm default, mechanical arm path information corresponding to each platform target station position point and visual field detection direction information of each detection viewpoint are converted into mechanical arm path control commands, the station positions are changed, the process is circulated, mechanical arm path control commands corresponding to all the target station positions along the platform path are generated, the omnidirectional intelligent mobile platform and the mechanical arm module are matched with each other in time sequence, starting and stopping control commands are added to form a whole-process executable program, and the whole-process executable program is loaded to the mechanical arm module; the method comprises the steps of converting the path information of the omnidirectional intelligent mobile platform into a platform path control instruction, matching the omnidirectional intelligent mobile platform and a mechanical arm module with each other in time sequence, adding a start and pause control instruction, forming a whole-process executable program, and loading the program to the omnidirectional intelligent mobile platform.
2. Movable three-dimensional detection robot body subsystem
The movable three-dimensional detection robot body subsystem is an actuating mechanism of the movable three-dimensional detection robot system. And executing the detection task according to the control instruction issued by the path planning subsystem. The system comprises an omnidirectional intelligent mobile platform, a mechanical arm module and a three-dimensional detection module, wherein the three-dimensional detection module is installed at the tail end of a mechanical arm and used as an end effector of the mechanical arm, the mechanical arm module is installed on the omnidirectional intelligent mobile platform, the omnidirectional intelligent mobile platform and the mechanical arm module are mutually matched and move along a specified path according to respective preset path instructions, the three-dimensional detection module is controlled to align to a detected viewpoint, three-dimensional detection is carried out, and a detection result is sent to a detection data acquisition and analysis subsystem.
2.1 Omni-directional intelligent mobile platform module
The omnidirectional intelligent mobile platform module 1 is used for realizing that the movable three-dimensional detection robot exceeds the movement of the mechanical arm module in the work site, and specifically comprises the following steps: moving along a specified path according to a preset platform path instruction, automatically pausing when reaching each target station point, and sending a starting instruction to the machine; and after receiving a station measurement ending signal sent by the mechanical arm module, moving along a specified path according to a preset platform path instruction, moving to the next target station, and repeating the process until all the target station points are traversed.
Intelligent moving platform module 1 of qxcomm technology mainly includes automatically controlled cabinet 4, mecanum wheelset, stable supporting structure, intelligent moving platform module of qxcomm technology adopts the vehicle mounted power supply, through 4 driving motor of automatically controlled cabinet, and then drive four sets of mecanum wheel motion, can realize 360 degrees arbitrary direction movements of qxcomm technology platform through the direction of turning to and the rotational speed of adjusting every set of mecanum wheel, when mecanum wheelset lifts the intelligent moving platform of qxcomm technology and moves to the assigned position, four hydraulic leg through vacuum chuck lower margin stable supporting structure move downwards and prop up whole platform, the purpose is when preventing the arm motion, the intelligent moving platform of qxcomm technology takes place to vibrate.
The omnidirectional intelligent mobile platform module adopts a visual navigation positioning mode, the mode adopts a camera 8 to collect the marked lines and the two-dimensional codes on the ground, positioning and navigation are completed by identifying the marked lines and the two-dimensional codes, and the Cartesian coordinate system X, Y value and the specific numerical value of the yaw angle theta of the omnidirectional intelligent mobile platform module are obtained.
2.2 robot arm Module
After receiving the starting instruction, the mechanical arm module moves the tail end of the mechanical arm module to a first detection viewpoint of the surface of the part to be detected within the reach range according to a preset mechanical arm path instruction, controls the tail end of the mechanical arm to align the three-dimensional detection module to the detection viewpoint, and then sends a measurement instruction to the three-dimensional detection module.
The mechanical arm module can be selected from KUKA KR210R2700-extra (mechanical arm model), the mechanical arm module comprises a mechanical arm 6 and a mechanical arm controller 5, the mechanical arm consists of six rotating shafts A1, A2, A3, A4, A5 and A6, the angular velocity omega A1, omega A2, omega A3, omega A4, omega A5 and omega A6 of each joint of the mechanical arm module are controlled, the mechanical arm controller is used for controlling starting and stopping, rotating angles and angular velocities of 6 rotating shafts A1, A2, A3, A4, A5 and A6 of the mechanical arm module, linkage of A1, A2, A3, A4, A5 and A6 is achieved, namely the position where the tail end of the shaft A6 is connected with the tail end of the mechanical arm actuator can be interpolated according to a designated straight line, circular arc or spline curve, the rotating angles of the shafts are controlled by the mechanical arm controller, the angular velocity acceleration detection module is driven by an XM L, and the three-dimensional robot arm detection module is configured by a communication system.
2.3 three-dimensional detection Module
The three-dimensional detection module 7 executes a measurement action after receiving the measurement instruction, sends a measurement result to the detection data acquisition and analysis subsystem, then sends a viewpoint measurement ending signal to the mechanical arm module, the mechanical arm controls the tail end of the mechanical arm to align the three-dimensional detection module to a next detection viewpoint on the surface of the part to be detected according to a preset mechanical arm path instruction, then sends a measurement instruction to the three-dimensional detection module, the three-dimensional detection module aligns the detection viewpoint for measurement, the process is repeated until the three-dimensional detection module finishes the measurement tasks of all detection viewpoints within the reach range of the target station, and the mechanical arm module sends a viewpoint measurement ending signal to the omnidirectional intelligent mobile platform.
The three-dimensional detection module can be ATOS Triple Scan II of GOM company, and comprises binocular stereo vision equipment aiming at a small visual field range and photogrammetry equipment aiming at a large visual field range. The binocular stereo vision equipment mainly solves the problem of small-range high-precision measurement, and the photogrammetric equipment mainly solves the problem of large-range detection reference transfer. The binocular stereo vision equipment and the photogrammetry equipment respectively image the surface of the part to be measured and the whole of the object to be measured, and send the obtained local image information and the obtained global image information to the detection data acquisition and analysis subsystem, wherein the local image information is point cloud information in the field range of the binocular stereo vision equipment and comprises the point cloud information of the surface of the part to be measured and at least four public target point cloud information thereof, and the global image information comprises the image information of the whole of the object to be measured and at least four public target point information. The public punctuations are uniformly distributed on the surface of the measured object. The coordinates of the public target points under the coordinate system of the measured object are obtained through target positioning measuring equipment, and the target positioning measuring equipment can be a laser tracker or a total station.
3. Detection data acquisition and analysis subsystem
The detection data acquisition and analysis subsystem is a three-dimensional detection result analysis and application mechanism of the movable three-dimensional detection robot system. The detection data acquisition and analysis subsystem comprises a detection data acquisition module, a detection data processing module and a processing result display module.
3.1 detection data acquisition module
The detection data acquisition module receives point cloud information in a field of view of the binocular stereoscopic vision equipment sent by the three-dimensional detection module and sends the point cloud information to the detection data processing module;
3.2 detection data processing module
The detection data processing module 2 fits point cloud information in a field of view of binocular stereoscopic vision equipment to obtain the real morphology of the measured surface, and the real morphology is compared with the theoretical morphology to obtain a morphology error; determining the coordinates of each point on the surface of the part to be measured under the coordinate system of the measured object according to the coordinate information of the common target point in the field of view range of the binocular stereoscopic vision equipment under the coordinate system of the measured object and the point cloud information in the field of view range of the binocular stereoscopic vision equipment, and comparing the coordinates with the coordinates of each point on the theoretical processing surface to obtain a position error; sending the shape error and the position error to a processing result display module
3.3 processing result display Module
And the processing result display module 3 is used for visually displaying the received morphology errors and the position errors and guiding an operator to judge the detection result.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (7)
1. A movable three-dimensional detection robot system is characterized by comprising a path planning subsystem, a movable three-dimensional detection robot subsystem and a detection data acquisition and analysis subsystem, wherein:
the movable three-dimensional detection robot subsystem comprises an omnidirectional intelligent mobile platform, a mechanical arm module and a three-dimensional detection module, wherein the three-dimensional detection module is arranged at the tail end of a mechanical arm and used as an actuator at the tail end of the mechanical arm;
the detection data acquisition and analysis subsystem is used for analyzing the shape error and the position error of the surface of the detected part according to the detection result and visually displaying the analysis result;
the path planning subsystem is used for determining the coordinates of a detection viewpoint under a body coordinate system of the object to be detected and the field detection direction thereof according to the position of each part to be detected in the body coordinate system of the object to be detected and the optimal shooting distance of the three-dimensional detection equipment based on the three-dimensional model of the object to be detected, and generating a platform path instruction and a mechanical arm tail end path instruction in the whole detection process according to the coordinates and the field detection direction;
the path planning subsystem comprises a viewpoint planning module, a platform station and path planning module thereof, a mechanical arm body path generating module, a collision interference checking and simulating module and a path instruction generating module, wherein:
the viewpoint planning module is used for determining the coordinates and the view field detection direction of the detection viewpoint under the coordinate system of the object to be detected according to the position of each part to be detected in the coordinate system of the object to be detected and the optimal shooting distance of the three-dimensional detection equipment based on the three-dimensional model of the object to be detected, and sending the coordinates and the view field detection direction to the platform station position and path planning module of the platform station position and the path planning module of the mechanical arm body;
the platform station and path planning module calculates the range of the mechanical arm base position corresponding to each detection viewpoint according to the coordinates of the detection viewpoints under the coordinate system of the measured object and the plane where the mechanical arm base is installed, adopts a mechanical arm inverse kinematics method to determine the minimum number of mechanical arm base target position areas according to the range of the mechanical arm base position corresponding to the detection viewpoints, so that the working space range reached by the tail end of the mechanical arm positioned in the areas covers all the detection viewpoints, takes the central point of the mechanical arm base target position area as the target station point of the omnidirectional intelligent mobile platform, and determines a piece of non-collision platform path information according to the current position information of the omnidirectional intelligent mobile platform, the coordinates of the target station points and the scenes between the station points and the current position by taking the mechanical arm working space with the three-dimensional detection module as constraint, the platform path information comprises current position information, intermediate point coordinates between each target station and each station point, a yaw angle of the platform at the current position, each target station and each intermediate point, a platform moving speed and a yaw angle speed;
the mechanical arm body path generating module is used for traversing all detection viewpoints corresponding to the station positions by adopting a genetic algorithm according to the sequence of target station positions in the platform path information and the principle that the distance between the detection viewpoints is shortest and all detection viewpoints corresponding to the station positions are taken as input for each station position, optimizing a shortest path which passes through each viewpoint and only passes through each detection viewpoint once, and generating mechanical arm tail end detection path information;
the collision interference detection and simulation module is used for detecting whether the mechanical arm module collides and interferes with peripheral objects or not according to the detection path information of the tail end of the mechanical arm, the view field detection direction information of each detection viewpoint, the structure of the mechanical arm and all joint motion processes of the mechanical arm by combining scene information around the mechanical arm, inserting an avoidance point in a path where collision interference occurs if collision interference occurs, adjusting the motion form between the avoidance point and two adjacent viewpoints, updating the detection path information of the tail end of the mechanical arm to ensure that the mechanical arm module does not collide and interfere with the peripheral objects, and keeping the original detection path if collision interference does not occur;
the system comprises an instruction generation module, a platform target station position detection module, a platform monitoring module and a monitoring module, wherein the instruction generation module is used for converting mechanical arm path information corresponding to each platform target station position and view field detection direction information of each detection viewpoint into mechanical arm path control instructions, replacing station positions, circulating the process to generate mechanical arm path control instructions corresponding to all the target station positions along the platform path, matching the omnidirectional intelligent mobile platform and the mechanical arm module with each other in time sequence, adding start and pause control instructions to form a whole-process executable program, and loading the whole-process executable program to the mechanical arm module; the method comprises the steps of converting the path information of the omnidirectional intelligent mobile platform into a platform path control instruction, matching the omnidirectional intelligent mobile platform and a mechanical arm module with each other in time sequence, adding a start and pause control instruction, forming a whole-process executable program, and loading the program to the omnidirectional intelligent mobile platform.
2. The movable three-dimensional inspection robot system according to claim 1, wherein:
intelligent moving platform of qxcomm technology for realize that movable three-dimensional inspection robot surpasss the removal outside the arm module motion stroke in the work place, specifically do: moving along a specified path according to a preset platform path instruction, automatically pausing when reaching each target station point, and sending a starting instruction to the mechanical arm;
the mechanical arm module is used for moving the tail end of the mechanical arm module to a first detection viewpoint on the surface of the part to be detected within the reach range according to a preset mechanical arm path instruction after receiving the starting instruction, controlling the tail end of the mechanical arm to align the three-dimensional detection module to the detection viewpoint and then sending a measurement instruction to the three-dimensional detection module;
the three-dimensional detection module executes measurement actions after receiving the measurement instruction, sends the measurement result to the detection data acquisition and analysis subsystem, then sends a viewpoint measurement ending signal to the mechanical arm module, the mechanical arm controls the tail end of the mechanical arm to align the three-dimensional detection module to a next detection viewpoint on the surface of the part to be detected according to a preset mechanical arm path instruction, then sends a measurement instruction to the three-dimensional detection module, the three-dimensional detection module aligns the detection viewpoint for measurement, the process is repeated until the three-dimensional detection module finishes the measurement tasks of all the detection viewpoints within the reach range of the target station, and the mechanical arm module sends a viewpoint measurement ending signal to the omnidirectional intelligent mobile platform;
and after receiving the station measurement finishing signal, the omnidirectional intelligent mobile platform moves along the specified path according to a preset platform path instruction, moves to the next target station, and repeats the process until all the target station points are traversed.
3. The movable three-dimensional inspection robot system according to claim 2, wherein the three-dimensional inspection module comprises a binocular stereo vision device and a photogrammetry device, the binocular stereo vision device and the photogrammetry device respectively image the surface of the inspected part and the whole object, and send the obtained local image information and the obtained global image information to the inspection data acquisition and analysis subsystem, the local image information is point cloud information in the field of view of the binocular stereo vision device, and comprises point cloud information of the surface of the inspected part and point cloud information of at least four common target points thereof, and the global image information comprises the global image information of the inspected object and information of at least four common target points.
4. The movable three-dimensional inspection robot system according to claim 3, wherein the common target points are uniformly distributed on the surface of the object to be inspected.
5. The movable three-dimensional inspection robot system according to claim 3, wherein the coordinates of the common target point in the coordinate system of the object to be inspected are obtained by the target positioning measurement device.
6. The movable three-dimensional inspection robot system according to claim 5, wherein the coordinates of the inspection viewpoint and the inspection direction are determined by:
the method comprises the steps of taking a surface center point of a part to be detected as a starting point, taking a normal vector of the point as a deviation direction, taking the optimal shooting distance of three-dimensional detection equipment as a deviation distance, taking a position reached after the surface center point of the part to be detected is deviated according to the deviation direction and the deviation distance as a detection viewpoint position, and taking the normal vector direction of the surface center point of the part to be detected as a detection direction.
7. The movable three-dimensional inspection robot system according to claim 1, wherein the inspection data collection and analysis subsystem comprises an inspection data collection module, an inspection data processing module, and a processing result display module, wherein:
the detection data acquisition module receives point cloud information in the field of view of the binocular stereoscopic vision equipment sent by the three-dimensional detection module and sends the point cloud information to the detection data processing module;
the detection data processing module is used for fitting point cloud information in a field of view of binocular stereoscopic vision equipment to obtain the real morphology of the measured surface, and comparing the real morphology with the theoretical morphology to obtain a morphology error; determining the coordinates of each point on the surface of the part to be measured under the coordinate system of the measured object according to the coordinate information of the common target point in the field of view range of the binocular stereoscopic vision equipment under the coordinate system of the measured object and the point cloud information in the field of view range of the binocular stereoscopic vision equipment, and comparing the coordinates with the coordinates of each point on the theoretical processing surface to obtain a position error; sending the shape error and the position error to a processing result display module
A processing result display module: and carrying out visual display on the received morphology errors and the position errors.
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