CN103033183B - Indoor precise positioning system and method for industrial robot - Google Patents
Indoor precise positioning system and method for industrial robot Download PDFInfo
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- 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
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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
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.
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| 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 |
| US20190022862A1 (en) * | 2016-03-07 | 2019-01-24 | Sony Mobile Communications Inc. | Position definition in coordinate system of a robot by device placement |
| 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 |
| CN109036098A (en) * | 2018-09-12 | 2018-12-18 | 广州市标准化研究院 | A kind of exponential model verification method |
| CN109084779A (en) * | 2018-09-29 | 2018-12-25 | 上海思依暄机器人科技股份有限公司 | A kind of robot navigation method and system |
| CN110243376A (en) * | 2019-06-28 | 2019-09-17 | 湖南三一快而居住宅工业有限公司 | A kind of indoor orientation method and indoor locating system |
| CN111409108B (en) * | 2020-04-01 | 2022-11-04 | 伯朗特机器人股份有限公司 | Industrial robot measurement coordinate system and robot instruction coordinate system conversion method |
| CN113154989A (en) * | 2020-12-25 | 2021-07-23 | 中国人民解放军战略支援部队信息工程大学 | Dynamic precision calibration method of UWB system |
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