CN105598600A - Method for independently locating welding lines of box-type parts and automatically generating tracks - Google Patents

Abstract

The invention discloses a method for independently locating welding lines of box-type parts and automatically generating tracks. The method comprises the following steps: building communication between a visual system and a robot controller to obtain an initial position point to carry out laser detection and data processing; and finally, producing the track of a welding robot and automatically introducing the track into the robot controller for welding. According to the method, independent locating and automatic welding of the welding lines can be carried out on the box-type parts of different sizes; the tracks of the welding lines are reasonably planned; and the boundedness of mass continuous production caused by different sizes is avoided.

Description

A kind of box part weld seam is independently sought position and track automatic generation method

Technical field

The present invention relates to Robotics field, relate in particular to a kind of box part weld seam independently seek position and track fromMoving generation method.

Background technology

Ship welding technique is one of key technology in contemporary Chinese Shipbuilding Mode, in hull construction, and welding30%-40% while accounting for hull construction chief engineer man-hour, welding cost accounts for the 30%-50% of hull construction totle drilling cost.Advanced ship welding technique improves the performance of product, cycle and the reduction that shortening is built to shipbuilding businessThe cost of product has important effect.

In the engineering application of large ship welding, robot welding off-line programming technique is due to automaticityHeight, production efficiency is good, has application prospect very widely. But stringers and the rib of end segmentation in large shipThe structure of plate composition box, has a large amount of angle weldings to need welding, with regard to single box piece, in constructionThrough including 4 fillet weld in the flat positions and 4 fillet weld in the vertical positions. Weld seam for this box part is sought position, at present shipFactory owner will adopt contact-sensing welding method, it be by the welding wire with voltage to workpiece movable, work as welding wireWhile contact with workpiece, the potential difference vanishing between welding wire and workpiece, calculates physical location by program, fromAnd acquisition seam track. But this method compliance is poor, in the time changing the larger part of size difference,It is long that weld seam is independently sought cycle of position, causes in enormous quantities produce and have limitation continuously, is difficult to meet clientIndividual character manufacturing.

Summary of the invention

In order to overcome the deficiencies in the prior art, the invention provides a kind of box part weld seam independently seek position and track fromMoving generation method, generates robot off-line program by vision and laser scanning, realizes that robot system is non-to be connectThe function of touch fast searching weld seam, by greatly shortened traditional contact-sensing weld seam seek position time, fromAnd the difficult problem of shipyard in the face of different size box piece automatic welding of having determined.

For this reason, the invention provides a kind of box part weld seam independently seek position and track automatic generation method, comprise asLower step:

Step 1: set up the communication between camera, some laser sensor, robot and industrial computer;

Step 2: control camera and take pictures, and the coordinate of box part is passed to robot;

Step 3: some laser sensor scans and finds robot control according to robot location's information of obtainingDevice;

Step 4: robot controller and industrial computer communication, obtaining after industrial computer signal, end movement is to sweepingRetouch position;

Step 5: some laser sensor is found range;

Step 6: capture card obtains some laser sensor and adopts to obtain the analog quantity of distance, and passes to industrial computer;

Step 7: the analog quantity of distance is converted to digital quantity by industrial computer, and generate new point by Coordinate ConversionCoordinate;

Step 8: multiple scanning box part sidewall, until scanned;

Step 9: the point coordinates that scanning is obtained calculates box part seam track;

Step 10: generate the robot program of off-line and automatically import robot controller;

Step 11: carry out welding after seam track test;

Wherein:

In described step 9, by measuring same point under the multiple diverse locations of control end effectorCoordinate, derives spin matrix and translation matrix, and the trick that can obtain a laser sensor and actuator closesIt is matrix.

Between described camera, some laser sensor, robot and industrial computer, carry out communication by Ethernet.

In step 9, establish C_LFor the coordinate system of laser sensor, C_TFor robot end's coordinate system, C_BFor machinePeople's basis coordinates system; B_a、T_aAnd L_aRepresent on sphere point in robot base mark system, robot end's coordinate system andCoordinate under laser sensor coordinate system, wherein B_a＝[b_x,b_y,b_z]^T，T_a＝[t_x,t_y,t_z]^T，L_a＝[l_x,l_y,l_z]^T, the coordinate system C of laser instrument sensor_LTo robot end's coordinate system C_TSpin matrix be R_l, flatMoving matrix is T_l; Robot end's coordinate system C_TBe C to robot basis coordinates_BSpin matrix be R_t，Translation squareBattle array is T_t, wherein spin matrix is matrix 3 × 3 matrixes, translation matrix is 3 × 1 matrixes; Matrix B is 4× 4 homogeneous matrixes, represent to describe robot end's coordinate system C_TWith robot base mark be C_BBetween phase the other sidePosition, by spin matrix R_tWith translation matrix T_tDescribe;

: $B=\left[\begin{array}{cc}{R}_t& T_t\\ 0^T& 1\end{array}\right];$

Coordinate system C_LTo C_TBe converted to:

T_a＝R_lL_a+T_l

Coordinate system C_TTo C_BBe converted to:

B_a＝R_tT_a+T_t

So, coordinate system C_LTo C_BBe converted to:

B_a＝R_t(R_lL_a+T_l)+T_t

Being converted to homogeneous matrix has:

$\left[\begin{array}{c}{B}_a\\ 1\end{array}\right]=\left[\begin{array}{cc}{R}_t& T_t\\ 0& 1\end{array}\right]\·\left[\begin{array}{cc}{R}_1& T_1\\ 0& 1\end{array}\right]\·\left[\begin{array}{c}{L}_a\\ 1\end{array}\right]=B\·X\·\left[\begin{array}{c}{L}_a\\ 1\end{array}\right].$

Matrix X is 4 × 4 homogeneous matrixes, represent trick relational matrix, and matrix X is at robot any attitudeUnder be all identical, adjust attitude set-point laser sensor range finding from being always 100mm, this pointCoordinate under the coordinate system of laser sensor is constant; Adopt 4 different poses:

(1)：

$\left[\begin{array}{cccc}{N}_{x1}& O_{x1}& A_{x1}& E_{x1}\\ N_{y1}& O_{y1}& A_{y1}& E_{y1}\\ N_{z1}& O_{z1}& A_{z1}& E_{z1}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(2)：

$\left[\begin{array}{cccc}{N}_{x2}& O_{x2}& A_{x2}& E_{x2}\\ N_{y2}& O_{y2}& A_{y2}& E_{y2}\\ N_{z2}& O_{z2}& A_{z2}& E_{z2}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(3)：

$\left[\begin{array}{cccc}{N}_{x3}& O_{x3}& A_{x3}& E_{x3}\\ N_{y3}& O_{y3}& A_{y3}& E_{y3}\\ N_{z3}& O_{z3}& A_{z3}& E_{z3}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(4)：

$\left[\begin{array}{cccc}{N}_{x4}& O_{x4}& A_{x4}& E_{x4}\\ N_{y4}& O_{y4}& A_{y4}& E_{y4}\\ N_{z4}& O_{z4}& A_{z4}& E_{z4}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

Wherein, (2)-(1):

$R_{t2}\·X+\left[\begin{array}{c}{E}_{x2}\\ E_{y2}\\ E_{z2}\end{array}\right]=R_{t1}\·X\·\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right],$ That is: $(R_{t2}-R_{t1})\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ E_{y2}-E_{y1}\\ E_{z2}-E_{z1}\end{array}\right];$

(5)-(1):

$R_{t3}\·X+\left[\begin{array}{c}{E}_{x3}\\ E_{y3}\\ E_{z3}\end{array}\right]=|R_{tl}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

(6)-(1):

$R_{t4}\·X+\left[\begin{array}{c}{E}_{x4}\\ E_{y4}\\ E_{z4}\end{array}\right]=R_{tl}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

Simultaneous obtains:

$\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ |R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right];$

:

$X=\frac{\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]}{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]\·{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}^{-1}.$

Obtain calculating box part weld seam rail after the trick relational matrix of a laser sensor and actuatorMark, welds after then generating the robot program of off-line and automatically importing robot controller.

Described box part weld seam provided by the invention independently seek position and track automatic generation method by setting up visionCommunication between system and robot controller, obtains initial position point and carries out laser detection and data processing,Final production welding robot track also imports robot controller automatically, welds. The present invention can be rightThe box part that size differs carries out weld seam and independently seeks position and automatic welding, and butt welded seam track is rationally advisedDraw, solved the size in batches quantity-produced limitation that differs.

Brief description of the drawings

Fig. 1 be a kind of box part weld seam provided by the invention independently seek position and track automatic generation method in respectively sitConversion schematic diagram between mark system.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiments of the invention are described in detail.

Refer to Fig. 1, the invention provides a kind of box part weld seam and independently seek position and track automatic generation method, bagDraw together following steps:

Step 1: set up the communication between camera, some laser sensor, robot and industrial computer;

Step 2: control camera and take pictures, and the coordinate of box part is passed to robot;

Step 3: some laser sensor scans and finds robot control according to robot location's information of obtainingDevice;

Step 4: robot controller and industrial computer communication, obtaining after industrial computer signal, end movement is to sweepingRetouch position;

Step 5: some laser sensor is found range;

Step 6: capture card obtains some laser sensor and adopts to obtain the analog quantity of distance, and passes to industrial computer;

Step 7: the analog quantity of distance is converted to digital quantity by industrial computer, and generate new point by Coordinate ConversionCoordinate;

Step 8: multiple scanning box part sidewall, until scanned;

Step 9: the point coordinates that scanning is obtained calculates box part seam track;

Step 10: generate the robot program of off-line and automatically import robot controller;

Step 11: carry out welding after seam track test;

Wherein:

In described step 9, by measuring same point under the multiple diverse locations of control end effectorCoordinate, derives spin matrix and translation matrix, and the trick that can obtain a laser sensor and actuator closesIt is matrix.

Between described camera, some laser sensor, robot and industrial computer, carry out communication by Ethernet.

Please refer to Fig. 1, in step 9, establish C_LFor the coordinate system of laser sensor, C_TFor robot end's coordinateSystem, C_BFor basis coordinates system of robot; B_a、T_aAnd L_aRepresent on sphere that point is in robot base mark system, robotCoordinate under end coordinate system and laser sensor coordinate system, wherein B_a＝[b_x,b_y,b_z]^T，T_a＝[t_x,t_y,t_z]^T，L_a＝[l_x,l_y,l_z]^T, the coordinate system C of laser instrument sensor_LTo robot end's coordinate system C_TRevolveTorque battle array is R_l, translation matrix is T_l; Robot end's coordinate system C_TBe C to robot basis coordinates_BRotationMatrix is R_t，Translation matrix is T_t, wherein spin matrix is matrix 3 × 3 matrixes, translation matrix is 3 × 1 squaresBattle array; Matrix B is 4 × 4 homogeneous matrixes, represents to describe robot end's coordinate system C_TWith robot base mark beC_BBetween relative bearing, by spin matrix R_tWith translation matrix T_tDescribe;

: $B=\left[\begin{array}{cc}{R}_t& T_t\\ 0^T& 1\end{array}\right];$

Coordinate system C_LTo C_TBe converted to:

T_a＝R_lL_a+T_l

Coordinate system C_TTo C_BBe converted to:

B_a＝R_tT_a+T_t

So, coordinate system C_LTo C_BBe converted to:

B_a＝R_t(R_lL_a+T_l)+T_t

Being converted to homogeneous matrix has:

$\left[\begin{array}{c}{B}_a\\ 1\end{array}\right]=\left[\begin{array}{cc}{R}_t& T_t\\ 0& 1\end{array}\right]\·\left[\begin{array}{cc}{R}_1& T_1\\ 0& 1\end{array}\right]\·\left[\begin{array}{c}{L}_a\\ 1\end{array}\right]=B\·X\·\left[\begin{array}{c}{L}_a\\ 1\end{array}\right].$

Matrix X is 4 × 4 homogeneous matrixes, represent trick relational matrix, and matrix X is at robot any attitudeUnder be all identical, adjust attitude set-point laser sensor range finding from being always 100mm, this pointCoordinate under the coordinate system of laser sensor is constant; Adopt 4 different poses:

(1)：

$\left[\begin{array}{cccc}{N}_{x1}& O_{x1}& A_{x1}& E_{x1}\\ N_{y1}& O_{y1}& A_{y1}& E_{y1}\\ N_{z1}& O_{z1}& A_{z1}& E_{z1}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(2)：

$\left[\begin{array}{cccc}{N}_{x2}& O_{x2}& A_{x2}& E_{x2}\\ N_{y2}& O_{y2}& A_{y2}& E_{y2}\\ N_{z2}& O_{z2}& A_{z2}& E_{z2}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(3)：

$\left[\begin{array}{cccc}{N}_{x3}& O_{x3}& A_{x3}& E_{x3}\\ N_{y3}& O_{y3}& A_{y3}& E_{y3}\\ N_{z3}& O_{z3}& A_{z3}& E_{z3}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(4)：

$\left[\begin{array}{cccc}{N}_{x4}& O_{x4}& A_{x4}& E_{x4}\\ N_{y4}& O_{y4}& A_{y4}& E_{y4}\\ N_{z4}& O_{z4}& A_{z4}& E_{z4}\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

Wherein, (2)-(1):

$R_{t2}\·X+\left[\begin{array}{c}{E}_{x2}\\ E_{y2}\\ E_{z2}\end{array}\right]=R_{t1}\·X\·\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right],$ That is: $(R_{t2}-R_{t1})\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ E_{y2}-E_{y1}\\ E_{z2}-E_{z1}\end{array}\right];$

(7)-(1):

$R_{t3}\·X+\left[\begin{array}{c}{E}_{x3}\\ E_{y3}\\ E_{z3}\end{array}\right]=|R_{t1}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

(8)-(1):

$R_{t4}\·X+\left[\begin{array}{c}{E}_{x4}\\ E_{y4}\\ E_{z4}\end{array}\right]=R_{tl}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

Simultaneous obtains:

$\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ |R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right];$

:

$X=\frac{\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]}{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]\·{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}^{-1}.$

Obtain calculating box part weld seam rail after the trick relational matrix of a laser sensor and actuatorMark, welds after then generating the robot program of off-line and automatically importing robot controller.

Described box part weld seam provided by the invention independently seek position and track automatic generation method by setting up visionCommunication between system and robot controller, obtains initial position point and carries out laser detection and data processing,Final production welding robot track also imports robot controller automatically, welds. The present invention can be rightThe box part that size differs carries out weld seam and independently seeks position and automatic welding, and butt welded seam track is rationally advisedDraw, solved the size in batches quantity-produced limitation that differs.

The above, be only preferably detailed description of the invention of the present invention, but not office of protection scope of the present inventionBe limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in, according to thisThe technical scheme of invention and inventive concept thereof are equal to replaces or changes, and all should be encompassed in protection of the present inventionWithin scope.

Claims (4)

1. box part weld seam is independently sought position and a track automatic generation method, it is characterized in that, comprises as followsStep:

Step 1: set up the communication between camera, some laser sensor, robot and industrial computer;

Step 2: control camera and take pictures, and the coordinate of box part is passed to robot;

Step 3: some laser sensor scans and finds robot control according to robot location's information of obtainingDevice processed;

Step 4: robot controller and industrial computer communication, obtaining after industrial computer signal, end movement arrivesScanning position;

Step 5: some laser sensor is found range;

Step 6: capture card obtains some laser sensor and adopts to obtain the analog quantity of distance, and passes to industrial computer;

Step 7: the analog quantity of distance is converted to digital quantity by industrial computer, and generate new by Coordinate ConversionPoint coordinates;

Step 8: multiple scanning box part sidewall, until scanned;

Step 9: the point coordinates that scanning is obtained calculates box part seam track;

Step 10: generate the robot program of off-line and automatically import robot controller;

Step 11: carry out welding after seam track test;

Wherein:

In described step 9, by measuring same point under the multiple diverse locations of control end effectorCoordinate, derives spin matrix and translation matrix, and the trick that can obtain a laser sensor and actuator closesIt is matrix.

2. a kind of box part weld seam according to claim 1 is independently sought position and track automatic generation method,It is characterized in that, between described camera, some laser sensor, robot and industrial computer, undertaken by EthernetCommunication.

3. a kind of box part weld seam according to claim 1 is independently sought position and track automatic generation method,It is characterized in that, establish C_LFor the coordinate system of laser sensor, C_TFor robot end's coordinate system, C_BFor machinePeople's basis coordinates system; B_a、T_aAnd L_aRepresent on sphere that point is at robot base mark system, robot end's coordinate systemWith the coordinate under laser sensor coordinate system, wherein B_a＝[b_x,b_y,b_z]^T，T_a＝[t_x,t_y,t_z]^T，L_a＝[l_x,l_y,l_z]^T, the coordinate system C of laser instrument sensor_LTo robot end's coordinate system C_TSpin matrix beR_l, translation matrix is T_l; Robot end's coordinate system C_TBe C to robot basis coordinates_BSpin matrix be R_t，Translation matrix is T_t, wherein spin matrix is matrix 3 × 3 matrixes, translation matrix is 3 × 1 matrixes; MatrixB is 4 × 4 homogeneous matrixes, represents to describe robot end's coordinate system C_TWith robot base mark be C_BBetween phaseTo orientation, by spin matrix R_tWith translation matrix T_tDescribe;

:

$B=\left[\begin{array}{cc}{R}_t& T_t\\ 0^T& 1\end{array}\right];$

Coordinate system C_LTo C_TBe converted to:

T_a＝R_lL_a+T_l

Coordinate system C_TTo C_BBe converted to:

B_a＝R_tT_a+T_t

So, coordinate system C_LTo C_BBe converted to:

B_a＝R_t(R_lL_a+T_l)+T_t

Being converted to homogeneous matrix has:

$\left[\begin{array}{c}{B}_a\\ 1\end{array}\right]=\left[\begin{array}{cc}{R}_t& T_t\\ 0& 1\end{array}\right].\left[\begin{array}{cc}{R}_l& T_l\\ 0& 1\end{array}\right].\left[\begin{array}{c}{L}_a\\ 1\end{array}\right]=B\·x\·\left[\begin{array}{c}{L}_a\\ 1\end{array}\right].$

4. a kind of box part weld seam according to claim 1 is independently sought position and track automatic generation method,It is characterized in that, matrix X is 4 × 4 homogeneous matrixes, represent trick relational matrix, and matrix X is in robotUnder any attitude, be all identical, adjust attitude set-point laser sensor range finding from being always 100mm,This coordinate under the coordinate system of laser sensor is constant; Adopt 4 different poses:

(1)：

$\left[\begin{array}{cccc}{N}_{x1}& O_{x1}& A_{x1}& E_{x1}\\ N_{y1}& O_{y1}& A_{y1}& E_{y1}\\ N_{z1}& O_{z1}& A_{z1}& E_{z1}\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(2)：

$\left[\begin{array}{cccc}{N}_{x2}& O_{x2}& A_{x2}& E_{x2}\\ N_{y2}& O_{y2}& A_{y2}& E_{y2}\\ N_{z2}& O_{z2}& A_{z2}& E_{z2}\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(3)：

$\left[\begin{array}{cccc}{N}_{x3}& O_{x3}& A_{x3}& E_{x3}\\ N_{y3}& O_{y3}& A_{y3}& E_{y3}\\ N_{z3}& O_{z3}& A_{z3}& E_{z3}\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

(4)：

$\left[\begin{array}{cccc}{N}_{x4}& O_{x4}& A_{x4}& E_{x4}\\ N_{y4}& O_{y4}& A_{y4}& E_{y4}\\ N_{z4}& O_{z4}& A_{z4}& E_{z4}\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{cccc}{n}_x& o_x& a_x& e_x\\ n_y& o_y& a_y& e_y\\ n_z& o_z& a_z& e_z\\ 0& 0& 0& 1\end{array}\right].\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\\ 1\end{array}\right]=\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\\ 1\end{array}\right];$

Wherein, (2)-(1):

$R_{t2}\·X+\left[\begin{array}{c}{E}_{x2}\\ E_{y2}\\ E_{z2}\end{array}\right]=R_{t1}\·X\·\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right],$ That is: $(R_{t2}-R_{t1})\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ E_{y2}-E_{y1}\\ E_{z2}-E_{z1}\end{array}\right];$

(3)-(1):

$R_{t3}\·X+\left[\begin{array}{c}{E}_{x3}\\ E_{y3}\\ E_{z3}\end{array}\right]=|R_{t1}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

(4)-(1):

$R_{t4}\·X+\left[\begin{array}{c}{E}_{x4}\\ E_{y4}\\ E_{z4}\end{array}\right]=R_{t1}\·X+\left[\begin{array}{c}{E}_{x1}\\ E_{y1}\\ E_{z1}\end{array}\right];$

Simultaneous obtains:

$\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ |R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]\·X=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right];$

:

$X=\frac{\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]}{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}=\left[\begin{array}{c}{E}_{x2}-E_{x1}\\ .\\ .\\ .\\ E_{z4}-E_{z1}\end{array}\right]\·{\left[\begin{array}{c}{R}_{t2}-R_{t1}\\ R_{t3}-R_{t1}\\ R_{t4}-R_{t1}\end{array}\right]}^{-1}.$