CN105094129A - Positioning system of robot tool tip and positioning method thereof - Google Patents
Positioning system of robot tool tip and positioning method thereof Download PDFInfo
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- CN105094129A CN105094129A CN201510405729.1A CN201510405729A CN105094129A CN 105094129 A CN105094129 A CN 105094129A CN 201510405729 A CN201510405729 A CN 201510405729A CN 105094129 A CN105094129 A CN 105094129A
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Abstract
The invention discloses a positioning system of a robot tool tip. The positioning system comprises a first backlight plate and a second backlight plate, wherein the first backlight plate and the second backlight plate are perpendicular to each other at the same horizontal plane; and the first backlight plate and the second backlight plate are perpendicular to the horizontal plane respectively. Besides, the positioning system also includes a first camera opposite to the first backlight plate and a second camera opposite to the second backlight plate. The system has a simple structure and the cost is low. In addition, the invention also discloses a method for carrying out positioning by using the positioning system. According to the method, the cameras are used for collecting images of the robot tool tip on the backlight plates to calculate a coordinate difference value of the robot tool tip and a virtual sharp needle; and the robot tool tip is controlled to approach the virtual shaft needle gradually, thereby realizing positioning. The method can be operated simply and conveniently; and the positioning precision is high.
Description
Technical field
The present invention relates to robot tool coordinate system calibration technique field, be specifically related to the most advanced and sophisticated positioning system of a kind of robot tool and localization method thereof.
Background technology
Along with industrial expansion, the application of robot is more and more extensive.In practical application, robot completes various job task by installing different operation tools at end.In order to realize the high-precision requirement of robot work, the most advanced and sophisticated position relationship relative to robot end's ring flange of robot tool must be built, namely demarcate the tool coordinates system of robot.Conventional art adopts material object to demarcate the tool coordinates system of sharp method to robot, namely in robot working space, place a robot tool tip hold accessible cone, make robot tool tip from multiple different direction close to cone apex, repeatedly can convert the position of cone as required, and under a certain fixed position, make robot tool tip from multiple different direction close to cone apex, thus obtain positional information and the attitude information of tool coordinates system, complete the demarcation of robot tool coordinate system.The method depends on human eye position that is most advanced and sophisticated to robot tool and cone apex and observes, and cone apex is approached gradually in output control robot tool tip according to the observation, complicated operation and efficiency, precision are lower.
The method that the employing imaginary point existed in prior art positions robot tool tip point, the coordinate of many employings laser tracker to robot tool tip is measured, although this technology customer service shortcoming to sharp method complicated operation in kind, but the use due to laser tracker causes cost higher, does not have versatility.
Summary of the invention
The invention provides the most advanced and sophisticated positioning system of a kind of robot tool and localization method thereof, to solve, the most advanced and sophisticated positioning action of the robot tool existed in prior art is complicated, precision is low and the problem that cost is high.
To achieve these goals, the technical scheme of employing is in the present invention:
The most advanced and sophisticated positioning system of a kind of robot tool, comprise the first backlight be positioned in same level, the second backlight, first camera and second camera, first backlight and the second backlight are perpendicular to described surface level, and the first backlight is mutually vertical with the second backlight; First camera and the first backlight are oppositely arranged, and second camera and the second backlight are oppositely arranged.First backlight can contact with the second backlight, also can be discontiguous, as long as the position relationship of the two is vertical.Being set to vertical by the first backlight with the position relationship of the second backlight, is the coordinate figure conveniently set up local coordinate system and determine robot tool tip.
Further, described first camera is for gathering the image in the first backlight, and described second camera is for gathering the image in the second backlight.
The part that the visual field of described first camera and the visual field of second camera intersect forms public domain, visual field.
Preferably, described first camera and second camera are industrial camera.
Apply the method that the most advanced and sophisticated positioning system of above-mentioned robot tool positions, comprise the steps:
S1. local coordinate system is set up;
S2. in public domain, visual field, arranging a coordinate is (x
0, y
0, z
0) virtual prong;
S3. control tool tip moves to a bit stopping near virtual prong, first camera gathers the most advanced and sophisticated image in the first backlight of robot tool, second camera gathers the most advanced and sophisticated image in the second backlight of robot tool, according to the artificial subuliferous coordinate of image computer device that first camera and second camera collect; In this step, certain two-dimensional coordinate at the image reflection robot tool tip that first camera collects, another dimension coordinate at the image reflection robot tool tip that second camera collects, thus obtain the three-dimensional coordinate at robot tool tip.
S4. the coordinate difference (Δ x, Δ y, Δ z) of calculating robot's tool tip and virtual prong, produces the motion of Motion control tool tip to approach virtual prong further;
S5. repeat the step of S3-S4, until robot tool tip and virtual prong are to point, complete location.
Further, described step S1 is specially:
With the first backlight back side or its elongated surfaces, the second backlight back side or its elongated surfaces and place backlight the intersection point of surface level for true origin, from described true origin, be three coordinate axis with the ray along the first backlight bottom surface, along the ray on second one side, backlight bottom surface, perpendicular to the ray of described surface level.
Advantageous Effects of the present invention is: the present invention uses backlight and industrial camera to substitute human eye to obtain the coordinate at robot tool tip, utilize the coordinate difference of robot tool tip and virtual prong to produce the most advanced and sophisticated Motion of robot tool, achieve industrial vision and robotization, easy and simple to handle and positioning precision is high; In addition, the positioning system structure of the present invention's design is simple, low cost of manufacture, has stronger versatility.
Accompanying drawing explanation
Fig. 1 is the structural representation of the most advanced and sophisticated positioning system of a kind of robot tool that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only for explaining the present invention, the restriction to the concrete protection domain of the present invention can not be interpreted as.
As shown in Figure 1, embodiments provide the most advanced and sophisticated positioning system of a kind of robot tool, comprise the first backlight be positioned in same level, the second backlight, first camera and second camera, first backlight and the second backlight are perpendicular to above-mentioned surface level, and the first backlight is mutually vertical with the second backlight; First camera and the first backlight are oppositely arranged, and second camera and the second backlight are oppositely arranged.First backlight can contact with the second backlight, also can be discontiguous, as long as the position relationship of the two is vertical.Being set to vertical by the first backlight with the position relationship of the second backlight, is the coordinate figure conveniently set up local coordinate system and determine robot tool tip.In the present embodiment, the first backlight does not contact with the second backlight, and the first backlight and the second backlight are provided with grid, so that demarcate the coordinate at robot tool tip.
First camera is for gathering the image in the first backlight, and second camera is for gathering the image in the second backlight.
The part that the visual field of first camera and the visual field of second camera intersect forms public domain, visual field.
First camera and second camera are industrial camera.First camera and second camera can alternations, also can work simultaneously.
Apply the method that the most advanced and sophisticated positioning system of above-mentioned robot tool positions, comprise the steps:
S1. local coordinate system is set up;
Further, described step S1 is specially:
With the intersection point in the first backlight back side or its elongated surfaces, the second backlight back side or its elongated surfaces and aforementioned levels face for true origin, from described true origin, be three coordinate axis with the ray along the first backlight bottom surface, along the ray on second one side, backlight bottom surface, perpendicular to the ray of surface level.In the present embodiment, first backlight does not contact with the second backlight, with the elongated surfaces at the elongated surfaces at the first backlight back side, the second backlight back side and place backlight and camera the intersection point in surface level three faces for true origin O, be X-axis with the ray along the first long limit, backlight bottom surface, be Y-axis along the ray on the second long limit, backlight bottom surface, set up coordinate system with the ray perpendicular to aforementioned levels face for Z axis.
S2. in public domain, visual field, arranging a coordinate is (x
0, y
0, z
0) virtual prong;
S3. control tool tip moves to a bit stopping near virtual prong, first camera gathers the most advanced and sophisticated image in the first backlight of robot tool, second camera gathers the most advanced and sophisticated image in the second backlight of robot tool, according to the artificial subuliferous coordinate of image computer device that first camera and second camera collect; In this step, the image collected by first camera can calculate (the x at robot tool tip, z) coordinate, the image collected by second camera can calculate (the y at robot tool tip, above-mentioned two groups of coordinate figures are combined the three-dimensional coordinate (x obtaining robot tool tip by z) coordinate
1, y
1, z
1).
S4. the coordinate difference (Δ x, Δ y, Δ z) of calculating robot's tool tip and virtual prong, wherein Δ x=x
1-x
0, Δ y=y
1-y
0, Δ z=z
1-z
0; According to coordinate difference, produce the motion of Motion control tool tip to approach virtual prong further;
S5. repeat the step of S3-S4, until robot tool tip and virtual prong are to point, complete location.Herein to point, refer to that the error of the most advanced and sophisticated coordinate figure of robot tool or robot tool most advanced and sophisticated coordinate figure and virtual prong coordinate figure consistent with the coordinate figure of virtual prong is within 1%.
The present embodiment obtains the coordinate at robot tool tip by adopting industrial camera and backlight with alternative human eye, achieves the industrial vision that robot tool coordinate system is demarcated; Distance that is robot tool is most advanced and sophisticated and virtual prong is converted to the form of coordinate difference, and produce the motion of Motion control according to this, achieve the robotization that robot tool coordinate system is demarcated, avoid manually-operated loaded down with trivial details, and effectively improve precision.In addition, the most advanced and sophisticated positioning system structure of the robot tool that the present embodiment provides is simple, cost is low, has higher versatility.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. the most advanced and sophisticated positioning system of robot tool, comprise the first backlight be positioned in same level, the second backlight, first camera and second camera, it is characterized in that, described first backlight and the second backlight are perpendicular to described surface level, and the first backlight is mutually vertical with the second backlight; First camera and the first backlight are oppositely arranged, and second camera and the second backlight are oppositely arranged.
2. the most advanced and sophisticated positioning system of robot tool according to claim 1, it is characterized in that, described first camera is for gathering the image in the first backlight, and described second camera is for gathering the image in the second backlight.
3. the most advanced and sophisticated positioning system of robot tool according to claim 2, it is characterized in that, the part that the visual field of described first camera and the visual field of second camera intersect forms public domain, visual field.
4. the most advanced and sophisticated positioning system of the robot tool according to any one of claim 1-3, it is characterized in that, described first camera and second camera are industrial camera.
5. apply the method that the most advanced and sophisticated positioning system of robot tool as claimed in claim 1 positions, it is characterized in that, comprising:
S1. local coordinate system is set up;
S2. in public domain, visual field, arranging a coordinate is (x
0, y
0, z
0) virtual prong;
S3. control tool tip moves to a bit stopping near virtual prong, first camera gathers the most advanced and sophisticated image in the first backlight of robot tool, second camera gathers the most advanced and sophisticated image in the second backlight of robot tool, according to the artificial subuliferous coordinate of image computer device that first camera and second camera collect;
S4. the coordinate difference (Δ x, Δ y, Δ z) of calculating robot's tool tip and virtual prong, produces the motion of Motion control tool tip to approach virtual prong further;
S5. repeat the step of S3-S4, until robot tool tip and virtual prong are to point, complete location.
6. the most advanced and sophisticated localization method of robot tool according to claim 5, it is characterized in that, described step S1 is specially:
With the first backlight back side or its elongated surfaces, the second backlight back side or its elongated surfaces and place backlight the intersection point of surface level for true origin, from described true origin, be three coordinate axis with the ray along the first backlight bottom surface, along the ray on second one side, backlight bottom surface, perpendicular to the ray of described surface level.
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| CN109571546A (en) * | 2017-09-29 | 2019-04-05 | 财团法人工业技术研究院 | Robot tool center point correction system and method thereof |
| CN110755142A (en) * | 2019-12-30 | 2020-02-07 | 成都真实维度科技有限公司 | Control system and method for realizing space multi-point positioning by adopting three-dimensional laser positioning |
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| CN105094129B (en) | 2018-11-23 |
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Address after: No. 798, Huadong Road, hi tech Zone, Qingdao, Shandong Province Patentee after: QINGDAO XINGHUA INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 266000, 1 bend of the moon, Huangdao District, Shandong, Qingdao Patentee before: QINGDAO XINGHUA INTELLIGENT EQUIPMENT Co.,Ltd. |