CN106370106A - Industrial robot and linear guide rail-combined linear laser scanning measurement system and method - Google Patents
Industrial robot and linear guide rail-combined linear laser scanning measurement system and method Download PDFInfo
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- CN106370106A CN106370106A CN201610865363.0A CN201610865363A CN106370106A CN 106370106 A CN106370106 A CN 106370106A CN 201610865363 A CN201610865363 A CN 201610865363A CN 106370106 A CN106370106 A CN 106370106A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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 provides an industrial robot and linear guide rail-combined linear laser scanning measurement system and method. According to the system, based on the high flexibility of an industrial robot and the high linear motion precision of a linear guide rail, a high-performance motion execution mechanism is creatively constructed; the acquisition of the actual physical information of parts is completed through a non-contact three-dimensional machine vision (line laser); the line laser is triggered through an optical encoder, so that high-quality data point cloud can be ensured; high-precision point cloud splicing is completed through a global coordinate system; obtained point cloud data are registered and compared with a theoretical digital model; and the full-automatic measurement of the key sizes of the parts is realized, and the coordinate system of a next processing process is outputted directly. The industrial robot and linear guide rail-combined linear laser scanning measurement system and method have the advantages of f high efficiency, high precision, high flexibility, digitization, intellectualization and the like, and can automatically and efficiently perform scanning measurement of various kinds of different parts. With the measurement system and method adopted, problems such as wall thickness measurement and processing of barrel parts and secondary scribing of castings can be solved, and the generation quality of parts can be effectively improved.
Description
Technical field
The present invention relates to machine vision metrology field, in particular it relates to a kind of combination industrial robot and linear guides
Line laser structured light measuring system and method.
Background technology
With the development to modern industry, the requirement more and more higher of product quality, for machinery product, the chi of manufacture
Very little precision is the measuring quality index of its core.Therefore, each manufacturing enterprise all puts forward higher requirement to measuring system.More closely
Intelligence manufacture demand Rapid Popularization at home over year, industrial robot, machine vision, and various intelligentized system enter
Modern surveying field, is that product provides the online dimensional measurement of production, the quality of product has been effectively ensured, has met enterprise
Measurement demand.In this emerging fields of measurement, development weight is become based on the dimensional visual measurement system of industrial robot
Point, this system takes full advantage of that industrial robot is flexible, high degree of automation, the features such as be easily integrated operation and maintenance, with
The contactless three-dimensional visual sensor of Shi Caiyong is realizing the acquisition of physical data, and is analyzed and processed by pattern algorithm,
It is a typically intelligentized measurement product, represent the trend of following measuring system development.But simultaneously it is known that industry
Robot is a cantilever beam structure for frame for movement, is the control of non-closed loop, belongs to typical from the point of view of controlling angle
Nonopiate coordinate, and its brachium, feedback angle and datum mark etc. parameter are subject to the factors such as long term wear, ambient temperature and vibration
It is impossible to set up a set of stable, high-precision kinematics model, this is also an international difficult problem for impact.For this kind of survey
For amount system, the measurement data under 3D vision coordinate system exactly needs to sit by robot kinematics' model conversion to workpiece
Under mark system, well imagine, the loss of the kinematics model of industrial robot is the topmost source of error of this system.
Certainty of measurement for existing robot vision measuring system is difficult to lifting it is impossible to meet high-acruracy survey demand
Present situation, the present invention proposes the line laser structured light measuring system of a kind of combination industrial robot and linear guides, for part
High accuracy dimensional measurement.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of combination industrial robot and linear guides
Line laser structured light measuring system and method.
The combination industrial robot being provided according to the present invention and the line laser structured light measuring system of linear guides, main composition
Including: base, main motion actuator, motion, line laser sensor and industrial computer；Described base is used for completing difference
The clamping of product and demarcation；Described line laser sensor is arranged on motion, and described motion is executed with main motion
Mechanism is connected；Described main motion actuator adjusts according to industrial computer and drives line laser sensor arrival workpiece to be detected after pose
Position, completes the scanning to workpiece for measurement by described line laser sensor, and scanning result is fed back to industrial computer carries out figure
Image procossing, and export result of calculation.
Preferably, described base adopts unitized flexible design, comprising: base plate and hold down gag；Described hold down gag
Workpiece can be fixed on base plate, complete coarse positioning；Labelling point is provided with described base plate, described fixed point can complete a little
The splicing of cloud；The fixed point that high-precision calibrating is crossed can complete the high-precision joining of a cloud.
Preferably, described main motion actuator is industrial robot, including robot body, robot control cabinet, machine
Device people's demonstrator；Described robot body is used for for line laser sensor reaching workpiece position to be detected；Described robot controls
Cabinet is used for realizing the SERVO CONTROL to robot body and robot body pose data being transferred to industrial computer；Described robot
Demonstrator is used for robot body being programmed debug.
Preferably, described motion is linear guides, and described linear guides are arranged on the end of robot body, specifically
Ground: in robot body motor process, line laser sensor not gathered data, treat that robot body reaches measurement position quiet
After only, it is scanned by the grating scale triggering laser line generator on linear guides, completes a cloud and obtain.
Preferably, described line laser sensor adopts active structure light principle, and certainty of measurement can reach 0.02mm,
Repeatability precision reaches 0.001mm, and sample frequency reaches 1000hz.
Preferably, described industrial computer controls robot body to move to workpiece position to be detected according to the inspection program setting
Put, and the three-dimensional data to line laser sensor acquisition measured workpiece surface and greyscale image data processed and analyzed after
To testing result, described testing result includes: the thickness distribution of workpiece, critical dimension information, follow-up machining coordinate etc..
Preferably, also include safe fence, described safe fence is used for limiting the range of movement of main motion actuator.
The combination industrial robot being provided according to the present invention and the line laser structured light measuring method of linear guides, including as follows
Step:
Step 1: build the line laser structured light measuring system combining industrial robot and linear guides, input workpiece for measurement
Inner and outer diameter, length data；
Step 2: generate the running orbit of robot according to the diameter of workpiece for measurement, length；
Step 3: control robot to reach the location of workpiece to be detected according to the running orbit setting, complete by line laser sensor
The scanning survey of workpiece in pairs；
Step 4: specified measurement data is calculated according to the workpiece data that scanning survey collects, and work pieces process is sat
Mark.
Preferably, the combination industrial robot in described step 1 and the line laser structured light measuring system of linear guides include:
Base, main motion actuator, motion, line laser sensor and industrial computer；Described base is used for completing different product
Clamping and demarcation；Described line laser sensor is arranged on motion, described motion and main motion actuator
It is connected；Described main motion actuator adjusts according to industrial computer and drives line laser sensor to reach workpiece location to be checked after pose
Put, completed the scanning survey to workpiece for measurement and scanning survey result is fed back to industrial computer carry out by described line laser sensor
Process.
Compared with prior art, the present invention has a following beneficial effect:
1st, compared with existing traditional detection scheme, its effect is positive and obvious to the present invention.System have high accuracy,
The features such as high efficiency, high flexibility, digitized, intellectuality, the automatic measurement of multiple difference parts can be completed.Meanwhile, system
The coordinate system of following process can be exported, not only significantly improve production efficiency, and the production matter of product can be effectively improved
Amount, solves the problems, such as the pain spot such as barrel-shaped part wall thickness measuring and processing, the secondary line of foundry goods.
2nd, present invention employs stereoscopic three-dimensional vision technique, instead of traditional manual measurement and contact type measurement, effectively
Improve measurement efficiency and precision.Simultaneity factor develops the robot control system based on host computer, not only explores machine
The method of people's Off-line control, and greatly improve the flexibility of measuring system, can adapt to the measurement of different product, and employ
The method of global calibration eliminates the impact to measurement result for robot precision's loss.
3rd, the system of the present invention is integrated with information system further, and the high-precision dot cloud that system obtains contains greatly
Amount production information, will become the important component part of enterprise caq, can conveniently realize the trackability of product, is that analysis quality is asked
The source of topic, is the essential tool of total quality control.Meanwhile, present invention system extremely also can be existing as the production of mes system
Field sensor, by the statistics and analysis of qualitative data, provides data supporting for production decision.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon:
The overall operation structural representation of the laser scanning measurement system that Fig. 1 provides for the present invention；
Fig. 2 is flexible universal base schematic diagram；
Fig. 3 is the structural representation of linear guides；
Fig. 4 is point cloud schematic diagram；
Fig. 5 is point cloud measurement result schematic diagram；
Fig. 6 is Model Matching schematic flow sheet；
The flow chart of the laser scanning measurement method that Fig. 7 provides for the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These broadly fall into the present invention
Protection domain.
The present invention, in order to ensure the flexibility of system, still adopts industrial robot as movement executing mechanism.Meanwhile, in order to
Improve certainty of measurement, complete the acquisition of cloud data by the way of linear guides drive line laser structured light, in line laser structured light
Cheng Zhong robot keeps attitude constant, and the splicing between point cloud is completed using overall reference marker point, or uses pattern algorithm
To realize the splicing of consecutive points cloud, finally to recycle registration Algorithm to realize cad digital-to-analogue and cloud data matching measurement, or directly
Realize the measurement of relative value.By the exploitation of said system, do not import the kinematics model of robot, space need not be completed and sit
Target is changed, thus completely eliminating the error loss coming from robot, greatly improves the precision of measuring system.
First, die cavity inside and outside product is scanned comprehensively, after obtaining actual cloud data, then by several based on local
The graph image algorithms such as the curved surface identification registration of what feature, monolithic point cloud is spliced, and carries out optimum with cad digital-to-analogue row
Joining, thus calculating transformation matrix, and transformation matrix coordinate relation being delivered in next step manufacturing procedure by alignment system,
The wall thickness of exportable product simultaneously, provides the foundation of processing for subsequent processing.In addition, by product theory digital-to-analogue and point cloud number
According to direct comparison, the dimensional accuracy situation of comprehensive analysis product, accordingly analyze quality problems reason.
Specifically, the present invention provides combination industrial robot and the line laser structured light measuring system of linear guides, comprising:
Base, main motion actuator, high-precision motion mechanism, line laser sensor and industrial computer, described industrial computer connects respectively
Laser line generator, high-precision motion mechanism, main motion actuator, for realizing the control of detection process and the place of detection data
Reason.
Described base is supporting Universal flexible base, and described base is made up of common bottom plate, hold down gag two parts, can
Realize the adjustment of clamping size, complete the clamping to different product and coarse positioning.Meanwhile, this base or the institute of global coordinate system
Labelling point thereon is the foundation of splicing between a cloud.
Described main motion actuator is industrial robot, including robot body, robot control cabinet, robot teaching
Device.Described robot body is the nucleus movement mechanism in the present invention, for driving laser sensor to be detected to reach workpiece
Position；Described robot control cabinet is used for the SERVO CONTROL of robot body, and robot control cabinet and industrial computer are connected to pass
Defeated robot pose data；Described robot demonstrator is used for robotic programming and debugs.
Described high-precision motion mechanism is linear guides, and line laser sensor is arranged on linear guides, and linear guides are again
It is installed to the body tip of robot.In robot kinematics, line laser not gathered data, treat that robot reaches measurement position
After putting and being static, it is scanned by the grating scale triggering laser line generator on linear guides, because the pulse precision of grating scale is high, because
It is higher that this is obtained a cloud Mass accuracy.Here the positioning precision of linear guides reaches ± 0.04mm, and repeatability precision reaches ±
0.01mm, the depth of parallelism reaches ± 0.03mm.
Described line laser sensor adopts active structure light principle, insensitive to environmental factorss, certainty of measurement up to
To 0.02mm, repeatability precision can reach 1000hz up to 0.001mm, sample frequency, can meet high-precision measurement requirement.
Described industrial computer connects laser line generator, linear guides, robot control cabinet, the control for detection process and detection
The process of data.Described industrial computer starts detection process according to detection plan, controls robot to move to workpiece measured position, leads to
Cross linear guides and drive laser line generator collection measured workpiece surface three dimension data and greyscale image data, the data collecting is entered
Row is processed and analysis obtains testing result, and machining coordinate is calculated and transmits.
Further, the curved surface that graph and image processing aspect proposes based on local geometric features identifies registration Algorithm.Logical
Cross the information such as the normal of arbitrfary point on free form surface, curvature and normal curvature adjacent about, describe the characteristic of local, this
One characteristic has European invariance.Multiple dimensioned local geometric features point is had by selection, sets up model and measurement pointcloud
Correspondence, filters wrong corresponding point by ransac, selects the matching result with maximum of probability.And then, using non-linear
A young waiter in a wineshop or an inn takes advantage of optimization to carry out fine adjustment of attitude to whole point cloud, determines optimal solution.Traditional icp method not only can converge on local solution,
Optimal solution cannot be determined, and the calculating time is oversize, this algorithm computational accuracy is higher, and has huge advantage on the calculating time.
With reference to specific embodiment, the present invention is described in more details.
As shown in figure 1, the system of the present invention includes industrial robot 1, laser sensor 2, linear guides 3, Universal flexible
Support 5 grade forms, and supporting control system and software system.It is right that laser sensor 2 carries linear guides 3 by robot 1
Product 4 completes to scan, and product 4 and flexible support 5 are positioned on base 6.Wherein industrial robot 1, linear guides 3 are controlled by plc
System, Universal flexible support 5 and laser sensor 2 are by industrial computer control, then real-time communication when being completed by industrial computer and plc.
As shown in Fig. 2 being put in product 4 on flexible support 5, realize product 4 is positioned.
As shown in figure 3, laser sensor 2 is carried by linear guides 3, linear guides 3 are carried by robot 1, are therefore directed to
Every kind of part will be programmed, and completes product full-scale scanning trajectory planning it is ensured that scan data reliability.
As shown in figure 4, linear guides 3 drive line laser sensor 2 to move, laser sensor 2 continuously scans and then forms one
Individual face cloud data, carries out the Optimum Matching of image in industrial computer, using common region method or world coordinatess relation, finished surface
Splicing between cloud data.
As shown in figure 5, curved surface accurately mate is carried out to the product constraining with allowance, according to the thought of icp algorithm, structure
Make object function:
In formula: r represents spin matrix, t represents translation vector, pi(i=1,2, l, n) is single in blank measurement pointcloud
Point, qiFor piIn corresponding cad model curved surface sjClosest approach on (j=1,2, l, m):
Wherein q is corresponding cad model curved surface sjOn point；A is sjThe set that upper all of point is constituted.
Note pi'=rpi+ t and qiBetween directed distance be di, curved surface sjIn qiThe outer-normal direction of point is ni, obtain:
di(r, t)=(rpi+t-qi)·ni.
If di(r, t) >=0 item shows this blank measurement point inside cad model；Conversely, this blank measurement point of surface exists
Outside cad model.In order to ensure that blank each several part all meets allowance or minimum wall thickness (MINI W.) requirement, need structure constraint condition:
di(r,t)≥δl,δl≥0.Wherein δlFor allowance lower limit.In addition it is also necessary to rationally be set according to actual casting process condition
Put allowance higher limit δu, it is hereby achieved that complete constraints:
δl≤di(r,t)≤δu,δu≥δl≥0
Whole calculating process is divided into two steps, and user first provides δlAnd δuAllowable limit value if it is possible to solve, explanation
It is qualified that blank is at least, and meets most basic allowance and minimum wall thickness (MINI W.) requires, then can suitably increase δlValue or
Reduce δuValue, solve further, until obtain customer satisfaction system solution.
Because threedimensional model is when being scanned, the difference of scanning angle and other sweep parameters, the point-based surface obtaining
Between coordinate system differ, accordingly, it would be desirable to design threedimensional model and realistic model between mate, between model
Coordinate system alignment.On the whole, first the three-dimensional point set data that obtains of scanning is removed with mating incoherent point that (data is located in advance
Reason), then three-dimensional point set data is mapped to two-dimentional binary image, coupling is carried out to two-dimentional binary image and obtains rough
Join result, then carry out accurately mate using quick icp algorithm.
It is illustrated in figure 6 the thickness data of the product specific characteristic position of detection.
The flow chart being illustrated in figure 7 system.Carry out System self-test first, including the part digital-to-analogue importing required measurement,
The installation of universal stand, and the work that empties and be zeroed etc. of system.If parts measurement first, part should be imported first
Cad digital-to-analogue, adjusts flexible support, and coarse positioning blank, then carries out the programming of robot it is ensured that the total data energy of blank
Enough effectively it is collected, have no interference.Measurement data confirm errorless after, the initialization information of flexible support and robot
Track program will be tied on this product and be stored in industrial computer.Confirm in plc ready, robot rail can be imported
Mark program, starts to start scanning work.After the completion of scanning, robot returns to initialization initial point, and industrial computer proceeds by a little
Cloud data processing.Carry out mating positioning with part cad digital-to-analogue firstly the need of to cloud data, after obtaining optimal corresponding relation,
Output coordinate transformation matrix.Subsequently carry out cloud data and the deviation ratio pair of theoretical cad digital-to-analogue, form measurement analysis report.As
Fruit product dimension overproof, needs alert notice scene responsible person to process.This potential quality problems product will not be transported to next
Individual station is processed, and needs manual intervention to judge to process.If fruit product actual size is within the margin of tolerance, then can basis
Preset template provides the measurement report of standard.Finally export the Cutter coordinate system of blank product, and corresponding wall thickness information, these
Input condition as next manufacturing procedure is imported by information, thus further increasing the accuracy of manufacture and efficiency.
Compared with existing traditional detection scheme, its effect is positive and obvious to the present invention.System has high accuracy, height
The features such as efficiency, high flexibility, digitized, intellectuality, the automatic measurement of multiple difference parts can be completed.Meanwhile, system energy
The coordinate system of output following process, not only significantly improves production efficiency, and can effectively improve the quality of production of product,
Solve the problems, such as the pain spot such as barrel-shaped part wall thickness measuring and processing, the secondary line of foundry goods.With external diameter 750mm, internal diameter 400mm, height
As a example the workpiece sensing of 500mm, manual detection needs 2 people to operate, about 2 hours time, during 4 people/part, and and obtain data volume relatively
Less it is impossible to accurate Instructing manufacture.The line of subsequent product also needs 2 hours, aggregate efficiency be 10 people when/part.Using the system, detect
Time about 25-30 minute, during 0.4-0.5 people/part, more than 10 times of efficiency raising.If line production, per part detects about
15 minutes (data processing can synchronously be carried out, and does not affect time of measuring), during 0.25 people/part, more than 20 times of efficiency raising.Meanwhile,
Apply this system can also effectively reduce the percent defective of product, improve the quality of product, there is significant economic benefit.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or change, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combine.
Claims (9)
1. the line laser structured light measuring system of a kind of combination industrial robot and linear guides is it is characterised in that main composition bag
Include: base, main motion actuator, motion, line laser sensor and industrial computer；Described base is used for completing different products
The clamping of product and demarcation；Described line laser sensor is arranged on motion, and described motion executes machine with main motion
Structure is connected；Described main motion actuator adjusts according to industrial computer and drives line laser sensor to reach workpiece location to be checked after pose
Put, the scanning to workpiece for measurement is completed by described line laser sensor, and scanning result is fed back to industrial computer and carry out graphic diagram
As processing, and export result of calculation.
2. the line laser structured light measuring system of combination industrial robot according to claim 1 and linear guides, its feature
It is, described base adopts flexible material, comprising: base plate and hold down gag；Workpiece can be fixed on bottom by described hold down gag
On plate, complete coarse positioning；Labelling point is provided with described base plate, described fixed point can complete the splicing of a cloud.
3. the line laser structured light measuring system of combination industrial robot according to claim 1 and linear guides, its feature
It is, described main motion actuator is industrial robot, including robot body, robot control cabinet, robot demonstrator；
Described robot body is used for for line laser sensor reaching workpiece position to be detected；It is right that described robot control cabinet is used for realizing
Robot body pose data is simultaneously transferred to industrial computer by the SERVO CONTROL of robot body；It is right that described robot demonstrator is used for
Robot body is programmed debugging.
4. the line laser structured light measuring system of combination industrial robot according to claim 3 and linear guides, its feature
It is, described motion is linear guides, described linear guides are arranged on the end of robot body, specifically: in machine
In human body's motor process, line laser sensor not gathered data, after robot body reach measurement position and static after, by line
Property guide rail on grating scale triggering laser line generator be scanned, complete cloud and obtain.
5. combination industrial robot according to any one of claim 1 to 4 and the line laser structured light of linear guides measure
It is characterised in that described line laser sensor adopts active structure light principle, certainty of measurement can reach system
0.02mm, repeatability precision reaches 0.001mm, and sample frequency reaches 1000hz.
6. the line laser structured light measuring system of combination industrial robot according to claim 5 and linear guides, its feature
It is, described industrial computer controls robot body to move to the location of workpiece to be detected according to the inspection program setting, and line is swashed
Optical sensor gathers the three-dimensional data on measured workpiece surface and greyscale image data is processed and obtains testing result after analyzing,
Described testing result includes: the thickness distribution of workpiece, critical dimension information, follow-up machining coordinate.
7. the line laser structured light measuring system of combination industrial robot according to claim 1 and linear guides, its feature
It is, also includes safe fence, described safe fence is used for limiting the range of movement of main motion actuator.
8. a kind of combination industrial robot and the line laser structured light measuring method of linear guides are it is characterised in that include following walking
Rapid:
Step 1: build the line laser structured light measuring system combining industrial robot and linear guides, input the inside and outside of workpiece for measurement
Diameter, length data；
Step 2: generate the running orbit of robot according to the diameter of workpiece for measurement, length；
Step 3: control robot to reach the location of workpiece to be detected according to the running orbit setting, it is right to be completed by line laser sensor
The scanning survey of workpiece；
Step 4: crucial measurement data is calculated according to the workpiece data that scanning survey collects, and work pieces process coordinate.
9. the line laser structured light measuring method of combination industrial robot according to claim 8 and linear guides, its feature
It is, the combination industrial robot in described step 1 is included with the line laser structured light measuring system of linear guides: base, main fortune
Dynamic actuator, motion, line laser sensor and industrial computer；Described base be used for complete different product clamping and
Demarcate；Described line laser sensor is arranged on motion, and described motion is connected with main motion actuator；Described master
Movement executing mechanism adjusts according to industrial computer and drives line laser sensor to reach workpiece position to be detected after pose, is swashed by described line
Optical sensor completes the scanning survey to workpiece for measurement and scanning survey result is fed back to industrial computer processes.
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