CN107677205A - A kind of laser measurement system and method based on industrial robot - Google Patents
A kind of laser measurement system and method based on industrial robot Download PDFInfo
- 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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- Prior art keywords
- laser measurement
- industrial robot
- laser
- computer
- sensor
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Classifications
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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
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a kind of laser measurement system and method based on industrial robot, the laser measurement system includes computer, industrial robot and laser measurement sensor, also include isochronous controller, Ethercat buses and Profibus buses, the isochronous controller connects simultaneously and control industrial robot and laser measurement sensor, the industrial robot between isochronous controller and computer, the laser measurement sensor is by Ethercat buses and Profibus buses with being communicated respectively between isochronous controller and computer.A kind of laser measurement system and method based on industrial robot provided by the invention, can be in the case of carrying out the positioning of primary measured object and clamping, some is measured with it is three-dimensionally shaped, and the workload of artificial interference repairing can be greatly reduced, further increase the automaticity of measurement.
Description
Technical field
The invention belongs to field of optical measuring technologies, and in particular to a kind of laser measurement system based on industrial robot and
Method.
Background technology
With the continuous development of science and technology, there is the appearance of huge progress, especially laser measurement in e measurement technology, is even more
The development of e measurement technology is greatly promoted.Abroad, the technology of three coordinate laser measuring machines is quite ripe, and some are well-known
Company be proposed highly developed product.For now, three coordinate laser measurement systems of most significant end are exactly the U.S.
The flagship product Surveyor-ZS/WS superhigh precision three-dimensional laser scanning systems of LDI companies, it is high to be integrated with the leading high speeds of LDI
Precision Measurement Technology of 3 D Laser Scanning；And Zeiss, Germany (Zeiss) three coordinate measuring machine technology, its measurement accuracy can reach
It is up to per second to 0.0087mm (existing market highest), line width 20-25mm, sampled distance 70-110mm, sampling rate
75000 points, sampling density reach as high as 0.03mm, than traditional fast more than 5-10 times of three coordinate measurement speed；Also Japanese base
Occupy on the VR-3000 series high accuracy three coordinate non-contact laser measuring instrument Ye worlds high-end product of En Shi companies production
One seat.Domestic research in this regard is started late, at present also in the stage at the early-stage, the substantially low and middle-end done
Product, precision are relatively low.
Found after the existing various laser measurement systems of comprehensive analysis, although existing laser measuring equipment can be to tested
Object carries out high-precision measurement, still, needed before being measured to testee testee positioning and clamp
On expend considerable time and effort.Particularly to testee carry out three-dimensional measurement when and threedimensional model reconstruction when, not only
Devote a tremendous amount of time and positioning repeatedly is carried out to testee clamped, but also require that operating personnel have quite abundant warp
Test；Edge and bound fraction to part curved surface generally require certain artificial interference and repaired.These technical problems all exist
The application prospect of laser measurement system is limited to a certain extent.
The content of the invention
For the above-mentioned problems in the prior art, the invention provides a kind of laser measurement based on industrial robot
System and method, some can be measured and three-dimensional in the case of carrying out the positioning of primary measured object and clamping
Shaping, and the workload of artificial interference repairing can be greatly reduced, further increase the automaticity of measurement.
Therefore, present invention employs following technical scheme：
A kind of laser measurement system based on industrial robot, including computer, industrial robot and laser measurement sensor,
Also include isochronous controller, the isochronous controller connects simultaneously and control industrial robot and laser measurement sensor, computer
Communication connection is established between isochronous controller.
Further, the computer runs two systems simultaneously, and one is real-time control system, and another is Windows
System；The delay that interruption is responded in the real-time control system is 5 microseconds.
Further, in addition to Ethercat buses and Profibus buses, the industrial robot and isochronous controller
And between computer, between the laser measurement sensor and isochronous controller and computer respectively by Ethercat buses and
Profibus buses are communicated.
Further, the industrial robot is six axis joint formula industrial robots, and the position of testee is described six
The superposition of the terminal position coordinate of axis joint formula industrial robot and the laser measurement sensing data, computer is the two
Requirement is the data of same moment when position is overlapped.
Further, data acquisition is carried out by the way of hardware synchronization, using one 200 hertz of synchronizing signal, six
Axis joint industrial robot preserves in the rising edge of every subpulse and sends the terminal position coordinate XYZ of oneself and their rotation
Angle A BC, this every group of 6 groups of data have 4 bytes；Laser measurement sensor also preserves in the rising edge of pulse and sends survey simultaneously
Measure result.
As a kind of preferred scheme, the laser measurement sensor is dot laser sensor or line laser sensor.
A kind of laser measurement method based on industrial robot, laser measurement sensor and industrial robot are subjected to group
Dress, testee is measured using industrial robot clamping laser measurement sensor；Coordinate system mark is carried out to laser feeler
It is fixed, it is merged with the space coordinates of robot, its position coordinates in space is determined, realizes the automation of measurement.
Further, the industrial robot clamping laser measurement sensor is scanned to testee, industrial machine
People is connected to computer by Ethercat, and is communicated by Ethercat with computer；Laser measurement sensor passes through
Profibus interface boards are connected with computer, and by being communicated between Profibus interface boards and computer；It is real-time on computer
Control system sends control instruction by Profibus interfaces and gives laser measurement sensor, and laser measurement sensor is according to receiving
Instruction return to corresponding metrical information to real-time control system, real-time control system control machine people is according to pre-set
Moving line is moved；After whole measurement process terminates, computer according to laser measurement sensor return come data message
The reconstruction of Coordinate Conversion and threedimensional model is carried out with the coordinate information of robot end's point.
As a kind of preferred scheme, the industrial robot is six axis joint formula industrial robots, and the laser measurement passes
Sensor is dot laser sensor.
As a kind of preferred scheme, the industrial robot is six axis joint formula industrial robots, and the laser measurement passes
Sensor is line laser sensor.
Compared with prior art, the beneficial effects of the invention are as follows：In the feelings for carrying out the positioning of primary measured object and clamping
Under condition, multiple faces and three-dimensionally shaped can be measured, have further deepened the automaticity of measurement, and are reduced to testee
The number clamped is positioned, is significantly reduced manually to the workload of figure repairing.
Brief description of the drawings
Fig. 1 is a kind of composition block schematic illustration of laser measurement system based on industrial robot provided by the present invention.
Fig. 2 is that the structure for the six axis joint formula industrial robot bite laser sensors that the embodiment of the present invention is provided is shown
It is intended to.
Fig. 3 is that the structure for the six axis joint formula industrial robots clamping line laser sensor that the embodiment of the present invention is provided is shown
It is intended to.
Description of reference numerals：1st, six axis joint formula industrial robot；2nd, dot laser sensor；3rd, dot laser is measured；4th, line
Laser sensor；5th, line laser is measured.
Embodiment
The present invention, specific embodiment therein and explanation are described in detail below in conjunction with accompanying drawing and specific embodiment
Only it is used for explaining the present invention, but it is not as a limitation of the invention.
As shown in figure 1, the invention provides a kind of laser measurement system based on industrial robot, including computer, industry
Robot and laser measurement sensor, in addition to isochronous controller, Ethercat buses and Profibus buses, the synchronous control
Device processed couples simultaneously and control industrial robot and laser measurement sensor, the industrial robot and isochronous controller and electricity
Between brain, between the laser measurement sensor and isochronous controller and computer respectively by Ethercat buses and
Profibus buses are communicated.
Ordinary robot's controller interrupt response needs 8 milliseconds, and application claims, which are 5 milliseconds, will complete to transmit.For reality
This existing requirement, computer of the invention run two systems simultaneously, and one is real-time control system, and another is Windows systems
System, the delay of response interruption only 5 microseconds, fully meets measurement request in real-time control system.
During concrete application, laser measurement sensor can with selected element laser sensor or line laser sensor,
Industrial robot selects six axis joint formula industrial robots, and the position of testee is the six axis joints formula industrial robot
The superposition of terminal position coordinate and the laser measurement sensing data, computer required when the two positions are overlapped be
The data of same moment.In order to realize that data are accurate, data acquisition is carried out by the way of hardware synchronization, uses one 200
The synchronizing signal of hertz, six axis joint industrial robots preserve in the rising edge of every subpulse and send the terminal position of oneself and sit
XYZ and their anglec of rotation ABC is marked, this every group of 6 groups of data there are 4 bytes；Laser measurement sensor is also in pulse simultaneously
Rising edge preserves and sends measurement result.
Present invention also offers a kind of laser measurement method based on industrial robot, by laser measurement sensor and industry
Robot is assembled, and testee is measured using industrial robot clamping laser measurement sensor；To laser feeler
Coordinate system demarcation is carried out, it is merged with the space coordinates of robot, determines its position coordinates in space, realizes and surveys
The automation of amount.
As shown in Figures 2 and 3, swashed using the existing bite laser sensor 2 of six axis joints formula industrial robot 1 or line
Optical sensor 4 is scanned to testee, the emission measurement dot laser 3 of dot laser sensor 2, and the transmitting of line laser sensor 4 is surveyed
Line laser 5 is measured, industrial robot 1 is connected to computer by Ethercat, and is communicated by Ethercat with computer；Point swashs
Optical sensor 2 or line laser sensor 4 are connected by Profibus interface boards with computer, and by Profibus interface boards with
Communicated between computer；Real-time control system on computer sends control instruction by Profibus interfaces and sensed to dot laser
Device 2 or line laser sensor 4, dot laser sensor 2 or line laser sensor 4 return to corresponding measurement according to the instruction received
Information is moved to real-time control system, real-time control system control machine people according to pre-set moving line；It is whole
After individual measurement process terminates, computer according to dot laser sensor 2 or line laser sensor 4 return come data message and machine
The coordinate information of people's distal point carries out the reconstruction of Coordinate Conversion and threedimensional model.The size of workpiece can be carried out using these data
Measurement, hole positioning etc..
In use, in order to ensure the effect of measurement, communication aspects is proposed with certain requirement, is specifically included：
1st, to ensure reliable communications, using Profibus fieldbus；2nd, to ensure data syn-chronization, computer can pass through robot I/O mouths
200 hertz of square-wave signals are sent as synchronizing signal, it is desirable to which robot will be protected at once when synchronizing signal rising edge is received
Robot end position X, Y, Z coordinate Value Data and their anglec of rotation A, B, C are deposited, and is transferred to computer, all data are necessary
The end of transmission in 5 milliseconds, the arrival of next rising edge continue to repeat operation above；3rd, the baud rate of communication requires necessary
Meet reliable communications simultaneously and transmit the requirement of data；4th, require increase preparation for acquiring and terminate two orders of collection, computer expert
Cross after Profibus receives preparation for acquiring order to robot and just start to detect whether I/O mouths have rising edge, collection starts, and receives
End acquisition, which just gathers, to be terminated, and no longer responds synchronizing signal；5th, packet requirement has a byte of serial number 4, (X, Y, Z) and
(A, B, C) is all 4 bytes, receives the clearing of preparation for acquiring command sequence number, sends serial number every time and adds one automatically；6th, in order to ensure
Robot inputs synchronizing signal, or use interruption to the quick corresponding of synchronizing signal using High Speed I/O mouths of robot；
7th, because the interpolation cycle of robot is 8 milliseconds, one interpolation cycle is not over when synchronizing signal arrives, and is just sent
The data of upper a cycle, it not wait；8th, computer can by Profibus to robot send 32 points position (X, Y,
Z, A, B, C), 32 positions can be less than, computer sends start-up operation order, and robot begins to move into position 1 from HOME, so
After be moved straightly to position 2, then to position 3, repeat, until position 32, robot gives computer to send out a completion signal, tells electricity
Brain, worked just now to robot, repetition if computer also wants robot to walk to continue to send position, if computer sends end life
Order, robot returns to HOME from position 32 to be terminated；If computer is just given in the position of computer hair less than 32 to a last position
One completion signal of hair, tells computer.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent substitution and improvement made within refreshing and spirit etc., should be included in protection scope of the present invention
Within.
Claims (10)
1. a kind of laser measurement system based on industrial robot, including computer, industrial robot and laser measurement sensor, its
It is characterised by：Also include isochronous controller, the isochronous controller connects simultaneously and control industrial robot and laser measurement biography
Sensor, communication connection is established between computer and isochronous controller.
A kind of 2. laser measurement system based on industrial robot according to claim 1, it is characterised in that：The computer
Two systems are run simultaneously, one is real-time control system, and another is Windows systems；Rung in the real-time control system
The delay that should be interrupted is 5 microseconds.
A kind of 3. laser measurement system based on industrial robot according to claim 1, it is characterised in that：Also include
Ethercat buses and Profibus buses, between the industrial robot and isochronous controller and computer, the Laser Measuring
Communicated respectively by Ethercat buses and Profibus buses between quantity sensor and isochronous controller and computer.
4. a kind of laser measurement system based on industrial robot according to any one of claims 1 to 3, its feature exist
In：The industrial robot is six axis joint formula industrial robots, and the position of testee is the six axis joints formula industrial machine
The superposition of the terminal position coordinate of device people and the laser measurement sensing data, computer is when being overlapped the two positions
It is required that it is the data of same moment.
A kind of 5. laser measurement system based on industrial robot according to claim 4, it is characterised in that：Using hardware
Synchronous mode carries out data acquisition, and using one 200 hertz of synchronizing signal, six axis joint industrial robots are in every subpulse
Rising edge preserve and send the terminal position coordinate XYZ of oneself and their anglec of rotation ABC, this every group of 6 groups of data has 4
Byte；Laser measurement sensor also preserves in the rising edge of pulse and sends measurement result simultaneously.
A kind of 6. laser measurement system based on industrial robot according to claim 5, it is characterised in that：The laser
Measurement sensor is dot laser sensor or line laser sensor.
A kind of 7. laser measurement method based on industrial robot as claimed in claim 1, it is characterised in that：By laser measurement
Sensor is assembled with industrial robot, and testee is surveyed using industrial robot clamping laser measurement sensor
Amount；Coordinate system demarcation is carried out to laser feeler, it is merged with the space coordinates of robot, determines it in the position in space
Put coordinate.
A kind of 8. laser measurement method based on industrial robot according to claim 7, it is characterised in that：The industry
Robotic gripper laser measurement sensor is scanned to testee；Industrial robot is connected to computer by Ethercat,
And communicated by Ethercat with computer；Laser measurement sensor is connected by Profibus interface boards with computer, and is led to
Cross between Profibus interface boards and computer and communicated；Real-time control system on computer is sent by Profibus interfaces to be controlled
Laser measurement sensor is given in system instruction, and laser measurement sensor returns to corresponding metrical information to real-time according to the instruction received
Control system, real-time control system control machine people are moved according to pre-set moving line；Whole measurement process
After end, computer according to laser measurement sensor return come data message and the coordinate information of robot end's point sat
Mark conversion and the reconstruction of threedimensional model.
A kind of 9. laser measurement method based on industrial robot according to claim 8, it is characterised in that：The industry
Robot is six axis joint formula industrial robots, and the laser measurement sensor is dot laser sensor.
A kind of 10. laser measurement method based on industrial robot according to claim 8, it is characterised in that：The work
Industry robot is six axis joint formula industrial robots, and the laser measurement sensor is line laser sensor.
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| CN201710905833.6A CN107677205A (en) | 2017-09-29 | 2017-09-29 | A kind of laser measurement system and method based on industrial robot |
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| CN201710905833.6A CN107677205A (en) | 2017-09-29 | 2017-09-29 | A kind of laser measurement system and method based on industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN110425979A (en) * | 2019-08-07 | 2019-11-08 | 江苏汇博机器人技术股份有限公司 | A kind of dot laser measurement method and device based on real training robot |
| CN110549341A (en) * | 2019-09-24 | 2019-12-10 | 山东省智能机器人应用技术研究院 | industrial robot coordinate positioning system and method |
| CN112902938A (en) * | 2021-03-03 | 2021-06-04 | 魏小强 | AI intelligent engineering measurement robot and measurement method thereof |
| CN113566735A (en) * | 2021-07-24 | 2021-10-29 | 大连理工大学 | Laser in-situ measurement method for rocket engine nozzle cooling channel line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN108838522B (en) * | 2018-06-13 | 2020-07-03 | 上海柏楚电子科技股份有限公司 | Laser cutting head control system based on EtherCAT bus multi-axis synchronous motion |
| CN110425979A (en) * | 2019-08-07 | 2019-11-08 | 江苏汇博机器人技术股份有限公司 | A kind of dot laser measurement method and device based on real training robot |
| CN110549341A (en) * | 2019-09-24 | 2019-12-10 | 山东省智能机器人应用技术研究院 | industrial robot coordinate positioning system and method |
| CN112902938A (en) * | 2021-03-03 | 2021-06-04 | 魏小强 | AI intelligent engineering measurement robot and measurement method thereof |
| CN113566735A (en) * | 2021-07-24 | 2021-10-29 | 大连理工大学 | Laser in-situ measurement method for rocket engine nozzle cooling channel line |
| CN113566735B (en) * | 2021-07-24 | 2022-08-09 | 大连理工大学 | Laser in-situ measurement method for rocket engine nozzle cooling channel line |
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Application publication date: 20180209 |