CN101097131A - Method for marking workpieces coordinate system - Google Patents
Method for marking workpieces coordinate system Download PDFInfo
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- CN101097131A CN101097131A CNA2006100908002A CN200610090800A CN101097131A CN 101097131 A CN101097131 A CN 101097131A CN A2006100908002 A CNA2006100908002 A CN A2006100908002A CN 200610090800 A CN200610090800 A CN 200610090800A CN 101097131 A CN101097131 A CN 101097131A
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Abstract
The invention discloses a marking method of workpiece reference frame which is used to mark workpiece reference frame precisely; by controlling movement of robot, the method can detect coordinate of several points on surface of workpiece, point coordinate detected is optimization matched with workpiece three-dimension module to accomplish calibration of workpiece reference frame; by the method, measurement can be simplified and reference frame calibration of any shape workpiece is realized.
Description
Technical field
The present invention relates to the pose calibration technique field of workpiece, the scaling method of workpieces coordinate system among particularly a kind of robot field.
Background technology
It is robot field's gordian technique that coordinate system is demarcated, and its task is to determine the position of workpiece, instrument etc. in the processing of robots system.By the processing of robots simulated program that methods such as off-line programing obtain, need the demarcation ability practical application of combination tool/workpiece.Current, existing workpiece calibration technique can only accomplish to demarcate based on the index plane on the workpiece etc., realizes the simple location to workpiece.But complexity day by day along with the processing of robots object, a large amount of processing work (as complex-curved etc.) does not exist can be not enough for the position constraint of the index plane of location or index plane, and this makes scaling method of the prior art accurate inadequately for the demarcation of these location of workpieces.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method that can accurately demarcate the workpieces coordinate system of arbitrary shape.
For solving the problems of the technologies described above, the technical scheme that the present invention takes provides a kind of scaling method of workpieces coordinate system, and this method comprises the following steps:
A1. the relation of the position between calibration measurements device and robot base coordinate sys-tem is fixed described workpiece described robot end, wherein, and described measurement mechanism and described robot base stationkeeping;
A2. control described robot motion, measure the coordinate of the some points of described surface of the work by described measurement mechanism;
A3. point coordinate and the workpiece three-dimensional model that measures carried out the optimization coupling, finish the demarcation that described workpiece coordinate is tied to position orientation relation between robot end's coordinate system.
Preferably, steps A 2 can also comprise step: by described ROBOT CONTROL described workpiece is moved in the measurement range of described measurement mechanism, make described measurement mechanism scan the surface of described workpiece.
Preferably, steps A 3 can also comprise step: the initial value that the described three-dimensional model frame of reference is set, make described three-dimensional model and the described point coordinate that measures approaching in three dimensions, make described point coordinate that measures and described three-dimensional model realize three-dimensional Optimum Matching by three-dimensional Optimum Matching algorithm; Wherein, described Optimum Matching algorithm can be iterative closest point algorithms, Gauss-Newton method or registration algorithm.
Preferably, the measurement mechanism in the technique scheme can be line laser measuring appliance or some Laser Measuring measuring device.
The another kind of technical scheme that the present invention takes provides a kind of scaling method of workpieces coordinate system, and this method comprises the following steps:
B1. the position between calibration measurements device and robot end's coordinate system relation, wherein, described measurement mechanism is fixed in the end of described robot, and described workpiece and described robot location fix;
B2. control described robot motion, measure the coordinate of the some points of described surface of the work by described measurement mechanism;
B3. point coordinate and the workpiece three-dimensional model that measures carried out the optimization coupling, finish the demarcation that described workpiece coordinate is tied to position orientation relation between robot base coordinate sys-tem.
Preferably, step B2 can also comprise step: by described ROBOT CONTROL described workpiece is in the measurement range of described measurement mechanism, makes described measurement mechanism scan the surface of described workpiece.
Preferably, step B3 can also comprise step: the initial value that the described three-dimensional model frame of reference is set, make described three-dimensional model and the described point coordinate that measures approaching in three dimensions, make described point coordinate that measures and described three-dimensional model realize three-dimensional Optimum Matching by three-dimensional Optimum Matching algorithm; Wherein, described Optimum Matching algorithm can be iterative closest point algorithms, Gauss-Newton method or registration algorithm.
Preferably, the measurement mechanism in the technique scheme can be line laser measuring appliance or some Laser Measuring measuring device.
Compare with prior art, technical scheme of the present invention has the following advantages:
1. can use contact and noncontact measurement device as survey instrument, as line laser measuring appliance, some Laser Measuring measuring device etc., measuring process is simple;
2. because surface of the work point coordinate and the workpiece three-dimensional model having taked to measure carry out the optimization coupling, and then finish the mode that workpieces coordinate system is demarcated, location to workpiece need not based on the index plane on the workpiece, has realized the coordinate system calibration to arbitrary shape workpiece.
Description of drawings
Fig. 1 is the structural drawing of embodiment of the present invention;
Fig. 2 is the process flow diagram of embodiment of the present invention;
Fig. 3 is the structural drawing of second kind of embodiment of the present invention;
Fig. 4 is the process flow diagram of second kind of embodiment of the present invention;
Embodiment
Core concept of the present invention is: by the motion of control robot, make measurement mechanism can measure the coordinate of the some points of surface of the work, point coordinate and the workpiece three-dimensional model that measures carried out the optimization coupling, and then finish the demarcation of described workpieces coordinate system.
With reference to Fig. 1, be the structural drawing of embodiment of the present invention;
As shown in the figure, comprise robot 10, measurement mechanism 11, workpiece 12, wherein the pedestal 101 of robot 10 and measurement mechanism 11 are fixing respectively, and it is medium for example to be fixed on world coordinate system, and workpiece 12 is fixed in the end 102 of robot 10.
Wherein measurement mechanism 11 can be line laser measuring appliance or some Laser Measuring measuring device.
With reference to Fig. 2, be the process flow diagram of embodiment of the present invention;
Step 201, the position relation between calibration measurements device and robot base coordinate sys-tem is fixed on the robot end with workpiece;
Because measurement mechanism 11 is relative static with robot base 101, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot base 101 is demarcated, and supposes that it is BTM; Workpiece 12 is fixed in robot end 102, so that robot 10 carries out the editor of measuring route to it.
Step 202, the control robot motion is by the coordinate of the some points in measurement mechanism measuring workpieces surface;
By the control of robot 10, workpiece 12 is moved in the measurement range of measurement mechanism 11, make measurement mechanism 11 can scan surface of the work; Suppose that the coordinate of point under measurement mechanism 11 coordinate systems that is scanned on the workpiece 12 is X
M, then the coordinate of this point under robot end's 102 coordinate systems (Tool0) is: X
Tool0=Tool0
-1 BT
MX
M
Wherein, Tool0 is that robot end 102 is with respect to the pose matrix between the robot base 101, X
Tool0Be this coordinate under Tool0,
BT
MBe the pose transition matrix between measurement mechanism 11 and robot base 101 coordinate systems.
Step 203 is read in the workpiece three-dimensional modeling data;
The frame of reference of three-dimensional model is defined as workpiece 12 coordinate systems, and the coordinate system relation that present embodiment is demarcated is the position orientation relation between workpiece 12 coordinate systems and Tool0.When importing three-dimensional model, the initial value of the three-dimensional model frame of reference (workpiece 12 coordinate systems) is set, initial workpiece 12 coordinate system calibration values (Wobjinitial, its default value are unit pose matrix) promptly are set, make three-dimensional model approaching in three dimensions with workpiece 12 surface points that measure.
Preferably, above-mentioned three-dimensional model can be cad model.
Step 204 is carried out the optimization coupling with point coordinate and the workpiece three-dimensional model that measures.
By such as iterative closest point algorithms (Iterated Closest Point), Gauss-Newton method (Gauss-Newton) or registration algorithm three-dimensional Optimum Matching algorithms such as (Registration), make the three-dimensional point and the three-dimensional model that measure realize three-dimensional Optimum Matching, and obtain three-dimensional point cloud and match pose transformational relation in the three-dimensional model process, be assumed to be
ModelT
PC, calculate actual workpiece 12 system's poses, be
ModelT
PC -1* Wobjinitial.
With reference to Fig. 3, be the structural drawing of second kind of embodiment of the present invention;
As shown in the figure, the difference of present embodiment and above preferred embodiment is: the location swap of workpiece 12 and measurement mechanism 11, and promptly workpiece 12 stationkeeping are static relatively with robot 10, and 11 of measurement mechanisms are fixed in robot end 102.
With reference to Fig. 4, be the process flow diagram of second kind of embodiment of the present invention;
Step 401 is fixed on the robot end with measurement mechanism, the position relation between calibration measurements device and robot end's coordinate system;
Because measurement mechanism 11 is fixed on robot end's 102 coordinate systems, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot end 102 is demarcated, and supposes that it is
Tool0T
M
Step 402, the control robot motion is by the coordinate of the some points in measurement mechanism measuring workpieces surface;
Control by robot 10 is in the measurement range of measurement mechanism 11 workpiece 12, makes measurement mechanism 11 can scan the surface of workpiece 12.Suppose to be scanned a little that the coordinate under measurement mechanism 11 coordinate systems is X on the workpiece 12
M, then the coordinate of this point under robot base 101 coordinate systems (Base) is: X
Base=Tool0
Tool0T
MX
M
Wherein, Tool0 is that robot end 102 is with respect to the pose matrix between the robot base 101, X
BaseBe this coordinate under Base,
Tool0T
MBe the pose transition matrix between measurement mechanism 11 and robot end's 102 coordinate systems.
Step 403 is read in the workpiece three-dimensional modeling data;
The frame of reference of three-dimensional model is defined as workpiece 12 coordinate systems, and the coordinate system relation that present embodiment is demarcated is the position orientation relation between workpiece 12 coordinate systems and Base.When importing three-dimensional model, the initial value of the three-dimensional model frame of reference (workpiece 12 coordinate systems) is set, initial workpiece 12 coordinate system calibration values (Wobjinitial, its default value are unit pose matrix) promptly are set, make three-dimensional model approaching in three dimensions with workpiece 12 surface points that measure.
Preferably, above-mentioned three-dimensional model can be cad model.
Step 404 is carried out the optimization coupling with point coordinate and the workpiece three-dimensional model that measures.
By such as iterative closest point algorithms (Iterated Closest Point), Gauss-Newton method (Gauss-Newton) or registration algorithm three-dimensional Optimum Matching algorithms such as (Registration), make the three-dimensional point and the three-dimensional model that measure realize three-dimensional Optimum Matching, and obtain three-dimensional point cloud and match pose transformational relation in the three-dimensional model process, be assumed to be
ModelT
PC, calculate actual workpiece 12 system's poses, be
ModelT
PC -1* Wobjinitial.
More than used specific case principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. the scaling method of a workpieces coordinate system is characterized in that, comprising:
101. the relation of the position between calibration measurements device and robot base coordinate sys-tem, at the fixing described workpiece of described robot end, wherein, described measurement mechanism and described robot base stationkeeping;
102. control described robot motion, measure the coordinate of the some points of described surface of the work by described measurement mechanism;
103. the point coordinate and the workpiece three-dimensional model that measure are carried out the optimization coupling, finish the demarcation that described workpiece coordinate is tied to position orientation relation between robot end's coordinate system.
2. the method for claim 1 is characterized in that, step 102 further comprises:
By described ROBOT CONTROL described workpiece is moved in the measurement range of described measurement mechanism, make described measurement mechanism scan the surface of described workpiece.
3. method as claimed in claim 1 or 2, it is characterized in that, step 103 further comprises: the initial value that the described three-dimensional model frame of reference is set, make described three-dimensional model and the described point coordinate that measures approaching in three dimensions, make described point coordinate that measures and described three-dimensional model realize three-dimensional Optimum Matching by three-dimensional Optimum Matching algorithm.
4. method as claimed in claim 3 is characterized in that, described Optimum Matching algorithm is iterative closest point algorithms, Gauss-Newton method or registration algorithm.
5. the method for claim 1 is characterized in that, described measurement mechanism is line laser measuring appliance or some Laser Measuring measuring device.
6. the scaling method of a workpieces coordinate system is characterized in that, comprising:
601. the position between calibration measurements device and robot end's coordinate system relation, wherein, described measurement mechanism is fixed in the end of described robot, and described workpiece and described robot location fix;
602. control described robot motion, measure the coordinate of the some points of described surface of the work by described measurement mechanism;
603. the point coordinate and the workpiece three-dimensional model that measure are carried out the optimization coupling, finish the demarcation that described workpiece coordinate is tied to position orientation relation between robot base coordinate sys-tem.
7. method as claimed in claim 6 is characterized in that step 602 further comprises:
By described ROBOT CONTROL described workpiece is in the measurement range of described measurement mechanism, makes described measurement mechanism scan the surface of described workpiece.
8. as claim 6 or 7 described methods, it is characterized in that, step 603 further comprises: the initial value that the described three-dimensional model frame of reference is set, make described three-dimensional model and the described point coordinate that measures approaching in three dimensions, make described point coordinate that measures and described three-dimensional model realize three-dimensional Optimum Matching by three-dimensional Optimum Matching algorithm.
9. method as claimed in claim 8 is characterized in that, described Optimum Matching algorithm is iterative closest point algorithms, Gauss-Newton method or registration algorithm.
10. the method for claim 1 is characterized in that, described measurement mechanism is line laser measuring appliance or some Laser Measuring measuring device.
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| CNB2006100908002A CN100489448C (en) | 2006-06-30 | 2006-06-30 | Method for calibrating workpieces coordinate system |
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|---|---|---|---|
| CNB2006100908002A CN100489448C (en) | 2006-06-30 | 2006-06-30 | Method for calibrating workpieces coordinate system |
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| CN101097131A true CN101097131A (en) | 2008-01-02 |
| CN100489448C CN100489448C (en) | 2009-05-20 |
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| CN102445162A (en) * | 2011-09-21 | 2012-05-09 | 上海大学 | Parameter calibration method for measuring device with conical surface scanning rotating laser beam |
| CN104006778A (en) * | 2014-06-12 | 2014-08-27 | 安徽埃夫特智能装备有限公司 | Calibration method of installation position of clamp at tail end of industrial robot |
| CN104865897A (en) * | 2015-04-10 | 2015-08-26 | 深圳市圆梦精密技术研究院 | Curved part processing method and curved part processing equipment |
| CN105127862A (en) * | 2015-08-03 | 2015-12-09 | 华中科技大学无锡研究院 | Blade grinding and polishing process of industrial robot based on abrasive belt grinding and polishing machine |
| CN105157567A (en) * | 2015-05-15 | 2015-12-16 | 天津智通机器人有限公司 | Tool coordinate system calibration method and system for measurement robot |
| CN105345813A (en) * | 2015-11-13 | 2016-02-24 | 张碧陶 | High-precision mechanical arm positioning method based on generalized coordinates |
| CN106247932A (en) * | 2016-07-25 | 2016-12-21 | 天津大学 | The online error-compensating apparatus of a kind of robot based on camera chain and method |
| CN106370106A (en) * | 2016-09-30 | 2017-02-01 | 上海航天精密机械研究所 | Industrial robot and linear guide rail-combined linear laser scanning measurement system and method |
| WO2018085984A1 (en) * | 2016-11-08 | 2018-05-17 | Abb Schweiz Ag | Method for work piece calibration and robot system using the same |
| CN108107871A (en) * | 2017-12-26 | 2018-06-01 | 中科新松有限公司 | The robot performance's test method and device of optimization |
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| CN109373898A (en) * | 2018-11-27 | 2019-02-22 | 华中科技大学 | A kind of complex parts pose estimating system and method based on three-dimensional measurement point cloud |
| CN109539990A (en) * | 2019-01-17 | 2019-03-29 | 延锋彼欧（上海）汽车外饰系统有限公司 | A method of for product size automatic measurement |
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| DE50101308D1 (en) * | 2000-03-29 | 2004-02-19 | Tms Produktionssysteme Gmbh Li | Largely automatic calibration of an actuating arm of a robot |
| JP4475501B2 (en) * | 2003-10-09 | 2010-06-09 | インターナショナル・ビジネス・マシーンズ・コーポレーション | Spectroscopic element, diffraction grating, composite diffraction grating, color display device, and duplexer |
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| CN102445162B (en) * | 2011-09-21 | 2013-06-05 | 上海大学 | Parameter calibration method for measuring device with conical surface scanning rotating laser beam |
| CN102445162A (en) * | 2011-09-21 | 2012-05-09 | 上海大学 | Parameter calibration method for measuring device with conical surface scanning rotating laser beam |
| CN104006778B (en) * | 2014-06-12 | 2017-04-19 | 埃夫特智能装备股份有限公司 | Calibration method of installation position of clamp at tail end of industrial robot |
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| CN104865897B (en) * | 2015-04-10 | 2017-09-22 | 深圳市圆梦精密技术研究院 | The processing method of curved surface part and the process equipment of curved surface part |
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| CN112880555A (en) * | 2021-01-06 | 2021-06-01 | 浙江吉利控股集团有限公司 | Calibration method and system of coordinate system |
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