CN107677205A - Laser measurement system and method based on industrial robot - Google Patents

Laser measurement system and method based on industrial robot Download PDF

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Publication number
CN107677205A
CN107677205A CN201710905833.6A CN201710905833A CN107677205A CN 107677205 A CN107677205 A CN 107677205A CN 201710905833 A CN201710905833 A CN 201710905833A CN 107677205 A CN107677205 A CN 107677205A
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China
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laser
industrial robot
sensor
measurement
computer
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CN201710905833.6A
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Chinese (zh)
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郝卫东
魏尧
杨道国
苗国强
曹冬旺
淮旭鸽
李静
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桂林电子科技大学
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Priority to CN201710905833.6A priority Critical patent/CN107677205A/en
Publication of CN107677205A publication Critical patent/CN107677205A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures

Abstract

The invention discloses a laser measurement system and method based on an industrial robot. The laser measurement system includes a computer, an industrial robot and a laser measurement sensor, and also includes a synchronous controller, an Ethercat bus and a Profibus bus, wherein the synchronous controller is connected with and controls the industrial robot and the laser measurement sensor at thesame time; and the industrial robot, the synchronous controller and a computer, and the laser measurement sensor, the synchronous controller and the computer are respectively communicated through theEthercat bus and the Profibus bus. The laser measurement system and method based on an industrial robot can perform measurement and three-dimensional modeling on a plurality of parts under the circumstance of performing one time of positioning and clamping of the measuring object, can greatly reduce the workload of artificial interference repairing, and can further improve the automation degree of measurement.

Description

一种基于工业机器人的激光测量系统及方法 A laser measurement system and method for an industrial robot based

技术领域 FIELD

[0001] 本发明属于光学测量技术领域,具体涉及一种基于工业机器人的激光测量系统及方法。 [0001] The present invention belongs to the technical field of optical measurement, particularly relates to a laser-based measurement system and method for an industrial robot.

背景技术 Background technique

[0002] 随着科技的不断发展,测量技术出现了巨大的进步,尤其是激光测量的出现,更是极大地推动了测量技术的发展。 [0002] With the continuous development of technology, measurement technology there has been great progress, especially the emergence of laser measurement, but also greatly promoted the development of measurement technology. 在国外,三坐标激光测量机的技术己经相当成熟,一些知名的公司己经推出了非常成熟的产品。 In other countries, coordinate measuring machine laser technology already quite mature, some well-known companies have introduced a very mature product. 就目前而言,最高端的三坐标激光测量系统就是美国LDI公司的旗舰产品Surveyor-ZS/WS超高精度三维激光扫描系统,集成了LDI领先的高速高精度三维激光扫描测量技术;以及德国蔡司(Zeiss)三坐标测量机技术,其测量精度可以达到0.0087mm (目前市场最高),扫描线宽20-25mm,采样距离70-110mm,采样速率高达每秒75000个点,采样密度最高可达0.03mm,比传统三坐标检测速度快5-10倍以上;还有日本基恩士公司生产的VR-3000系列高精度三坐标非接触式激光测量仪也在国际高端产品上占有一席之地。 For now, most high-end laser coordinate measuring system is the US company's flagship LDI Surveyor-ZS / WS ultra-precision 3D laser scanning system integrated with LDI's leading high-speed high-precision three-dimensional laser scanning technology; and the German Zeiss ( Zeiss) coordinate measuring machine technology, the measurement accuracy can be achieved 0.0087mm (highest market), the scan width 20-25mm, sampling from 70-110mm, the sampling rate of up to 75,000 points per second, up to 0.03mm sampling density than conventional coordinate detector 5-10 times faster than the speed; and Japanese Keyence company of VR-3000 series high-precision non-contact laser coordinate measuring instrument also place international high-end products. 国内在此方面的研究起步较晚,目前还处于刚刚起步阶段,做的基本上是中低端产品,精度较低。 China started late in this area, it is still in its infancy stage, to do basically low-end products, lower accuracy.

[0003] 综合分析现有的各种激光测量系统后发现,现有的激光测量设备虽然能够对被测物体进行高精度的测量,但是,在对被测物体进行测量之前需要在被测物体的定位和夹装上花费大量的时间和精力。 [0003] Comprehensive analysis of various conventional laser measurement system found that although conventional laser measuring device capable of accurate measurement of the object, however, required in the object prior to the object of measurement positioning and clip fitted to spend a lot of time and effort. 特别是对被测物体进行三维测量时和三维模型的重建时,不仅要花费大量的时间多次对被测物体进行定位夹装,而且还要求操作人员具有相当丰富的经验;对零件曲面的边缘和结合部分往往需要一定的人工干涉进行修补。 In particular, when the object of measurement and the reconstruction of three-dimensional three-dimensional model, not only takes much time to locate the object repeatedly interposed, but also requires the operator having considerable experience; edge surface of the part and binding moiety often requires some manual intervention to repair. 这些技术问题都在一定程度上限制了激光测量系统的应用前景。 These technical problems have limited the prospects laser measurement system to some extent.

发明内容 SUMMARY

[0004] 针对现有技术中存在的上述问题,本发明提供了一种基于工业机器人的激光测量系统及方法,能够在进行一次被测物体的定位和夹装情况下,对多个部分进行测量和三维成型,并且可以大大减少人工干涉修补的工作量,进一步提高了测量的自动化程度。 [0004] For the above-described problems in the prior art, the present invention provides a laser-based measurement system and method for an industrial robot, the positioning can be performed and a case where the object is interposed, the portions of the plurality of measurement and three-dimensional shape, and can greatly reduce the workload of human intervention patched, further improve the automation of measurement.

[0005] 为此,本发明采用了以下技术方案: [0005] To this end, the present invention employs the following technical solution:

[0006] 一种基于工业机器人的激光测量系统,包括电脑、工业机器人和激光测量传感器, 还包括同步控制器,所述同步控制器同时连接和控制工业机器人和激光测量传感器,电脑与同步控制器之间建立通信连接。 [0006] Based on the laser surveying system of an industrial robot, comprising a computer, an industrial robot and a laser measurement sensor, further comprising a synchronization controller, the synchronization controller simultaneously connecting and controlling an industrial robot and a laser measuring sensor, the computer and synchronization controller establishing a communication connection.

[0007] 进一步地,所述电脑同时运行两个系统,一个是实时控制系统,另一个是Windows 系统;所述实时控制系统中响应中断的延时为5微秒。 [0007] Further, while the computer is running two systems, a real-time control system, and the other is a Windows system; real-time control system in response to the interrupt latency is 5 microseconds.

[0008] 进一步地,还包括Ethercat总线和Profibus总线,所述工业机器人与同步控制器以及电脑之间、所述激光测量传感器与同步控制器以及电脑之间分别通过Ethercat总线和Prof ibus总线进行通信。 [0008] Furthermore, further comprising a bus and the Profibus Ethercat between the industrial robot and synchronization controller and computer, respectively, and communicate via a bus Ethercat Prof ibus bus between the laser and the measurement sensor synchronization controller and computer .

[0009] 进一步地,所述工业机器人是六轴关节式工业机器人,被测物体的位置是所述六轴关节式工业机器人的末端位置坐标和所述激光测量传感器数据的叠加,电脑在把这两个位置进行叠加时要求是同一个瞬间的数据。 [0009] Further, the industrial robot is a six-axis articulated industrial robot, the position of the object is the end position coordinates of the six-axis articulated industrial robot and the superposed laser measurement sensor data, this computer the same data is required when a momentary two superimposed positions.

[0010] 进一步地,采用硬件同步的方式进行数据采集,使用一个200赫兹的同步信号,六轴关节工业机器人在每次脉冲的上升沿保存并发送自己的末端位置坐标XYZ和它们的旋转角度ABC,这6组数据每组有4个字节;同时激光测量传感器也在脉冲的上升沿保存并发送测量结果。 [0010] Further, by way of the data acquisition hardware synchronization using a synchronizing signal of 200 Hz, a six-axis articulated industrial robot and transmit its stored position coordinates XYZ end thereof and the rotation angle of the rising edge of each pulse ABC , six sets of data each consisting of 4 bytes; save measurement sensors are rising while a laser pulse and transmits the measurement result.

[0011] 作为一种优选方案,所述激光测量传感器为点激光传感器或线激光传感器。 [0011] As a preferred embodiment, the sensor is a laser measurement point or a line laser sensor laser sensor.

[0012] 一种基于工业机器人的激光测量方法,将激光测量传感器与工业机器人进行组装,利用工业机器人夹持激光测量传感器对被测物体进行测量;对激光测头进行坐标系标定,将其与机器人的空间坐标系进行融合,确定其在空间的位置坐标,实现测量的自动化。 [0012] A measurement method based on laser industrial robot, the laser sensor measurement and industrial robotic assembly, use of industrial robot gripper laser measurement sensor to measure the object; laser probe calibration coordinate system, with which the space coordinate system of the robot are fused, to determine its position in the coordinate space, automated measurement.

[0013] 进一步地,所述工业机器人夹持激光测量传感器对被测物体进行扫描,工业机器人通过Ether cat连接到电脑,并通过Ether cat与电脑进行通信;激光测量传感器通过Prof ibus接口板与电脑相连,并通过Prof ibus接口板与电脑之间进行通信;电脑上的实时控制系统通过Profibus接口发送控制指令给激光测量传感器,激光测量传感器根据接收到的指令返回相应的测量信息给实时控制系统,实时控制系统控制机器人根据预先设定好的运动路线进行运动;整个测量过程结束以后,电脑根据激光测量传感器返回来的数据信息和机器人末端点的坐标信息进行坐标转换和三维模型的重建。 [0013] Further, the industrial robot gripper laser measurement sensor scans the measured object, an industrial robot is connected to a computer via Ether cat, and communicates with the computer via Ether cat; Prof ibus laser measuring sensor via the computer interface board is connected between the computer and communicates with the interface board by Prof ibus; real-time control system on the computer interface to send control commands via Profibus laser measurement sensor, a laser sensor measuring the corresponding measurement information returned to the real-time control system in accordance with the received instruction, the real time control system to control the robot movement route previously set motion; after the end of the whole measurement process, the computer reconstruct three-dimensional models and coordinate transformation based on coordinate information back to the laser sensor measurement data and the end point of the robot.

[0014]作为一种优选方案,所述工业机器人是六轴关节式工业机器人,所述激光测量传感器是点激光传感器。 [0014] As a preferred embodiment, the industrial robot is a six-axis articulated industrial robot, the laser sensor is a measuring point of the laser sensor.

[0015] 作为一种优选方案,所述工业机器人是六轴关节式工业机器人,所述激光测量传感器是线激光传感器。 [0015] As a preferred embodiment, the industrial robot is a six-axis articulated industrial robot, the laser line sensor is a laser sensor measurement.

[0016] 与现有技术相比,本发明的有益效果是:在进行一次被测物体的定位和夹装的情况下,可以测量多个面并三维成型,进一步加深了测量的自动化程度,并减少了对被测物体定位夹装的次数,大大减轻了人工对图形修补的工作量。 [0016] Compared with the prior art, the beneficial effects of the present invention is that: during the positioning of a case where the object and the interposed, and can measure a plurality of three-dimensional molding surface, to further deepen extent of automated measurement, and reducing the number of times the object is positioned interposed, greatly reducing the workload of the artificial patch pattern.

附图说明 BRIEF DESCRIPTION

[0017] 图1是本发明所提供的一种基于工业机器人的激光测量系统的组成框架示意图。 [0017] FIG. 1 is a schematic diagram of the present invention provides a laser-based measuring system composed of a frame of the industrial robot.

[0018] 图2是本发明实施例所提供的六轴关节式工业机器人夹持点激光传感器的结构示意图。 [0018] FIG. 2 is a schematic structural diagram of a six-axis articulated industrial robot of the embodiment of the present invention to provide laser sensor nip point.

[0019] 图3是本发明实施例所提供的六轴关节式工业机器人夹持线激光传感器的结构示意图。 [0019] FIG. 3 is a schematic structural diagram of a six-axis articulated industrial robot gripper laser line sensor according to an embodiment of the present invention.

[0020] 附图标记说明:1、六轴关节式工业机器人;2、点激光传感器;3、测量点激光;4、线激光传感器;5、测量线激光。 [0020] REFERENCE NUMERALS: 1, an articulated six-axis industrial robot; 2, point of the laser sensor; 3, laser measurement point; 4, line laser sensor; 5, measuring laser line.

具体实施方式 Detailed ways

[0021]下面将结合附图以及具体实施例来详细说明本发明,其中的具体实施例以及说明仅用来解释本发明,但并不作为对本发明的限定。 [0021] and the following with reference to specific embodiments of the present invention will be described in detail, the specific examples and embodiments described therein are only used to explain the present invention but are not intended to limit the present invention.

[0022]如图1所示,本发明提供了一种基于工业机器人的激光测量系统,包括电脑、工业机器人和激光测量传感器,还包括同步控制器、Ethercat总线和Profibus总线,所述同步控制器同时联接和控制工业机器人和激光测量传感器,所述工业机器人与同步控制器以及电脑之间、所述激光测量传感器与同步控制器以及电脑之间分别通过Ethercat总线和Prof ibus总线进行通信。 [0022] As shown in FIG. 1, the present invention provides a laser-based measurement system of an industrial robot, comprising a computer, an industrial robot and a laser measurement sensor, further comprising a synchronization controller, and the Profibus Ethercat bus, the synchronous controller simultaneous coupling and control industrial robot and the laser measurement sensor synchronization between the controller and the industrial robot and a computer, the laser measurement, respectively via a communication bus and Prof ibus Ethercat bus controller and synchronization between the sensor and the computer.

[0023] 普通机器人控制器中断响应需要8毫秒,本发明要求是5毫秒要完成传输。 [0023] The general robot controller interrupt response requires 8 ms, the present invention requires 5 ms to complete the transfer. 为了实现这个要求,本发明的电脑同时运行两个系统,一个是实时控制系统,另一个是Windows系统,在实时控制系统中响应中断只有5微秒的延时,完全满足测量要求。 To achieve this requirement, the present invention is a computer to run two systems, a real-time control system, and the other is a Windows system, real-time control system in response to an interrupt only 5 sec delay, fully meet the requirement.

[0024]在具体应用过程中,激光测量传感器可以选择点激光传感器或者线激光传感器, 工业机器人选择六轴关节式工业机器人,被测物体的位置是所述六轴关节式工业机器人的末端位置坐标和所述激光测量传感器数据的叠加,电脑在把这两个位置进行叠加时要求是同一个瞬间的数据。 [0024] In a particular application, the laser light may be selected spot measurement sensor or a laser sensor line laser sensor, to select a six-axis industrial robot articulated industrial robot, the position of the object is the end position coordinates of the six-axis articulated industrial robot and the laser measurement sensor data overlay, the same data is required instantaneously when the computer is superimposed in this two positions. 为了实现数据准确,采用硬件同步的方式进行数据采集,使用一个200 赫兹的同步信号,六轴关节工业机器人在每次脉冲的上升沿保存并发送自己的末端位置坐标XYZ和它们的旋转角度ABC,这6组数据每组有4个字节;同时激光测量传感器也在脉冲的上升沿保存并发送测量结果。 In order to achieve accurate data, by way of the data acquisition hardware synchronization using a synchronizing signal of 200 Hz, a six-axis articulated industrial robot and transmit its stored position coordinates XYZ end thereof and ABC rotation angle of the rising edge of each pulse, the six sets of data each consisting of 4 bytes; save measurement sensors are rising while a laser pulse and transmits the measurement result.

[0025]本发明还提供了一种基于工业机器人的激光测量方法,将激光测量传感器与工业机器人进行组装,利用工业机器人夹持激光测量传感器对被测物体进行测量;对激光测头进行坐标系标定,将其与机器人的空间坐标系进行融合,确定其在空间的位置坐标,实现测量的自动化。 [0025] The present invention also provides a method of measuring a laser-based industrial robot, the laser sensor assembly and measuring the industrial robot, industrial robot gripper laser measurement using the sensor to measure the object; laser probe coordinate system calibration, which is the coordinate system of the robot with spatial integration, to determine its position coordinates space, automated measurement.

[0026]如图2和图3所示,利用现有的六轴关节式工业机器人1夹持点激光传感器2或线激光传感器4对被测物体进行扫描,点激光传感器2发射测量点激光3,线激光传感器4发射测量线激光5,工业机器人1通过Ethercat连接到电脑,并通过Ethercat与电脑进行通信;点激光传感器2或线激光传感器4通过Prof ibus接口板与电脑相连接,并通过Prof ibus接口板与电脑之间进行通信;电脑上的实时控制系统通过Profibus接口发送控制指令给点激光传感器2或线激光传感器4,点激光传感器2或线激光传感器4根据接收到的指令返回相应的测量信息给实时控制系统,实时控制系统控制机器人根据预先设定好的运动路线进行运动;整个测量过程结束以后,电脑根据点激光传感器2或线激光传感器4返回来的数据信息和机器人末端点的坐标信息进行坐标转换和三维模型的重建。 [0026] As shown in FIGS. 2 and 3, using the conventional six-axis articulated industrial robot 1 or 2 laser sensor nip line laser sensor 4 scans the measured object, measuring point of the laser emitting point of the laser sensor 2 3 , the line laser sensor 4 emits a measuring line laser 5, an industrial robot 1 is connected via Ethercat to the computer, and communicates through Ethercat computer; spot of the laser sensor 2 or a line laser sensor 4 is connected to the computer via Prof ibus interface board, and by Prof ibus interface board between the computer and the communication; real-time control system on the computer interface to send control commands to the laser spot or a line sensor 2 through the laser sensor 4 Profibus, point 2 laser sensor or laser sensor 4 to return the corresponding line in accordance with the received instruction the measurement information to the real-time control system, real-time robot motion control system in accordance with the movement route previously set; after the end of the whole measurement process, and data information to the robot end-point return based on the dot computer 2 laser sensor or laser sensor 4 in line coordinate information and three-dimensional reconstruction coordinate transformation model. 利用这些数据可以进行工件的尺寸测量、孔定位等。 Using these data may be measurement, positioning of the workpiece hole and the like.

[0027]在使用过程中,为了保证测量的效果,对通信方面提出了一定的要求,具体包括: 1、为保证通信可靠,采用Prof ibus现场总线;2、为保证数据同步,电脑会通过机器人I/O口发出200赫兹方波信号作为同步信号,要求机器人在收到同步信号上升沿的时候要立刻保存机器人末端位置X,Y,Z坐标值数据和它们的旋转角A,B,C,并传输给电脑,所有数据必须在5毫秒内传输完毕,下一个上升沿的到来继续重复上面的操作;3、通信的波特率要求必须同时满足通信可靠和传输数据的要求;4、要求增加准备采集和结束采集两个命令,电脑通过Prof ibus给机器人收到准备采集命令后才开始检测I/O 口是否有上升沿,采集开始,收到结束采集命令就采集结束,不再响应同步信号;5、数据包要求有顺序号4字节,(X,Y,Z)和(A,B,C)都是4字节,收到准备采集命令顺序号清零 [0027] In use, in order to ensure the effect measured for the communications made certain requirements, including: 1, in order to ensure reliable communications, using Prof ibus fieldbus; 2, in order to ensure data synchronization, the computer will robot I / O port 200 Hz square wave signal is emitted as a synchronization signal, the robot requires a rising edge of the sync signal received when the end position of the robot to be saved immediately X, Y, Z coordinate value data and rotational angle thereof a, B, C, and transferred to the computer, all data transfer must be completed within 5 ms, the arrival of the next rising edge continues to repeat the above operations; 3, baud rate must meet the requirements of reliable communication and data transmission requirements; 4, request for additional collection and preparation two acquisition end command, the computer ready to receive acquisition command after detecting the start I / O port whether there is a rising edge, collection start, collection end command is received collection end, no longer responds to the sync signal to the robot by Prof ibus ; 5, the packet sequence number required 4 bytes, (X, Y, Z) and (A, B, C) is 4 bytes, ready to receive acquisition order sequence number is cleared 每次发送顺序号自动加一;6、为了保证机器人对同步信号的快速相应,使用机器人的高速1/0口来输入同步信号,或者使用中断; 7、由于机器人的插补周期是8毫秒,当同步信号到来的时候一个插补周期没有结束,就发送上一个周期的数据,不要等待;8、电脑可以通过Prof ibus给机器人发送32个点的位置(XJ, Z,A,B:C):可以少于32个位置,电脑发出开始工作命令,机器人从刪研始移动到位置丄,然后直线移动到位置2,再到位置3,重复,直到位置32,机器人给电脑发一个完成信号,告诉电脑,如果电脑还要机器人走就继续发送位置给机器人,重复刚才工作,如果电脑发出结束命令,机器人从位置32回到HOME结束;如果电脑发的位置不足%个,到最后一个位置就给电脑发一个完成信号,告诉电脑。 Every time a transmission sequence number automatically incremented; 6, in order to ensure the robot sync signal corresponding to the rapid, high speed using 1/0 the robot sync signal input port, or the use of interrupts; 7, since the interpolation is 8 msec cycle of the robot, when the synchronization signal comes interpolation period does not end, the data is sent on a cycle, do not wait; 8, computer 32 may transmit the location points by Prof ibus to the robot (XJ, Z, a, B: C) : positions may be less than 32, the computer issues a start command work, the robot is moved from the position to start puncturing RESEARCH Shang, then moved linearly to position 2 and then position 3, is repeated until the position 32, the robot sends a completion signal to the computer, tell the computer, even if the computer will continue to send a robot to go to the robot position, repeat the work, if the computer issuing the end command, the robot from the back end of the HOME position 32; if the computer is less than a hair's location%, to give the last position the computer sends a completion signal that tells the computer. ~ ~

[0028]以上所述仅为本发明的较佳实施例而己,并不用于限制本发明,凡在本发明的精神和原则范围之内所作的任何修改、等同替换以及改进等,均应包含在本发明的保护范围之内。 [0028] The foregoing is only preferred embodiments of the present invention and have not intended to limit the present invention, any modifications can be made within the spirit and principle of the present invention, equivalent substitutions and improvements should be included within the scope of the present invention.

Claims (10)

1. 一种基于工业机器人的激光测量系统,包括电脑、工业机器人和激光测量传感器,其特征在于:还包括同步控制器,所述同步控制器同时连接和控制工业机器人和激光测量传感器,电脑与同步控制器之间建立通信连接。 A laser measurement system is based on industrial robots, computers, industrial robots and laser measurement sensor, characterized in that: further comprising a synchronization controller, the synchronization controller simultaneously connecting and controlling an industrial robot and a laser measurement sensor, and the computer establishing a communication connection between the synchronous controller.
2. 根据权利要求1所述的一种基于工业机器人的激光测量系统,其特征在于:所述电脑同时运行两个系统,一个是实时控制系统,另一个是Windows系统;所述实时控制系统中响应中断的延时为5微秒。 According to one of the claims 1 laser measuring system based on industrial robots, characterized in that: said computer to run two systems, a real-time control system, and the other is a Windows system; the real-time control system interrupt response latency of 5 microseconds.
3. 根据权利要求1所述的一种基于工业机器人的激光测量系统,其特征在于:还包括Ethercat总线和Prof ibus总线,所述工业机器人与同步控制器以及电脑之间、所述激光测量传感器与同步控制器以及电脑之间分别通过Ethercat总线和Profibus总线进行通信。 The one of said laser surveying system according to claim 1 an industrial robot based, characterized by: further comprising a bus between Ethercat and Prof ibus bus, and the synchronization controller industrial robot and a computer, the laser measurement sensor communicate via a bus, respectively, and the Profibus Ethercat between the synchronous controller and computer.
4. 根据权利要求1至3任一项所述的一种基于工业机器人的激光测量系统,其特征在于:所述工业机器人是六轴关节式工业机器人,被测物体的位置是所述六轴关节式工业机器人的末端位置坐标和所述激光测量传感器数据的叠加,电脑在把这两个位置进行叠加时要求是同一个瞬间的数据。 4. According to one according to any one of claims 1 to 3, a laser measuring system based on industrial robots, characterized in that: said industrial robot is a six-axis articulated industrial robot, the position of the object to be measured is six-axis end articulated industrial robot position coordinates and said superimposed laser measurement sensor data, the same data is required instantaneously when the computer is superimposed in this two positions.
5. 根据权利要求4所述的一种基于工业机器人的激光测量系统,其特征在于:采用硬件同步的方式进行数据采集,使用一个200赫兹的同步信号,六轴关节工业机器人在每次脉冲的上升沿保存并发送自己的末端位置坐标XYZ和它们的旋转角度ABC,这6组数据每组有4个字节;同时激光测量传感器也在脉冲的上升沿保存并发送测量结果。 5. According to one claim 4, wherein the laser-based measuring system of industrial robots, characterized in that: by way of hardware synchronization for data acquisition, using a 200 Hz sync signal, a six-axis articulated industrial robot in each pulse save and sends its rising end position of XYZ coordinates and their angle of rotation ABC, six sets of data each consisting of 4 bytes; save measurement sensors are rising while a laser pulse and transmits the measurement result.
6. 根据权利要求5所述的一种基于工业机器人的激光测量系统,其特征在于:所述激光测量传感器为点激光传感器或线激光传感器。 6. According to one claim 5 laser measuring system based on industrial robots, characterized in that: said sensor is a laser measuring spot of the laser sensor or laser sensor line.
7. —种如权利要求1所述的基于工业机器人的激光测量方法,其特征在于:将激光测量传感器与工业机器人进行组装,利用工业机器人夹持激光测量传感器对被测物体进行测量;对激光测头进行坐标系标定,将其与机器人的空间坐标系进行融合,确定其在空间的位置坐标。 7. - The kind of measuring method according to a laser-based industrial robot, as claimed in claim wherein: the laser assembly with the measurement sensor industrial robot, industrial robot gripper laser measurement using the sensor to measure the object; laser probe calibration coordinate system, which is fused with the spatial coordinate system of the robot to determine its position coordinates space.
8. 根据权利要求7所述的一种基于工业机器人的激光测量方法,其特征在于:所述工业机器人夹持激光测量传感器对被测物体进行扫描;工业机器人通过Ethercat连接到电脑, 并通过Ethercat与电脑进行通信;激光测量传感器通过Profibus接口板与电脑相连,并通过Prof ibus接口板与电脑之间进行通信;电脑上的实时控制系统通过Prof ibus接口发送控制指令给激光测量传感器,激光测量传感器根据接收到的指令返回相应的测量信息给实时控制系统,实时控制系统控制机器人根据预先设定好的运动路线进行运动;整个测量过程结束以后,电脑根据激光测量传感器返回来的数据信息和机器人末端点的坐标信息进行坐标转换和三维模型的重建。 The one of the measurement method of claim 7, laser-based industrial robot, characterized in that: the robot gripper of the industrial laser measurement sensor to scan the object; industrial robot is connected to a computer via Ethercat, and by Ethercat communicating with the computer; laser measuring sensor connected to the computer via Profibus interface board, and communication between the computer and the interface board by Prof ibus; real-time control system on the computer by Prof ibus interface to send control commands to the laser measurement sensor, a laser measurement sensor returns the corresponding measurement information according to instructions received to the real-time control system, real-time robot motion control system in accordance with the movement route previously set; after the end of the whole measurement process, the computer back to the data terminal and the robot laser measurement sensor coordinate information point coordinate transformation and reconstruction of three-dimensional model.
9. 根据权利要求8所述的一种基于工业机器人的激光测量方法,其特征在于:所述工业机器人是六轴关节式工业机器人,所述激光测量传感器是点激光传感器。 According to one of the measurement method of claim 8, wherein the laser-based industrial robot, characterized in that: said industrial robot is a six-axis articulated industrial robot, the laser sensor is a measuring point of the laser sensor.
10. 根据权利要求8所述的一种基于工业机器人的激光测量方法,其特征在于:所述工业机器人是六轴关节式工业机器人,所述激光测量传感器是线激光传感器。 10. The one of the measurement method of claim 8, wherein the laser-based industrial robot, characterized in that: said industrial robot is a six-axis articulated industrial robot, the laser line sensor is a laser sensor measurement.
CN201710905833.6A 2017-09-29 2017-09-29 Laser measurement system and method based on industrial robot CN107677205A (en)

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