CN105094129B - A kind of robot tool tip positioning system and its localization method - Google Patents
A kind of robot tool tip positioning system and its localization method Download PDFInfo
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- CN105094129B CN105094129B CN201510405729.1A CN201510405729A CN105094129B CN 105094129 B CN105094129 B CN 105094129B CN 201510405729 A CN201510405729 A CN 201510405729A CN 105094129 B CN105094129 B CN 105094129B
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Abstract
The invention discloses a kind of robot tool tip positioning systems, including orthogonal first backlight and the second backlight being placed in same level, first backlight and the second backlight are respectively perpendicular to the horizontal plane, it further include the first camera being oppositely arranged with the first backlight, the second camera being oppositely arranged with the second backlight, the system structure are simple and at low cost；Also disclose a kind of method that applied robot's tool tip positioning system is positioned, this method utilizes the image computer device people tool tip at the robot tool tip in camera acquisition backlight and the coordinate difference of virtual prong, control robot tool tip moves closer to virtual prong, to realize positioning, this method is easy to operate and positioning accuracy is high.
Description
Technical field
The present invention relates to robot tool coordinate system calibration technique fields, and in particular to a kind of robot tool tip positioning
System and its localization method.
Background technique
With the development of industry, robot using more and more extensive.In practical application, robot is by pacifying in end
Different operational instrument is filled to complete various job tasks.In order to realize the high-precision requirement of robot work, it is necessary to construct machine
Positional relationship of the device people tool tip relative to robot end's ring flange demarcates the tool coordinates system of robot.Traditional skill
Art demarcates tool coordinates system of the sharp method to robot using material object, i.e., a machine is placed in robot working space
The cone that people's tool tip provides easy access to makes robot tool tip from multiple and different directions close to cone apex, according to need
It wants repeatedly to convert the position of cone, and connects robot tool tip from multiple and different directions under a certain fixed position
Nearly cone apex completes the calibration of robot tool coordinate system to obtain the location information and posture information of tool coordinates system.
This method observes the position at robot tool tip and cone apex dependent on human eye, and result controls machine according to the observation
People's tool tip gradually approaches cone apex, and complicated for operation and efficiency, precision are lower.
The method existing in the prior art positioned to point to robot tool tip using imaginary point, mostly uses laser
Tracker measures the coordinate at robot tool tip, lacks although the technology customer service is in kind to sharp method complicated for operation
Point, but since the use of laser tracker leads to higher cost, do not have versatility.
Summary of the invention
The present invention provides a kind of robot tool tip positioning system and its localization methods, to solve to deposit in the prior art
Robot tool tip positioning operation is complicated, problem that precision is low and at high cost.
The present invention to achieve the goals above, the technical solution used for：
A kind of robot tool tip positioning system, including be placed in same level the first backlight, second back
Tabula rasa, first camera and second camera, the first backlight and the second backlight perpendicular to the horizontal plane, the first backlight with
Second backlight is mutually perpendicular to；First camera is oppositely arranged with the first backlight, and second camera is oppositely arranged with the second backlight.
First backlight and the second backlight can be contact, be also possible to it is discontiguous, as long as the positional relationship of the two is vertical
?.It sets vertical with the positional relationship of the second backlight for the first backlight, is to establish local coordinate system for convenience simultaneously
Determine the coordinate value at robot tool tip.
Further, the first camera for being acquired to the image in the first backlight, use by the second camera
It is acquired in the image in the second backlight.
The visual field of the first camera forms visual field public domain with the part that the visual field of second camera is intersected.
Preferably, the first camera and second camera are industrial camera.
A method of it is positioned, is included the following steps using above-mentioned robot tool tip positioning system：
S1. local coordinate system is established；
S2. it is (x that a coordinate is arranged in visual field public domain0,y0,z0) virtual prong；
S3. control robot tool tip motion a little stops to close to virtual prong, and first camera acquires robot
Image of the tool tip in the first backlight, second camera acquire image of the robot tool tip in the second backlight,
According to the artificial subuliferous coordinate of first camera and the collected image computer device of second camera；In the step, first camera
Certain two-dimensional coordinate at collected image reflection robot tool tip, the collected image of second camera reflect robot tool
The another one-dimensional coordinate at tip, to obtain the three-dimensional coordinate at robot tool tip.
S4. (Δ x, Δ y, Δ z) generate Motion control to the coordinate difference of calculating robot's tool tip and virtual prong
Robot tool tip motion processed is further to approach virtual prong；
S5. the step of repeating S3-S4, until robot tool tip and virtual prong complete positioning to point.
Further, the step S1 is specially：
With the water of the first backlight back or its elongated surfaces, the second backlight back or its elongated surfaces and placement backlight
The intersection point of plane is coordinate origin, from the coordinate origin, to carry on the back along the ray on first backlight bottom surface one side, along second
The ray on tabula rasa bottom surface one side, perpendicular to the horizontal plane ray be three reference axis.
Advantageous effects of the invention are：The present invention obtains robot using backlight and industrial camera substitution human eye
The coordinate of tool tip, using the coordinate difference of robot tool tip and virtual prong to generate robot tool tip motion
Strategy, realizes industrial vision and automation, and easy to operate and positioning accuracy is high；In addition, the positioning system that the present invention designs
Structure is simple, manufacturing cost is low, has stronger versatility.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of robot tool tip positioning system provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, no
It can be interpreted as the restriction to the specific protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of robot tool tip positioning systems, including it is placed in same
The first backlight, the second backlight, first camera and second camera on horizontal plane, the first backlight and the second backlight are hung down
Directly in above-mentioned horizontal plane, the first backlight is mutually perpendicular to the second backlight；First camera is oppositely arranged with the first backlight, the
Two cameras are oppositely arranged with the second backlight.First backlight and the second backlight can be contact, be also possible to not contact
, as long as the positional relationship of the two is vertical.Set vertical with the positional relationship of the second backlight for the first backlight,
It is the coordinate value established local coordinate system for convenience and determine robot tool tip.In the present embodiment, the first backlight with
Second backlight does not contact, and is provided with grid in the first backlight and the second backlight, in order to robot tool point
The coordinate at end is demarcated.
For being acquired to the image in the first backlight, second camera is used for in the second backlight first camera
Image is acquired.
The visual field of first camera forms visual field public domain with the part that the visual field of second camera is intersected.
First camera and second camera are industrial camera.First camera and second camera can work alternately, can also be same
When work.
A method of it is positioned, is included the following steps using above-mentioned robot tool tip positioning system：
S1. local coordinate system is established；
Further, the step S1 is specially：
With the friendship of the first backlight back or its elongated surfaces, the second backlight back or its elongated surfaces and aforementioned levels face
Point is coordinate origin, from the coordinate origin, with along the ray on first backlight bottom surface one side, along the second backlight bottom surface
The ray on one side, perpendicular to horizontal plane ray be three reference axis.In the present embodiment, the first backlight and the second backlight do not have
There is contact, with the elongated surfaces of the first backlight back, the elongated surfaces of the second backlight back and places backlight and camera
The intersection point in three faces of horizontal plane is coordinate origin O, using the ray along the first backlight bottom surface long side as X-axis, along the second backlight
The ray of bottom surface long side is Y-axis, using the ray perpendicular to aforementioned levels face establishes coordinate system as Z axis.
S2. it is (x that a coordinate is arranged in visual field public domain0,y0,z0) virtual prong；
S3. control robot tool tip motion a little stops to close to virtual prong, and first camera acquires robot
Image of the tool tip in the first backlight, second camera acquire image of the robot tool tip in the second backlight,
According to the artificial subuliferous coordinate of first camera and the collected image computer device of second camera；In the step, by the first phase
(x, the z) coordinate at robot tool tip can be calculated in the collected image of machine, can be counted by the collected image of second camera
Calculation obtains (y, the z) coordinate at robot tool tip, and above-mentioned two groups of coordinate values are combined and obtain the three-dimensional at robot tool tip
Coordinate (x1,y1,z1)。
S4. coordinate difference (Δ x, Δ y, Δ z), wherein the Δ x=x of calculating robot's tool tip and virtual prong1-x0,
Δ y=y1-y0, Δ z=z1-z0；According to coordinate difference, Motion control robot tool tip motion is generated with further
Approach virtual prong；
S5. the step of repeating S3-S4, until robot tool tip and virtual prong complete positioning to point.Pair herein
Point refers to that robot tool tip coordinate value is consistent with the coordinate value of virtual prong or robot tool tip coordinate value and virtual
The error of prong coordinate value is within 1%.
The present embodiment substitutes human eye by using industrial camera and backlight to obtain the coordinate at robot tool tip,
Realize the industrial vision of robot tool coordinate system calibration；The distance at robot tool tip and virtual prong is converted to
The form of coordinate difference, and generate Motion according to this and control robot motion, realize the calibration of robot tool coordinate system
Automation, avoids manually-operated cumbersome, and effectively increases precision.In addition, robot tool point provided in this embodiment
Hold positioning system structure simple, at low cost, versatility with higher.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of robot tool tip positioning system, including the first backlight, the second backlight being placed in same level
Plate, first camera and second camera, which is characterized in that first backlight and the second backlight are perpendicular to the level
Face, the first backlight are mutually perpendicular to the second backlight；First camera is oppositely arranged with the first backlight, second camera and second
Backlight is oppositely arranged；For being acquired to the image in the first backlight, the second camera is used for the first camera
Image in second backlight is acquired；The part that the visual field of the first camera is intersected with the visual field of second camera is formed
Visual field public domain；
The method that robot tool tip positioning system is positioned is：
S1. local coordinate system is established, method is with the first backlight back or its elongated surfaces, the second backlight back or its extension
Face and the intersection point for placing the horizontal plane of backlight are coordinate origin, from the coordinate origin, along the first backlight bottom
Face on one side ray, along while the second backlight bottom surface ray, perpendicular to the ray of the horizontal plane be three reference axis；
S2., the virtual prong that one coordinate is (x0, y0, z0) is set in visual field public domain；
S3. control robot tool tip motion a little stops to close to virtual prong, and first camera acquires robot tool
Image of the tip in the first backlight, second camera acquire image of the robot tool tip in the second backlight, according to
The artificial subuliferous coordinate of first camera and the collected image computer device of second camera；
S4. (Δ x, Δ y, Δ z) generate Motion and control machine the coordinate difference of calculating robot's tool tip and virtual prong
Device has tip motion manually further to approach virtual prong；
S5. the step of repeating S3-S4, until robot tool tip and virtual prong complete positioning to point.
2. robot tool tip according to claim 1 positioning system, which is characterized in that the first camera and second
Camera is industrial camera.
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| CN106956167B (en) * | 2017-04-27 | 2023-05-12 | 沈阳飞机工业（集团）有限公司 | Base and method for measuring drill point coordinates of automatic hole making robot |
| CN107328357A (en) * | 2017-06-22 | 2017-11-07 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
| TWI668541B (en) * | 2017-09-29 | 2019-08-11 | 財團法人工業技術研究院 | System and method for calibrating tool center point of robot |
| CN108237533B (en) * | 2017-12-27 | 2020-03-31 | 安徽嘉熠智能科技有限公司 | Robot self-adaptive object positioning method and system |
| CN110755142B (en) * | 2019-12-30 | 2020-03-17 | 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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| CN201389080Y (en) * | 2009-02-25 | 2010-01-27 | 清华大学 | General calibration module of surgical navigation machine |
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Effective date of registration: 20160331 Address after: 518090 Guangdong province Shenzhen city Longhua District Longhua Road office pine building B Building 5 floor 540 days Applicant after: SHENZHEN XINGTONGDA TECHNOLOGY CO., LTD. Address before: Shandong Province, Qingdao City, 266034 West Road No. 81 4 unit 602 Wu Applicant before: Yu Haoyuan Applicant before: QINGDAO JIATONG ROBOT CO., LTD. |
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Effective date of registration: 20161010 Address after: 266000, 1 bend of the moon, Huangdao District, Shandong, Qingdao Applicant after: Qingdao star Intelligent Equipment Co., Ltd. Address before: 518090 Guangdong province Shenzhen city Longhua District Longhua Road office pine building B Building 5 floor 540 days Applicant before: SHENZHEN XINGTONGDA TECHNOLOGY CO., LTD. |
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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. |
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