CN103033183B - Indoor precise positioning system and method for industrial robot - Google Patents

Indoor precise positioning system and method for industrial robot Download PDF

Info

Publication number
CN103033183B
CN103033183B CN201210545275.4A CN201210545275A CN103033183B CN 103033183 B CN103033183 B CN 103033183B CN 201210545275 A CN201210545275 A CN 201210545275A CN 103033183 B CN103033183 B CN 103033183B
Authority
CN
China
Prior art keywords
robot
coordinate
effector
receivers
measuring
Prior art date
Application number
CN201210545275.4A
Other languages
Chinese (zh)
Other versions
CN103033183A (en
Inventor
甘志超
王希花
王柏林
杨超
黄威
张玉如
崔静静
邓英灿
Original Assignee
中国航空工业集团公司北京长城航空测控技术研究所
中航高科智能测控有限公司
北京瑞赛长城航空测控技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国航空工业集团公司北京长城航空测控技术研究所, 中航高科智能测控有限公司, 北京瑞赛长城航空测控技术有限公司 filed Critical 中国航空工业集团公司北京长城航空测控技术研究所
Priority to CN201210545275.4A priority Critical patent/CN103033183B/en
Publication of CN103033183A publication Critical patent/CN103033183A/en
Application granted granted Critical
Publication of CN103033183B publication Critical patent/CN103033183B/en

Links

Abstract

The invention relates to an indoor precise positioning system and method for an industrial robot, in particular to the system which can be operated indoors and enable the industrial robot to perform precise positioning through laser and triangular measurement ways. The positioning system comprises a robot system and a measurement system, wherein the measurement system comprises two base stations, three receivers and a processor, and the robot system comprises a robot body and a robot end effector. According to the positioning system disclosed by the invention, spatial coordinates of the multiple receivers can be simultaneously measured through the measurement system, the problem of single-point measurement by other laser measurement instruments (such as a laser tracking instrument and a laser range finder) can be avoided, the precise positioning can be performed on the industrial robot under different illumination, temperatures, large distance and other situations, and the positioning precision of the robot can be improved.

Description

Industrial robot indoor accurate positioning system and method

Technical field

The present invention relates to a kind of indoor accurate positioning system and method for industrial robot, be specifically related to a kind of mode by laser and triangulation, Precise Position System can be carried out at the industrial robot that makes of indoor operation.

Background technology

Along with developing rapidly of science and technology, industrial robot has application in a lot of field, such as in the system such as automobile, Aeronautics and Astronautics, industrial robot is replacing and manually completes that some repeatability, labour intensity are large, the work of work under bad environment, such as: transfer robot, and milling robot, spray robot etc., but because the positioning precision of robot is poor, greatly limit its application, especially in the application that accuracy requirement is higher.

What current industrial robot position application was more has framing, laser range finder measurement and positioning etc.These localization methods all can be subject to the impact of the factors such as such as environment, illumination, measuring distance, and usable range is restricted.Framing is comparatively large by illumination effect, and can not occur the situation of blocking; Laser range finder measuring distance is limited.

Summary of the invention

The object of the invention is to for the deficiencies in the prior art, propose a kind of the industrial robot Precise Position System and the method that are applied to office work, accurately can locate industrial robot in the situations such as different light, temperature, large distance.

For realizing this purpose, technical solution of the present invention is, positioning system comprises robot system and measuring system, and measuring system comprises two base stations, three receivers, processors, and robot system comprises robot body and end effector of robot; Base station is fixed on support or stable ground, base station is a revolving-turret that can send two kinds of laser, two kinds of laser comprise 4 bundle synchronizable optical and 2 bundle covering of the fan light, 4 bundle synchronizable optical are 90 ° in the below of turntable and are uniformly distributed, 2 bundle covering of the fan light are positioned at the top of turntable, and 2 bundle covering of the fan light horizontal angles are 90 °, and 2 bundle covering of the fan light are ± 30 ° respectively at vertical direction, driven by motor turntable rotates, and then drives synchronizable optical and covering of the fan light to rotate; Two base stations are positioned at end effector of robot 2-10 rice scope, and three receivers are fixed on end effector of robot, and not conllinear distribution; Three receivers are connected with computing machine by processor.

The localization method of the indoor accurate positioning system of industrial robot is,

(1) according to the physical dimension of end effector of robot, by two base station distribution 2-10m place around robot body;

(2) robot coordinate system and measuring system establishment of coordinate system

First according to 3 installation sites of receiver on end effector of robot, determine the initial coordinate under robot coordinate system, set up according to the distance between two stylobate stations the system coordinate system being true origin with a base station center point;

(3) revolving-turret of base station sends synchronizable optical and two bundle covering of the fan light in space towards periphery, when the inswept each receiver of light beam, the sensor devices of receiver produces pulse, timing after filtering is carried out in the pulse that receiver transmits by processor, by the three-dimensional coordinate of each receiver of computer-solution under measuring system coordinate system.According to the relation between robot coordinate system and surving coordinate system, by the coordinate conversion of three receivers under surving coordinate system under robot coordinate system.

(4) according to the three-dimensional coordinate of three receivers under robot coordinate system, in conjunction with the position relationship of three receivers and end effector of robot central point, the locus coordinate of current robot end effector central point under robot coordinate system is derived.

(5) compare according to end effector of robot center position coordinate and robot ideal position coordinate, according to difference control machine human action, compensate, to reach error allowed band.

Described compare according to end effector of robot center position coordinate and robot ideal position coordinate after difference control machine human action, repeatedly compensate, until reach in error allowed band.

The advantage that the present invention has and beneficial effect: the present invention is directed in the low problem of large distance range robot localization precision, devise the positioning system be made up of interior space measuring system and industrial robot, wherein interior space measuring system is made up of 2 stylobate stations, multiple (>=3) receiver and processor; Receiver is installed on the end effector of robot, and installation site not conllinear, according to the relation between installation site and end effector of robot, convertiblely obtains the initial coordinate of 3 receivers under robot coordinate system.

The invention has the advantages that, the volume coordinate of multiple receiver can be measured by measuring system simultaneously, avoid other laser surveying instrument (such as laser tracker, laser range finder) problem of spot measurement, accurately can locate industrial robot in the situations such as different light, temperature, large distance, improve the positioning precision of robot.

Accompanying drawing explanation

Fig. 1 system architecture diagram.

Fig. 2 localization method process flow diagram of the present invention.

The schematic layout pattern at Fig. 3 receiver and two stylobate stations.

Embodiment:

1) overall system layout

Positioning system comprises robot system and measuring system, and measuring system comprises 1, three, two base stations receiver 2, processor 5, and robot system comprises robot body 4 and end effector of robot 3; Base station 1 is fixed on support or stable ground, base station 1 is a revolving-turret that can send two kinds of laser, two kinds of laser comprise 4 bundle synchronizable optical and 2 bundle covering of the fan light, 4 bundle synchronizable optical are 90 ° in the below of turntable and are uniformly distributed, 2 bundle covering of the fan light are positioned at the top of turntable, and 2 bundle covering of the fan light horizontal angles are 90 °, and 2 bundle covering of the fan light are ± 30 ° respectively at vertical direction, driven by motor turntable rotates, and then drives synchronizable optical and covering of the fan light to rotate; Two base stations 1 are positioned at end effector of robot 2-10 rice scope, and three receivers are fixed on end effector of robot 3, and not conllinear distribution; Three receivers 2 are connected with computing machine by processor 5.According to the physical dimension of industrial robot end effector 3, carrying out not conllinear to 3 receivers 2 is distributed on end effector 3, two base station distribution 2-10m places around industrial robot, work as synchronizable optical, during covering of the fan light is inswept receiver 2, the sensor devices of receiver 2 inside receives light signal, produce pulse, pulse is passed to processor and is carried out filtering, count after filtering, synchronizable optical pulse is the initial time of turntable inswept receiver weekly, two covering of the fan light pulses calculate that receiver is relative to the horizontal angle of base station and position angle, according to the distance between two base stations, according to triangulation, calculate the three-dimensional coordinate of each receiver.

2) robot positioning system's establishment of coordinate system

First according to the relation between the installation site of robot and end effector, the initial coordinate of 3 receivers under robot coordinate system is determined.After measuring system starts, can set up according to the distance between two stylobate stations the measuring system coordinate system being true origin with a base station center point through preheating.

Measuring system can record the three-dimensional coordinate of three receivers simultaneously, processor is according to the pulse of receiver, carry out filtering, the moment of recording impulse, synchronizable optical pulse is the initial time of turntable inswept receiver weekly, and two covering of the fan light pulses calculate that receiver is relative to the horizontal angle of base station and position angle, according to the distance between two base stations, according to triangulation, machine solution calculates the three-dimensional coordinate of each receiver.

According to the position distribution of three receivers on end effector of robot, extrapolate the three-dimensional coordinate of three receivers under robot coordinate system, by ordinate transform, the transformational relation of interior space positioning-system coordinate system and robot coordinate system can be obtained.Thus set up robot positioning system's coordinate system.

3) robot is in motion process, measures the three-dimensional coordinate of three receivers in real time, is calculated the coordinate of end effector of robot central point by control software design.According to current robot end effector center point coordinate and ideal position coordinate, compare, software systems are according to difference, and control machine human action, by robot control system, realizes the location to robot and compensation.

4) software systems are while measurement, can also realize the functions such as data management, Operation system setting, printing measurement report.The positioning precision of robot is generally at submillimeter level, and compensate through interior space positioning system, the positioning precision of robot improves ten times to tens microns.

Embodiment

The disk of the physical dimension of industrial robot end effector to be radius be 20cm, 3 receivers on the disk of end effector of robot in 60 ° all with distribute, apart from the disc centre point 15cm of end effector of robot, two base stations are located at 8m place, industrial robot front.According to 3 positions of receiver on the disk of end effector of robot, extrapolate the coordinate of three receivers under robot coordinate system.Start measuring system, measure when the three-dimensional coordinate of first three receiver under surving coordinate system, according to the coordinate of three receivers under robot coordinate system, obtain the transformational relation between surving coordinate system and coordinate system of machine.

Measure the three-dimensional coordinate of three receptacles under measuring system coordinate system, according to the position relationship of three receivers and end effector of robot disc centre point, derive the three-dimensional coordinate of the disc centre point of end effector of robot.

The ideal position coordinate of the disc centre of end effector of robot point under robot coordinate system is made to be (500,0,0), according to the three-dimensional coordinate of measurement three receivers, obtain the three-dimensional coordinate of disc centre point under robot coordinate system of end effector of robot, compensate according to difference control, three times compensation result is as follows:

Claims (3)

1. the indoor accurate positioning system of an industrial robot, it is characterized in that, positioning system comprises robot system and measuring system, and measuring system comprises two base stations, three receivers, processors, and robot system comprises robot body and end effector of robot; Base station is fixed on support or stable ground, base station is a revolving-turret that can send two kinds of light, two kinds of light comprise 4 bundle synchronizable optical and 2 bundle covering of the fan light, 4 bundle synchronizable optical are 90 ° in the below of turntable and are uniformly distributed, 2 bundle covering of the fan light are positioned at the top of turntable, and 2 bundle covering of the fan light horizontal angles are 90 °, and 2 bundle covering of the fan light are ± 30 ° respectively at vertical direction, driven by motor turntable rotates, and then drives synchronizable optical and covering of the fan light to rotate; Two base stations are positioned at end effector of robot 2-10 rice scope, and three receivers are fixed on end effector of robot, and not conllinear distribution; Three receivers are connected with computing machine by processor.
2. utilize a localization method for the indoor accurate positioning system of the industrial robot of claim 1, it is characterized in that,
(1) according to the physical dimension of end effector of robot, by two base station distribution 2-10m place around robot body;
(2) robot coordinate system and measuring system establishment of coordinate system
First according to 3 installation sites of receiver on end effector of robot, determine the initial coordinate under robot coordinate system, set up according to the distance between two stylobate stations the measuring system coordinate system being true origin with a base station center point;
(3) revolving-turret of base station sends synchronizable optical and two bundle covering of the fan light in space towards periphery, when the inswept each receiver of light beam, the sensor devices of receiver produces pulse, timing after filtering is carried out in the pulse that receiver transmits by processor, by the three-dimensional coordinate of each receiver of computer-solution under measuring system coordinate system, according to the relation between robot coordinate system and measuring system coordinate system, by the coordinate conversion of three receivers under measuring system coordinate system under robot coordinate system;
(4) according to the three-dimensional coordinate of three receivers under robot coordinate system, in conjunction with the position relationship of three receivers and end effector of robot central point, derive the locus coordinate of current robot end effector central point under robot coordinate system;
(5) compare according to end effector of robot center position coordinate and robot ideal position coordinate, according to difference control machine human action, compensate, to reach error allowed band.
3. the indoor accurate positioning method of industrial robot according to claim 2, it is characterized in that, described compare according to end effector of robot center position coordinate and robot ideal position coordinate after difference control machine human action, repeatedly compensate, until reach in error allowed band.
CN201210545275.4A 2012-12-14 2012-12-14 Indoor precise positioning system and method for industrial robot CN103033183B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210545275.4A CN103033183B (en) 2012-12-14 2012-12-14 Indoor precise positioning system and method for industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210545275.4A CN103033183B (en) 2012-12-14 2012-12-14 Indoor precise positioning system and method for industrial robot

Publications (2)

Publication Number Publication Date
CN103033183A CN103033183A (en) 2013-04-10
CN103033183B true CN103033183B (en) 2015-07-01

Family

ID=48020322

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210545275.4A CN103033183B (en) 2012-12-14 2012-12-14 Indoor precise positioning system and method for industrial robot

Country Status (1)

Country Link
CN (1) CN103033183B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104048661B (en) * 2014-06-26 2017-09-29 中国科学技术大学 A kind of indoor orientation method and system based on visible ray
AU2015362068A1 (en) * 2014-12-10 2017-07-13 University Of South Australia Visible light based indoor positioning system
CN104889987A (en) * 2015-05-19 2015-09-09 天津市天锻压力机有限公司 Method for establishing tooling tool coordinate system
CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
CN106042643B (en) * 2016-06-06 2017-11-10 上海银帆信息科技有限公司 A kind of mobile robot print system based on One-Point Location technology
CN106079896B (en) * 2016-06-06 2017-07-07 上海银帆信息科技有限公司 Mobile robot print system based on One-Point Location technology

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1831468A (en) * 2005-03-10 2006-09-13 新奥博为技术有限公司 Method for deciding relative position of laser scanner and robot
CN101239469A (en) * 2007-02-05 2008-08-13 发那科株式会社 Calibration device and method for robot mechanism
EP2322897A1 (en) * 2009-11-11 2011-05-18 Günther Battenberg Method and device for measuring workpieces comprising a optical and mechanical coordinate measuring machine
CN102121827A (en) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 Positioning system of mobile robot and positioning method thereof
EP2407282A2 (en) * 2010-07-12 2012-01-18 KUKA Roboter GmbH Method for measuring a robotic arm of an industrial robot
CN102374847A (en) * 2011-09-14 2012-03-14 天津大学 Work space six degree-of-freedom posture dynamic measurement equipment and method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO313113B1 (en) * 1999-07-13 2002-08-12 Metronor Asa System for scanning large objects geometry
US20060271332A1 (en) * 2005-05-18 2006-11-30 Perceptron, Inc. Method for calibrating a non-contact sensor using a robot
JP5481397B2 (en) * 2011-01-07 2014-04-23 株式会社豊田中央研究所 3D coordinate measuring device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1831468A (en) * 2005-03-10 2006-09-13 新奥博为技术有限公司 Method for deciding relative position of laser scanner and robot
CN101239469A (en) * 2007-02-05 2008-08-13 发那科株式会社 Calibration device and method for robot mechanism
EP2322897A1 (en) * 2009-11-11 2011-05-18 Günther Battenberg Method and device for measuring workpieces comprising a optical and mechanical coordinate measuring machine
EP2407282A2 (en) * 2010-07-12 2012-01-18 KUKA Roboter GmbH Method for measuring a robotic arm of an industrial robot
CN102121827A (en) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 Positioning system of mobile robot and positioning method thereof
CN102374847A (en) * 2011-09-14 2012-03-14 天津大学 Work space six degree-of-freedom posture dynamic measurement equipment and method

Also Published As

Publication number Publication date
CN103033183A (en) 2013-04-10

Similar Documents

Publication Publication Date Title
KR101606447B1 (en) Measuring system for determining 3D coordinates of an object surface
EP2697605B1 (en) Measuring system and method for determining new points
KR20180063263A (en) Three-dimensional space detection system, positioning method and system
US20180135969A1 (en) System for measuring the position and movement of an object
US8798794B2 (en) Method and system for highly precisely positioning at least one object in an end position in space
KR20160044432A (en) Systems and methods for tracking location of movable target object
US9188430B2 (en) Compensation of a structured light scanner that is tracked in six degrees-of-freedom
CA2732917C (en) External system for robotic accuracy enhancement
US9146094B2 (en) Automatic measurement of dimensional data with a laser tracker
US9400170B2 (en) Automatic measurement of dimensional data within an acceptance region by a laser tracker
US7145647B2 (en) Measurement of spatial coordinates
CN104515478A (en) Automatic three-dimensional measuring method and automatic three-dimensional measuring system for high-precision blade of aviation engine
ES2457791T3 (en) Procedure to determine geometric errors in a machine tool or measuring machine
CN102506702B (en) Large three-dimensional coordinate measuring method with laser tracking and device
US8169604B2 (en) Parameter detection system
US7614154B2 (en) System and method for locating components of a structure
CN101915563B (en) Measurement method of aircraft rudder defelction angle
JP2010520075A (en) Locating
CN102519441B (en) Method for measuring positioning points based on laser tracker in docking process of airplane parts
US9726704B2 (en) Radiation measurement system and method with synchronous high speed tracking laser based position measurement
CN103979118B (en) Airfoil wall plate digital positioning method and positioning device
CN103342101A (en) Induction type non-contact charging locating aligning device and locating method thereof
WO2012136345A2 (en) System and method for visually displaying information on real objects
CN102384717B (en) Quick orientating method of work space measuring and positioning system by standard rod
CN102607457B (en) Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant