CN107152911A - Based on the PSD dot laser sensors fed back and the scaling method of robot relative position - Google Patents
Based on the PSD dot laser sensors fed back and the scaling method of robot relative position Download PDFInfo
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- CN107152911A CN107152911A CN201710403316.9A CN201710403316A CN107152911A CN 107152911 A CN107152911 A CN 107152911A CN 201710403316 A CN201710403316 A CN 201710403316A CN 107152911 A CN107152911 A CN 107152911A
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- robot
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- dot laser
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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
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Abstract
The present invention provides a kind of based on the PSD dot laser sensors fed back and the scaling method of robot relative position, this method is fed back come the laser rays of accurate control points laser sensor by the same fixed point in space by PSD position, using the fixed point standardization of dot laser sensor, construct multigroup solution of equation and calculate the relative position relation of dot laser sensor and robot, so as to realize quick, the high-precision calibrating of dot laser sensor.
Description
Technical field
The present invention relates to a kind of position calibration method, especially a kind of dot laser sensor and the mark of robot relative position
Determine method.
Background technology
Laser sensor be it is a kind of using laser distance measuring principle carry out range measurement sensor, as it is a kind of it is new away from
From measuring instrument, it has measurement accuracy high, and speed is fast, can heed contacted measure the advantages of, available for three-dimensional measurement, reverse work
The fields such as journey, processing of robots.Because dot laser sensor can only obtain the finite length information of laser rays measured place, to realize
Overall measurement, it is necessary to by other high-acruracy survey platforms, so as to constitute measuring system, carries out the overall measurement of object.It is many
There is shaft type industrial robot preferable carry that positional precision is high, simple operation and other advantages become dot laser sensor to put down
Platform, it constitutes measuring system with dot laser sensor, can effectively improve the measurement range of laser.Due to reasons such as installations,
The position relationship of robot and dot laser sensor is unknown, in order to realize accurate measurement, is needed before measuring to robot
Accurate calibration is carried out with dot laser sensing station relation.
Conventional scaling method has fix point method, plane template method and sphere template at present.Although fix point method therein
Algorithm is most simple, it is most easy to operate, but is due to be difficult to accurately control laser rays repeatedly (main at present by the same fixed point in space
Judge by human eye), calibrated error is larger (about 0.5mm), causes seldom to be used.
PSD：Position sensitive detector (Position Sensitive Detector).
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of dot laser fed back based on PSD
Sensor and the scaling method of robot relative position, this method are fed back come accurate control points laser sensing by PSD position
The laser rays of device is by the same fixed point in space, using the fixed point standardization of dot laser sensor, constructs multigroup solution of equation and calculates a little
The relative position relation of laser sensor and robot, so as to realize quick, the high-precision calibrating of dot laser sensor.
This method is specifically included：
Dot laser sensor is arranged on the flange of robot arm end；Robot basis coordinates system O1, machine is man-machine
Tool arm ending coordinates system O2；
Coordinate of the laser sensor origin under robot arm ending coordinates system that set up an office is X0=[x0 y0 z0]T, point
Direction vector of the laser rays direction for the measurement point that laser sensor directive is fixed under robot arm ending coordinates system is n
=[nx ny nz]T, the distance between dot laser sensor and measurement point is L, and robot current pose is R, T, then measurement point is in machine
Coordinate X under device people's mechanical arm ending coordinates systemTFor:
XT=X0+nL (1)
R represents rotations of the robot arm ending coordinates system O2 relative to robot basis coordinates system O1；T represents robot
Translations of the mechanical arm tail end coordinate system O2 relative to robot basis coordinates system O1；
Then coordinate of the measurement point under robot basis coordinates system is：
XBi=Ri(X0+nLi)+Ti (2)
XBiWhen representing ith measurement, coordinate of the measurement point under robot basis coordinates system；LiWhen representing ith measurement, point
Distance between laser sensor and measurement point；The posture of robot is R when ith is measuredi, Ti；
When the same measurement point of each directive of dot laser sensor, due to seat of the measurement point under robot basis coordinates system
Mark is constant, i.e.,
XBi=XB(i+1) (3)
XB(i+1)When representing i+1 time measurement, coordinate of the measurement point under robot basis coordinates system；Above formula (3) is：
Ri(X0+nLi)+Ti=Ri+1(X0+nLi+1)+Ti+1 (4)
Li+1When representing i+1 time measurement, the distance between dot laser sensor and measurement point；Robot during i+1 time measurement
Posture be Ri+1, Ti+1；
Keep the R in robot pose constant, allow robot arm to drive dot laser sensor device to be passed along dot laser
The laser rays direction translational of sensor directive measurement point causes laser to beat all the time in same measurement point, and above formula (4) is changed into：
R0nLi+Ti=R0nLi+1+Ti+1 (5)
R0Immovable R in robot pose in expression ith and i+1 time measurement；
Wherein R0,Ti+1,TiDirectly read from robot controller, Li,Li+1Directly obtained from dot laser sensor；
When the laser rays direction for the measurement point fixed along dot laser sensor directive, dot laser sensor is two positions
When measuring, solved by above formula (6) and obtain n；
On the basis of known n, change robot pose R, T so that repeatedly laser is beaten in same measurement point during measurement,
Then：
(Ri-Ri+1)X0=Ri+1nLi+1-RinLi+Ti+1-Ti (7)
When there is robot pose more than two, system of linear equations is obtained by above formula (7), system of linear equations is solved and obtains
X0。
The advantage of the invention is that：
1) calibration algorithm of dot laser sensor and robot relative position is proposed, robot is solved and carries dot laser
The hand and eye calibrating problem of sensor；
2) fed back using PSD position come the laser rays of accurate control points laser sensor by the same fixed point in space, greatly
Improve stated accuracy greatly；
3) scaling method is simple to operate, easy to implement, precision is high.
Brief description of the drawings
Fig. 1 is implementation principle figure of the invention.
Embodiment
With reference to specific drawings and examples, the invention will be further described.
As shown in figure 1, dot laser sensor is arranged on the flange of robot arm end；Robot basis coordinates system
O1, robot arm ending coordinates system O2；
Coordinate of the laser sensor origin under robot arm ending coordinates system that set up an office is X0=[x0 y0 z0]T, point
Direction vector of the laser rays direction for the measurement point that laser sensor directive is fixed under robot arm ending coordinates system is n
=[nx ny nz]T, the distance between dot laser sensor and measurement point is L, and robot current pose is R, T, then measurement point is in machine
Coordinate X under device people's mechanical arm ending coordinates systemTFor:
XT=X0+nL (1)
R represents rotations of the robot arm ending coordinates system O2 relative to robot basis coordinates system O1, and it is 3x3 squares
Battle array；T represents translations of the robot arm ending coordinates system O2 relative to robot basis coordinates system O1, be 3x1 matrixes (arrange to
Amount)；
Then coordinate of the measurement point under robot basis coordinates system is：
XBi=Ri(X0+nLi)+Ti (2)
XBiWhen representing ith measurement, coordinate of the measurement point under robot basis coordinates system；LiWhen representing ith measurement, point
Distance between laser sensor and measurement point；The posture of robot is R when ith is measuredi, Ti；
When the same measurement point of each directive of dot laser sensor, due to seat of the measurement point under robot basis coordinates system
Mark is constant, i.e.,
XBi=XB(i+1) (3)
XB(i+1)When representing i+1 time measurement, coordinate of the measurement point under robot basis coordinates system；Above formula (3) is：
Ri(X0+nLi)+Ti=Ri+1(X0+nLi+1)+Ti+1 (4)
Li+1When representing i+1 time measurement, the distance between dot laser sensor and measurement point；Robot during i+1 time measurement
Posture be Ri+1, Ti+1；
Keep the R in robot pose constant, allow robot arm to drive dot laser sensor device to be passed along dot laser
The laser rays direction translational of sensor directive measurement point causes laser to beat all the time in same measurement point, and above formula (4) is changed into：
R0nLi+Ti=R0nLi+1+Ti+1 (5)
R0Immovable R in robot pose in expression ith and i+1 time measurement；
Wherein R0,Ti+1,TiIt can be directly read from robot controller, Li,Li+1Can directly it be obtained from dot laser sensor
；
When the laser rays direction (i.e. n directions) for the measurement point fixed along dot laser sensor directive, dot laser sensor
When being measured two positions, so that it may solved by above formula (6) and obtain n；
On the basis of known n, change robot pose R, T, the position of dot laser sensor device and posture change, made
Obtain laser when repeatedly measuring to beat in same measurement point, then：
(Ri-Ri+1)X0=Ri+1nLi+1-RinLi+Ti+1-Ti (7)
When there is robot pose more than two, system of linear equations is obtained by above formula (7), system of linear equations is solved and obtains
X0.So far, the relative position relation demarcation of dot laser sensor and robot is finished.
It is below actual operating process：
1st, PSD position sensors and robot base geo-stationary, the mechanical arm tail end of robot clamp a dot laser
Sensor, robotic arm motion makes laser be radiated at PSD certain points P；
2nd, from robot controller read machine people posture R and T, while reading point P's from PSD position sensors
Position coordinates, reads apart from L from dot laser sensor；
3rd, keep the R of robot pose constant, along Z-direction (the i.e. above-mentioned dot laser biography of robot arm ending coordinates system
The laser rays direction for the measurement point P that sensor directive is fixed) one segment distance of mobile robot, the end translation of control machine arm passes through
PSD position feedback makes dot laser sensor be irradiated in P points again, and the T of read machine people from robot controller swashs from point
Optical sensor is read apart from L；
4th, repeat step 3 is once or more；
5th, the direction vector n of dot laser sensor laser rays is calculated；
6th, change robot pose R, T, laser sensor device is irradiated in P points, slave again by PSD position feedback
R, T of read machine people in device people's controller, reads apart from L from dot laser sensor；
7th, repeat step 6 is once or more；
8th, the origin X of dot laser sensor device is calculated0。
The step 3 and 6 can perform repeatedly to improve precision.
Claims (2)
1. it is a kind of based on the PSD dot laser sensors fed back and the scaling method of robot relative position, it is characterised in that
Fed back by PSD position come the laser rays of accurate control points laser sensor by the same measurement point in space, using point
The fixed point standardization of laser sensor, constructs the relative position relation that multigroup solution of equation calculates dot laser sensor and robot.
2. the scaling method as claimed in claim 1 based on the PSD dot laser sensors fed back and robot relative position, its
It is characterised by, this method is specifically included：
Dot laser sensor is arranged on the flange of robot arm end；Robot basis coordinates system O1, robot arm
Ending coordinates system O2；
Coordinate of the laser sensor origin under robot arm ending coordinates system that set up an office is X0=[x0 y0 z0]T, dot laser
Direction vector of the laser rays direction for the measurement point that sensor directive is fixed under robot arm ending coordinates system is n=
[nx ny nz]T, the distance between dot laser sensor and measurement point is L, and robot current pose is R, T, then measurement point is in machine
Coordinate X under people's mechanical arm ending coordinates systemTFor:
XT=X0+nL (1)
R represents rotations of the robot arm ending coordinates system O2 relative to robot basis coordinates system O1；T represents robotic
Translations of the arm ending coordinates system O2 relative to robot basis coordinates system O1；
Then coordinate of the measurement point under robot basis coordinates system is：
XBi=Ri(X0+nLi)+Ti (2)
XBiWhen representing ith measurement, coordinate of the measurement point under robot basis coordinates system；LiWhen representing ith measurement, dot laser
Distance between sensor and measurement point；The posture of robot is R when ith is measuredi, Ti；
When the same measurement point of each directive of dot laser sensor, due to coordinate of the measurement point under robot basis coordinates system not
Become, i.e.,
XBi=XB(i+1) (3)
XB(i+1)When representing i+1 time measurement, coordinate of the measurement point under robot basis coordinates system；Above formula (3) is：
Ri(X0+nLi)+Ti=Ri+1(X0+nLi+1)+Ti+1 (4)
Li+1When representing i+1 time measurement, the distance between dot laser sensor and measurement point；The appearance of robot during i+1 time measurement
State is Ri+1, Ti+1；
Keep the R in robot pose constant, allow robot arm to drive dot laser sensor device along dot laser sensor
The laser rays direction translational of directive measurement point causes laser to beat all the time in same measurement point, and above formula (4) is changed into：
R0nLi+Ti=R0nLi+1+Ti+1 (5)
<mrow>
<msub>
<mi>R</mi>
<mn>0</mn>
</msub>
<mi>n</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>T</mi>
<mrow>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>T</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>L</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>L</mi>
<mrow>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
R0Immovable R in robot pose in expression ith and i+1 time measurement；
Wherein R0,Ti+1,TiDirectly read from robot controller, Li,Li+1Directly obtained from dot laser sensor；
When the laser rays direction for the measurement point fixed along dot laser sensor directive, dot laser sensor is carried out two positions
During measurement, solved by above formula (6) and obtain n；
On the basis of known n, change robot pose R, T so that repeatedly laser is beaten in same measurement point during measurement, then：
(Ri-Ri+1)X0=Ri+1nLi+1-RinLi+Ti+1-Ti (7)
When there is robot pose more than two, system of linear equations is obtained by above formula (7), system of linear equations is solved and obtains X0。
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|---|---|
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Family
ID=59795026
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107525472A (en) * | 2017-10-11 | 2017-12-29 | 北京航空航天大学 | A kind of laser displacement sensor site error scaling method |
| CN107650144A (en) * | 2017-09-16 | 2018-02-02 | 埃夫特智能装备股份有限公司 | The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system |
| CN107677207A (en) * | 2017-10-11 | 2018-02-09 | 北京航空航天大学 | Laser range sensor site error scaling method based on EKF |
| CN107726982A (en) * | 2017-10-11 | 2018-02-23 | 北京航空航天大学 | A kind of laser range sensor error in mounting position scaling method |
| CN108731591A (en) * | 2018-04-24 | 2018-11-02 | 佛山智能装备技术研究院 | A kind of robot tool coordinate system scaling method based on plane restriction |
| CN109262619A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
| CN109443211A (en) * | 2018-12-13 | 2019-03-08 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of spatial three-dimensional position measuring device |
| CN110500999A (en) * | 2019-08-09 | 2019-11-26 | 唐山英莱科技有限公司 | A kind of relative position measurement method of view-based access control model device |
| CN110974421A (en) * | 2019-12-13 | 2020-04-10 | 杭州三坛医疗科技有限公司 | Calibration method and system for TCP of surgical robot and storage medium |
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| CN111380467A (en) * | 2019-12-30 | 2020-07-07 | 宁波大正工业机器人技术有限公司 | Self-calibration method of laser displacement sensor |
| CN112720577A (en) * | 2020-12-25 | 2021-04-30 | 中研(山东)测控技术有限公司 | High-precision detection device for industrial robot |
| CN112904314A (en) * | 2019-11-19 | 2021-06-04 | 郑州宇通客车股份有限公司 | Laser radar calibration system and calibration board |
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| CN117359644A (en) * | 2023-12-04 | 2024-01-09 | 四川福莫斯工业技术有限公司 | Point laser emission point pose calibration method and system based on robot |
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| CN105157567A (en) * | 2015-05-15 | 2015-12-16 | 天津智通机器人有限公司 | Tool coordinate system calibration method and system for measurement robot |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
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| CN107650144A (en) * | 2017-09-16 | 2018-02-02 | 埃夫特智能装备股份有限公司 | The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system |
| CN107525472A (en) * | 2017-10-11 | 2017-12-29 | 北京航空航天大学 | A kind of laser displacement sensor site error scaling method |
| CN107677207A (en) * | 2017-10-11 | 2018-02-09 | 北京航空航天大学 | Laser range sensor site error scaling method based on EKF |
| CN107726982A (en) * | 2017-10-11 | 2018-02-23 | 北京航空航天大学 | A kind of laser range sensor error in mounting position scaling method |
| CN108731591B (en) * | 2018-04-24 | 2020-04-21 | 佛山智能装备技术研究院 | Robot tool coordinate system calibration method based on plane constraint |
| CN108731591A (en) * | 2018-04-24 | 2018-11-02 | 佛山智能装备技术研究院 | A kind of robot tool coordinate system scaling method based on plane restriction |
| CN109443211A (en) * | 2018-12-13 | 2019-03-08 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of spatial three-dimensional position measuring device |
| CN109262619A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
| CN110500999A (en) * | 2019-08-09 | 2019-11-26 | 唐山英莱科技有限公司 | A kind of relative position measurement method of view-based access control model device |
| CN112904314B (en) * | 2019-11-19 | 2023-11-17 | 宇通客车股份有限公司 | Laser radar calibration system and calibration plate |
| CN112904314A (en) * | 2019-11-19 | 2021-06-04 | 郑州宇通客车股份有限公司 | Laser radar calibration system and calibration board |
| CN110974421A (en) * | 2019-12-13 | 2020-04-10 | 杭州三坛医疗科技有限公司 | Calibration method and system for TCP of surgical robot and storage medium |
| CN110974421B (en) * | 2019-12-13 | 2021-05-11 | 杭州三坛医疗科技有限公司 | Calibration method and system for TCP of surgical robot and storage medium |
| CN111380467A (en) * | 2019-12-30 | 2020-07-07 | 宁波大正工业机器人技术有限公司 | Self-calibration method of laser displacement sensor |
| CN111136661A (en) * | 2020-02-19 | 2020-05-12 | 珠海格力智能装备有限公司 | Robot position calibration method, device and system and robot system |
| CN111336919B (en) * | 2020-03-11 | 2021-10-15 | 上海嘉奥信息科技发展有限公司 | Probe calibration method |
| CN111336919A (en) * | 2020-03-11 | 2020-06-26 | 上海嘉奥信息科技发展有限公司 | Probe calibration method |
| CN111273226A (en) * | 2020-03-13 | 2020-06-12 | 天津朗硕机器人科技有限公司 | High-precision global real-time positioning method |
| CN111272098A (en) * | 2020-03-28 | 2020-06-12 | 新蔚来智能科技(深圳)有限公司 | Calibration method and calibration device for laser sensor mounting position |
| CN112720577A (en) * | 2020-12-25 | 2021-04-30 | 中研(山东)测控技术有限公司 | High-precision detection device for industrial robot |
| CN116423529A (en) * | 2023-06-14 | 2023-07-14 | 极限人工智能(北京)有限公司 | Robot parameter calibration method and system based on constraint of double-position sensitive device |
| CN116423529B (en) * | 2023-06-14 | 2023-10-27 | 极限人工智能(北京)有限公司 | Robot parameter calibration method and system based on constraint of double-position sensitive device |
| CN117359644A (en) * | 2023-12-04 | 2024-01-09 | 四川福莫斯工业技术有限公司 | Point laser emission point pose calibration method and system based on robot |
| CN117359644B (en) * | 2023-12-04 | 2024-02-27 | 四川福莫斯工业技术有限公司 | Point laser emission point pose calibration method and system based on robot |
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