CN106247932B - A kind of online error-compensating apparatus of robot based on camera chain and method - Google Patents
A kind of online error-compensating apparatus of robot based on camera chain and method Download PDFInfo
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- CN106247932B CN106247932B CN201610608257.4A CN201610608257A CN106247932B CN 106247932 B CN106247932 B CN 106247932B CN 201610608257 A CN201610608257 A CN 201610608257A CN 106247932 B CN106247932 B CN 106247932B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The invention discloses a kind of online error-compensating apparatus of the robot based on camera chain, including industrial robot, more survey station polyphaser combination shot measuring systems, space inertial coordinate measuring system, Digital Photogrammetric System auxiliary target and host computer, the function of space inertial coordinate measuring system is completed jointly by the encoder that two-dimentional dipmeter is carried with industrial robot；Position and the posture of the target of robot end are fixed in more survey station polyphaser combination shot measuring system measurements, two-dimentional dipmeter can be with robot measurement end both direction angular pose, the measurement of robot end's 3 d pose can be realized in conjunction with the higher angle-data of precision that robot itself resolves, and offset is obtained after carrying out data fusion with the attitude data of camera chain measurement, compare, control industrial robot compensates error.The present invention is not necessarily to carry out robot off-line calibration, and precision with higher can be applied in industrial circles such as processing and manufacturings.
Description
Technical field
The present invention relates to a kind of industrial robot more particularly to a kind of robot inaccuracy online compensations based on camera chain
Device and method.
Background technique
Industrial robot is because it has many advantages, such as biggish working space, high flexibility and lower price, more and more extensively
It is applied to industrial processes manufacturing field generally.But since there are biggish machining errors for itself, along with worked
Other factors in journey: such as temperature, the influence vibrated, although the repetitive positioning accuracy of robot is higher, its absolute fix essence
It spends very low.And due to being concatenated open loop structure, the rigidity of mechanical arm is relatively low, in the case where bearing load, error
It is more obvious.Therefore it can not be applied in fields such as the higher machinings of precision prescribed.Meanwhile industrial robot is offline
Programming is also increasingly rapidly developed.It has the downtime that can be reduced on production line, so that benefit etc. is excellent
Point, and programmer can be made to can be avoided and worked under dangerous working environment.But for off-line programing, machine
The absolute fix precision of people is exactly its key request.
The most common method for providing industrial robot precision is to improve work by carrying out off-line calibration to robot
The absolute fix precision of industry robot.It is recognized by the rigidity of its rigidity model, error caused by reducing due to load.However this
Kind method needs carry out cumbersome calibration in robot working space, and the selection for demarcating dot matrix has very big shadow to precision
It rings.Position except calibration point, error can not be guaranteed.Moreover, calibration is merely able to demarcate location error,
It is unable to demarcate attitude error, have some limitations.
Summary of the invention
There are the machining reasons such as equal error and lower rigidity because of it in the theoretical pose that industrial robot needs to be implemented
And there are large errors, its error amount can be obtained by being compared by the pose of actual measurement with theoretical pose.For existing skill
Defect existing for art, the present invention provide a kind of online error-compensating apparatus of the robot based on camera chain and method, Ke Yiti
High robot absolute fix precision, by pose data that more survey station polyphaser combination shot measuring system real-time measurements obtain with
And the space that two-dimentional dipmeter is combined with the higher angle-data rotated about the z axis of a precision that robot itself resolves
The attitude data that inertial coordinate measuring system real-time measurement obtains merges to obtain high-precision robot end's pose data.And its
End is measuring known to the theoretical pose under coordinate system (using industrial robot itself resolving pose as the theory in the present invention
Pose), obtained error is fed back into robot, robot compensates error amount.Robot in the present invention is online
Error compensating method is using the theoretical value in the case where measuring coordinate system as true value, and the value that externally measured systematic survey is obtained is as real
Actual value, to guarantee to reach identical precision in its Work Space Range in industrial robot, the attainable precision of institute is higher.
Error compensating method of the invention is simple, without carrying out off-line calibration to robot, can reduce calibration bring and calculate, improve
Efficiency and precision can be applied in industrial circles such as processing and manufacturings.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of online error compensation side, the robot based on camera chain
Method, used in the structure of device be: the device includes the industrial robot for being connected with robot control cabinet, more survey station multiphases
Machine combines Digital Photogrammetric System, space inertial coordinate measuring system, Digital Photogrammetric System auxiliary target and host computer, the space
Inertial coordinate measuring system is made of the encoder that two-dimentional dipmeter is carried with industrial robot；More survey station polyphasers
Combination shot measuring system includes four survey stations, and four survey stations are arranged according to 2 × 2 rectangular array and horizontal plane
Same plane P in, the ranks spacing of rectangular array is 1m, each survey station have a camera, the optical axis of the camera with
Horizontal line is in 25 degree of angles, and the optical axis focuses on the point O at the rectangular surfaces center 1.5m where four survey stations of distance, four phases
The full measurement visual field of machine covering；The range of the full measurement visual field is centered on point O and to be greater than the space 1m × 1m × 1m；Institute
The end that Digital Photogrammetric System auxiliary target is mounted on the industrial robot is stated, the Digital Photogrammetric System auxiliary target is by five
The highlighted reflective marker ball of a 20mm standard forms；Each survey station of more survey station polyphaser combination shot measuring systems captures
To at least four highlighted reflective marker balls, through each highlighted reflective marker ball centre of sphere mutual alignment relation of determination, based on accurate
Calculate position and the posture of industrial robot end；The two dimension dipmeter is for measuring industrial robot end relative to water
The posture of plane, the two dimension dipmeter are installed on the end of industrial robot, the Z of the industrial robot basis coordinates system
Axis and horizontal plane；The initial makeup location of the two dimension dipmeter is X-axis, the Y-axis of the two-dimentional dipmeter
It is overlapped respectively with X-axis, the Y-axis of the tool coordinates system of the industrial robot end；Using the two-dimentional dipmeter as non-
Two coordinates of horizontal plane rotation, using the rotation angle rotated about the z axis that industrial robot encoder itself resolves as level
The coordinate of face rotation, to obtain the attitude data A of industrial robot end；More survey station polyphaser combination shot measurements system
System, the two-dimentional dipmeter and the industrial robot control cabinet are each individually connected to the host computer, the host computer
Externally measured data and resolved data will be read, the externally measured data include the attitude data of above-mentioned industrial robot end
The position data B and attitude data for the industrial robot end that A and more survey station polyphaser combination shot measuring systems measure
B；The resolved data refers to industrial robot the terminal position data C and attitude data C that industrial robot itself resolves；It is described
Host computer carries out the data fusion based on Kalman filtering to the attitude data A and attitude data B, to obtain externally measured
Attitude data D；Above-mentioned attitude data C, attitude data D, position data B and position data C are handled, finally realize work
The online error compensation of industry robot end position and posture；
Online error compensating method the following steps are included:
Step 1: being demarcated to more survey station polyphaser combination shot measuring systems；
Step 2: industrial robot passes to the industrial robot terminal position data C and attitude data C that itself resolve
Host computer；
Step 3: the host computer receives the industrial robot end X-axis and Y-axis phase that the two-dimentional dipmeter measures
For the inclination data of gravity direction, and industrial robot encoder itself is combined to resolve obtained industrial robot end-of-arm tooling
The rotation angle that coordinate system is rotated around industrial robot basis coordinates system Z axis, is calculated the attitude data of industrial robot end
A；
Step 4: utilizing the highlighted of five 20mm standards in the auxiliary target of Digital Photogrammetric System described in four cameras captures
The position of the highlighted reflective marker ball and attitude data are passed to host computer, to obtain industrial machine by reflective marker ball
The position data B and attitude data B of people end；
Step 5: the attitude data B that step 4 obtains and attitude data A that step 3 obtains merge by host computer
To the attitude data D of industrial robot end, using the position data B that attitude data D and step 4 are obtained as externally measured number
According to；
Step 6: the position data C and attitude data C and step of the industrial robot end that host computer obtains step 2
The five industrial robot terminal positions obtained and the externally measured data, that is, position data B and attitude data D of posture are carried out respectively
It compares, finds out the error amount of the two；Judge whether the error amount meets the requirements, if not satisfied, then by the error value back to work
Industry robot, the industrial robot adjust position and the posture of industrial robot end, return step three according to the error amount；
Until meeting error requirements.
Compared with prior art, the beneficial effects of the present invention are:
The present invention has the advantages that the present invention can compensate the error of robot to real-time online, machine is improved
The position of people end and attitude accuracy, and without accurately being demarcated to it, reduce based on error model off-line calibration
Tedious steps and calculating, improve efficiency.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the online error-compensating apparatus of the robot of camera chain；
Fig. 2 (a) is the camera installation site master of each survey station of more survey station polyphaser combination shot measuring systems in the present invention
View；
Fig. 2 (b) is the camera installation site side view of each survey station of Fig. 2 (a)；
Fig. 3 (a) is more survey station polyphaser combination shot measuring system auxiliary target target main views；
Fig. 3 (b) is the side view of auxiliary target target shown in Fig. 3 (a)；
Fig. 3 (c) is the top view of auxiliary target target shown in Fig. 3 (a)；
Fig. 4 is that the present invention is based on the functional block diagrams of the online error-compensating apparatus of the robot of camera chain；
Fig. 5 is that the present invention is based on the online error compensation system control flow charts of the robot of camera chain；
In figure: 1- industrial robot, 2- robot control cabinet, 3- two dimension dipmeter, the more survey station polyphaser combinations of 4-
Digital Photogrammetric System, 5- Digital Photogrammetric System assist target, 6- host computer.
Specific embodiment
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
Inventive concept of the invention is as shown in figure 4, mainly assist target for two-dimentional dipmeter, Digital Photogrammetric System
Be individually fixed in robotic actuator end, at the same two-dimentional dipmeter, more survey station polyphaser combination shot measuring systems with
And industrial robot control cabinet is connect with host computer respectively.The initial makeup location of two-dimentional dipmeter is two-dimentional inclination angle measurement
X-axis, the Y-axis of instrument are overlapped with X-axis, the Y-axis of the robot basis coordinates system of definition respectively.It is equipped on host computer and is compiled by VC6.0
The host computer procedure for the realization error compensation write.Multiple and different position data involved in the technical solution of the present invention realization process
And attitude data, in order to clear, concise, the difference in the description of technical solution respectively with suffix letter is distinguished, such as,
Position data A, position data B, attitude data A, attitude data B, attitude data C and attitude data D.
The present invention is based on the online error-compensating apparatus of the robot of camera chain, as shown in Figure 1, including being connected with robot
The industrial robot 1 of control cabinet 2, industrial robot employed in the present embodiment is KUKA KR5arc industrial robot, and should
Robot mounting location be so that its basis coordinates system Z axis straight up, which further includes that more survey station polyphaser combination shots are surveyed
Amount system 4, space inertial coordinate measuring system, Digital Photogrammetric System auxiliary target 5 and host computer 6, the space inertial coordinate
The function of measuring system is completed jointly by the encoder that two-dimentional dipmeter 3 is carried with industrial robot.
More survey station polyphaser combination shot measuring systems 4 include four survey stations, as shown in Fig. 2, four survey stations
It is arranged in the same plane P with horizontal plane according to 2 × 2 rectangular array, the ranks spacing of rectangular array is 1m, often
A survey station have a camera (being indicated respectively with 41,42,43,44 appended drawing references in Fig. 1 and Fig. 2), the optical axis of the camera and
Horizontal line is in 25 degree of angles, and the optical axis focuses on the point O at the rectangular surfaces center 1.5m where four survey stations of distance, four phases
The full measurement visual field of machine covering；The range of the full measurement visual field is centered on point O and to be greater than the space 1m × 1m × 1m.
As shown in Figure 1, the Digital Photogrammetric System auxiliary target 5 is mounted on the end of the industrial robot 1, it is described to take the photograph
Shadow measuring system auxiliary target 5 is made of the highlighted reflective marker ball of five 20mm standards, and Fig. 3 (a), Fig. 3 (b) and Fig. 3 (c) show
The position and connection relationship of five highlighted reflective marker balls are gone out.
Each survey station of more survey station polyphaser combination shot measuring systems 4 can capture at least four highlight it is reflective
Ball is marked, by each highlighted reflective marker ball centre of sphere mutual alignment relation of determination, for accurately calculating industrial robot end
Position and posture；It is communicated by Ethernet with host computer 6, so that host computer 6 obtains pose data in real time.
The industrial robot 1 that the present embodiment uses, the relationship between coordinate system are determined by six parameters of X, Y, Z, A, B, C
It is fixed.And between its terminal position and the tool coordinates system for being defined in robot end and robot basis coordinates system of posture expression
Relationship.Wherein X, Y, Z are coordinate system translation parameters, and A, B, C are coordinate system rotation parameter.X, Y, Z represent the position of Two coordinate system
Set translation relation.A, B, C represent the posture rotation relationship of Two coordinate system.KUKA KR5arc industrial robot is pivoted
Carry out the sequence of posture conversion successively are as follows: 1. rotation angle about the z axis is A；2. the rotation angle around Y-axis is B；3. around X-axis
Rotation angle is C.Because as experiment measurement it is found that used by industrial robot resolve angle A precision it is higher.
The two dimension dipmeter 3 is for measuring the posture of industrial robot end with respect to the horizontal plane, the two dimension
Dipmeter 3 is installed on the end of industrial robot 1, and the Z axis and horizontal plane of the basis coordinates system of the industrial robot 1 hang down
Directly；The initial makeup location of the two dimension dipmeter be the X-axis of the two-dimentional dipmeter, Y-axis respectively with the work
X-axis, the Y-axis of the tool coordinates system of industry robot end are overlapped；It is rotated using the two-dimentional dipmeter 3 as non-horizontal surface
Two coordinates, the coordinate that the rotation angle rotated about the z axis resolved using industrial robot encoder itself is rotated as horizontal plane,
In conjunction with the angle-data that industrial robot itself resolves, so as to the attitude data A of precise measurement industrial robot end.
More survey station polyphaser combination shot measuring systems 4, the two-dimentional dipmeter 3 and the industrial robot
Control cabinet 2 is each individually connected to the host computer 6, and the host computer 6 will read externally measured data and resolved data, described outer
Portion's measurement data include above-mentioned industrial robot end attitude data A and more survey station polyphaser combination shot measuring systems
The position data B and attitude data B of the industrial robot end measured；The resolved data refers to that industrial robot itself resolves
Industrial robot terminal position data C and attitude data C；The host computer 6 to the attitude data A and attitude data B into
Data fusion of the row based on Kalman filtering, improves attitude measurement accuracy, to obtain accurate externally measured attitude data
D；Above-mentioned attitude data C, attitude data D, position data B and position data C are handled, it is final to realize industrial robot end
The online error compensation of end position and posture.
As shown in figure 5, the present embodiment realizes that the method for online error compensation is as follows:
Step 1: being demarcated to more survey station polyphaser combination shot measuring systems 4；
Step 2: industrial robot 1 transmits the industrial robot terminal position data C and attitude data C that itself resolve
To host computer 6；
Step 3: the host computer 6 receives the industrial robot end X-axis and Y-axis that the two-dimentional dipmeter 3 measures
Relative to the inclination data of gravity direction, and industrial robot encoder itself is combined to resolve obtained industrial robot end work
The rotation angle that tool coordinate system is rotated around industrial robot basis coordinates system Z axis, is calculated the posture number of industrial robot end
According to A；
Step 4: utilizing the height of five 20mm standards in the auxiliary target 5 of Digital Photogrammetric System described in four cameras captures
The position of the highlighted reflective marker ball and attitude data are passed to host computer 6, to obtain industrial machine by bright reflective marker ball
The position data B and attitude data B of device people end；
Step 5: host computer 6 merges the attitude data B that step 4 obtains and attitude data A that step 3 obtains
The attitude data D of industrial robot end is obtained, using the position data B that attitude data D and step 4 obtain as externally measured
Data；
Step 6: the position data C and attitude data C and step of the industrial robot end that host computer 6 obtains step 2
It is rapid five obtain industrial robot terminal positions and posture externally measured data, that is, position data B and attitude data D respectively into
Row compares, and finds out the error amount of the two；Judge whether the error amount meets the requirements, if not satisfied, then giving the error value back
Industrial robot 1, the industrial robot 1 adjust position and the posture of industrial robot end according to the error amount, return to step
Rapid three；Until meeting error requirements.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations
Mode, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to of the invention
Within protection.
Claims (1)
1. a kind of online error compensating method of robot based on camera chain, wherein the structure of device used is: the device
Industrial robot (1) including being connected with robot control cabinet (2), more survey station polyphaser combination shot measuring systems (4), space
Inertial coordinate measuring system, Digital Photogrammetric System auxiliary target (5) and host computer (6), the space inertial coordinate measuring system
It is made of the encoder that two-dimentional dipmeter (3) is carried with industrial robot；
More survey station polyphaser combination shot measuring systems (4) include four survey stations, four survey stations according to 2 × 2 square
Shape array is arranged in the same plane P with horizontal plane, and the ranks spacing of rectangular array is 1m, and each survey station has one
A camera, the optical axis and horizontal line of the camera are in 25 degree of angles, and the optical axis focuses on the rectangle where four survey stations of distance
Point O at the 1.5m of face center, four full measurement visual fields of camera covering；It is described it is full measurement visual field range be centered on point O and
Greater than the space 1m × 1m × 1m；
Digital Photogrammetric System auxiliary target (5) is mounted on the end of the industrial robot (1), the Digital Photogrammetric System
Auxiliary target (5) is made of the highlighted reflective marker ball of five 20mm standards；
Each survey station of more survey station polyphaser combination shot measuring systems (4) captures at least four highlighted reflective markers
Ball, by each highlighted reflective marker ball centre of sphere mutual alignment relation of determination, for accurately calculating the position of industrial robot end
With posture；
The two dimension dipmeter (3) for measuring the posture of industrial robot end with respect to the horizontal plane, incline by the two dimension
Angle measuring instrument (3) is installed on the end of industrial robot (1), the Z axis and horizontal plane of the basis coordinates system of the industrial robot (1)
Vertically；The initial makeup location of the two dimension dipmeter (3) is the X-axis of the two-dimentional dipmeter (3), Y-axis difference
It is overlapped with X-axis, the Y-axis of the tool coordinates system of the industrial robot end；Using the two-dimentional dipmeter (3) as non-aqueous
Two coordinates of Plane Rotation, using the rotation angle rotated about the z axis that industrial robot encoder itself resolves as horizontal plane
The coordinate of rotation, to obtain the attitude data A of industrial robot end；
More survey station polyphaser combination shot measuring systems (4), the two-dimentional dipmeter (3) and robot control
Cabinet (2) is each individually connected to the host computer (6), and the host computer (6) will read externally measured data and resolved data, described
Externally measured data include the attitude data A of above-mentioned industrial robot end and more survey station polyphaser combination shot measurements are
The position data B and attitude data B for the industrial robot end that unified test obtains；The resolved data refers to that industrial robot itself solves
Industrial robot the terminal position data C and attitude data C of calculation；
The host computer (6) carries out the data fusion based on Kalman filtering to the attitude data A and attitude data B, thus
Obtain externally measured attitude data D；At above-mentioned attitude data C, attitude data D, position data B and position data C
Reason, the final online error compensation for realizing industrial robot terminal position and posture；
Characterized by comprising the following steps:
Step 1: being demarcated to more survey station polyphaser combination shot measuring systems (4)；
Step 2: industrial robot (1) passes to the industrial robot terminal position data C and attitude data C that itself resolve
Host computer (6)；
Step 3: the host computer (6) receives the industrial robot end X-axis and Y-axis that the two-dimentional dipmeter (3) measures
Relative to the inclination data of gravity direction, and industrial robot encoder itself is combined to resolve obtained industrial robot end work
The rotation angle that tool coordinate system is rotated around industrial robot basis coordinates system Z axis, is calculated the posture number of industrial robot end
According to A；
Step 4: utilizing the highlighted of five 20mm standards in the auxiliary of Digital Photogrammetric System described in four cameras captures target (5)
The position of the highlighted reflective marker ball and attitude data are passed to host computer (6), to obtain industrial machine by reflective marker ball
The position data B and attitude data B of device people end；
Step 5: the attitude data B that step 4 obtains and attitude data A that step 3 obtains merge by host computer (6)
To the attitude data D of industrial robot end, using the position data B that attitude data D and step 4 are obtained as externally measured number
According to；
Step 6: the position data C and attitude data C and step of the industrial robot end that host computer (6) obtains step 2
The five industrial robot terminal positions obtained and the externally measured data, that is, position data B and attitude data D of posture are carried out respectively
It compares, finds out the error amount of the two；Judge whether the error amount meets the requirements, if not satisfied, then by the error value back to work
Industry robot (1), the industrial robot (1) adjust position and the posture of industrial robot end according to the error amount, return
Step 3；Until meeting error requirements.
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| KR20070070733A (en) * | 2005-12-29 | 2007-07-04 | 삼성중공업 주식회사 | 3d self-measurement system for the curved surface |
| CN101097131A (en) * | 2006-06-30 | 2008-01-02 | 廊坊智通机器人系统有限公司 | Method for marking workpieces coordinate system |
| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
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| CN106247932A (en) | 2016-12-21 |
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