CN108151649A - A kind of method measured using dot laser to workpiece specific position parameter - Google Patents
A kind of method measured using dot laser to workpiece specific position parameter Download PDFInfo
- Publication number
- CN108151649A CN108151649A CN201711482037.2A CN201711482037A CN108151649A CN 108151649 A CN108151649 A CN 108151649A CN 201711482037 A CN201711482037 A CN 201711482037A CN 108151649 A CN108151649 A CN 108151649A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- specific position
- measurement
- laser
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method measured using dot laser to workpiece specific position parameter, including：Calibrate the workpiece centre coordinate origin of four axis robots；It determines the corresponding position between on-axis point laser sensor and four axis robots, obtains affine transformation matrix between the two；By each specific position on the controller teaching workpiece for measurement of four axis robots, and the coordinate after affine transformation is calculated according to affine transformation matrix；It is debugged by the controller of on-axis point laser sensor in each specific position of workpiece for measurement and sets the parameter of dot laser；Four axis robots carry each specific position that on-axis point laser sensor moves to workpiece for measurement successively, measure respectively and obtain the parameter of each specific position.The present invention has higher measurement accuracy and stability, while there is no measurement blind areas.
Description
Technical field
The present invention relates to laser measurement fields.
Background technology
In field of industry detection, for some workpiece (such as：Handset shell) the ginsengs such as height, the flatness of specific position
Several measurements generally requires using the complicated auxiliary device of more complicated measuring method and design, and is difficult to ensure that measurement
Precision and stability, and lack corresponding automatic decision mechanism, that is, additional device needed to judge workpiece after being measured
It is whether qualified.Also have in a manner that triangle dot laser measures, but there are measurement blind areas for the measurement method.
Invention content
The purpose of the present invention is to provide a kind of method measured using dot laser to workpiece specific position parameter, tools
There are higher measurement accuracy and stability, while there is no measurement blind areas.
Realizing the technical solution of above-mentioned purpose is：
A kind of method measured using dot laser to workpiece specific position parameter, based on carrying on-axis point laser sensing
Four axis robots of device, the method includes：
Calibrate the workpiece centre coordinate origin of four axis robots；
It determines the corresponding position between on-axis point laser sensor and four axis robots, obtains affine transformation between the two
Matrix；
By each specific position on the controller teaching workpiece for measurement of four axis robots, and according to affine transformation matrix
Calculate the coordinate after affine transformation；
It is debugged by the controller of on-axis point laser sensor in each specific position of workpiece for measurement and sets dot laser
Parameter；
Four axis robots carry each specific position that on-axis point laser sensor moves to workpiece for measurement successively, survey respectively
It measures and obtains the parameter of each specific position.
Preferably, it the debugging and sets the parameter of dot laser and includes：Mobile four axis robots are in most by laser head
Good measurement range；Set frequency acquisition and the period of laser；Set laser triggering pattern；Set the data filtering of laser and smooth
Coefficient.
Preferably, the controller of four axis robots and the controller of on-axis point laser sensor connect host computer respectively, lead to
It crosses the dimensional parameters of each specific position of host computer setting workpiece for measurement and calls algorithm types, and according to dimensional parameters and tune
It is whether qualified with algorithm types judgement workpiece for measurement.
Preferably, the dimensional parameters of each specific position of the setting workpiece for measurement and calling algorithm types include：
Set each standard value measured size, bound tolerance, product classification limit threshold；Setting is to measured size data processing
Related algorithm.
Preferably, four axis robots carry on-axis point laser sensor and move to each mark point position on scaling board,
The robot coordinate of the mark point position is recorded simultaneously, and the coordinate of scaling board mark point itself is mutually tied with robot coordinate
It closes, establishes correspondence, and the affine transformation matrix of the two is asked for according to this correspondence.
Preferably, before the workpiece centre coordinate origin for calibrating four axis robots, each spy of workpiece for measurement is first assessed
Positioning is put.
Preferably, the parameter of the workpiece for measurement specific position includes：Highly, flatness and offset.
Preferably, the workpiece for measurement refers to phone housing.
The beneficial effects of the invention are as follows：The present invention carries on-axis point laser sensor to workpiece for measurement by four axis robots
Each specific position carry out data acquisition, there is no measurement blind areas.Also, the stronger Measurement Algorithm of antijamming capability is used,
Ensure that the stability measured is caused to increase substantially while measuring accuracy.Meanwhile for measurement data, utilize the number of design
Pre-processed according to processing function library, benchmark generation, based on benchmark planar survey exact numerical, and measurement result is provided, with reference to logical
The parameter threshold up and down of software setting is crossed, judges whether parameter to be measured complies with standard, entire measurement process is completed.
Description of the drawings
Fig. 1 is the flow chart of method measured using dot laser to workpiece specific position parameter of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
Referring to Fig. 1, the method measured using dot laser to workpiece specific position parameter of the present invention, based on carrying
Four axis robots of on-axis point laser sensor, the controller of four axis robots and the controller difference of on-axis point laser sensor
Connect host computer.
The method includes the following steps：
Step S1 assesses each specific position of workpiece for measurement, has in main assessment：It excludes because of the processing of product itself
Burr caused by factor, clast, it is dirty the problems such as and caused by outranging offset the problems such as measurement data acquisition mistake, it is ensured that
The feasibility of product measured position.
Step S2 calibrates the workpiece centre coordinate origin of four axis robots, prevents the precision caused by the rotation of manipulator
Loss and measurement error.
Step S3 determines the corresponding position between on-axis point laser sensor and four axis robots, obtains between the two
Affine transformation matrix.Specifically, it is demarcated with self-control high-precision calibrating plate, determines coordinate relationship：Four axis robots carry same
Axis dot laser sensor moves to each mark point position on scaling board, while the robot for recording the mark point position is sat
Mark, the coordinate of scaling board mark point itself with robot coordinate is combined, establishes correspondence, and ask according to this correspondence
Take the affine transformation matrix of the two.
Step S4, after workpiece for measurement is loaded, by each on the controller teaching workpiece for measurement of four axis robots
A specific position, avoid can not location put, and according to affine transformation matrix calculate affine transformation after coordinate.
Step S5 is debugged and set in each specific position of workpiece for measurement by the controller of on-axis point laser sensor
The parameter of dot laser：Mobile four axis robots are in optimum measurement range by laser head；Set frequency acquisition and the period of laser；
Set laser triggering pattern；Set data filtering and the smoothing factor of laser.It is (expansible to answer in xmal after the completion of parameter setting
With programming indicia language) write-in laser ablation procedure path is in order to the calling of main program in configuration file, so that in difference
There is best measurement parameter under position.
Step S6, by host computer, the size of each specific position of setting workpiece for measurement is joined in xmal serializes file
Number and calling algorithm types：Set each standard value measured size, bound tolerance, product classification limit threshold；Setting pair
The related algorithm of measured size data processing.Setting means is following (content in quotation marks can modify according to actual conditions)：
<Product identification：" 1# " product description：" elevation carrection " units of measurement：" mm " standard value：In " 10.00mm " tolerance
Limit：" 0.10mm " lower variation of tolerance：“-0.10mm”>；
<Measurement Algorithm：" fit Plane asks difference in height/directly make difference/fitting a straight line to seek difference in height ">；
<Measurement result exports>.
Four axis robots carry each specific position that on-axis point laser sensor moves to workpiece for measurement successively, survey respectively
It measures and obtains the parameter of each specific position.Final measurement is obtained according to Measurement Algorithm, the measurement result is in setting tolerance
In the range of be determined as OK products (non-defective unit), be otherwise NG products (defective products).The parameter of workpiece for measurement specific position in the present invention
Including：Highly, flatness and offset.Wherein, the elevation carrection of specific position is carried out using dot laser, utilizes Computer Design phase
Algorithm is closed, the flatness and offset for realizing specific position measure.In the present embodiment, workpiece for measurement refers to phone housing.
Start software service, carry out online real-time measurement, reject NG products.Meanwhile for NG products, printing can be utilized
Machine shows NG dimension datas on label paper, and is put into NG charging trays together with NG products；For OK products, OK can be directly placed into
Charging tray can be put into OK charging trays together according to customer demand printing specific dimensions data on label paper, and with OK products.
The product produced daily is carried out data statistics, generation system by step S7, the data analysis tool carried using software
Report is counted, coordinates process engineer and quality engineering teacher, finds out problem size, further instructs work pieces process, improves product matter
Amount.
The present invention is using dot laser, and using coaxial measurement method, (emergent light is returned coaxial dot laser by incident light direction original road
Return), testee is measured to the distance of probe, is had the characteristics that precision is high, range is big, is measured without dead angle.And line laser uses
Triangle circuit type (emergent light with incident light into triangle) measures testee to the distance of probe, has that precision is high, measures
The features such as journey is short, work pace is fast.
Above example is used for illustrative purposes only rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution should also belong to scope of the invention, should be limited by each claim.
Claims (8)
1. a kind of method measured using dot laser to workpiece specific position parameter, based on carrying on-axis point laser sensor
Four axis robots, which is characterized in that the method includes：
Calibrate the workpiece centre coordinate origin of four axis robots；
It determines the corresponding position between on-axis point laser sensor and four axis robots, obtains affine transformation square between the two
Battle array；
By each specific position on the controller teaching workpiece for measurement of four axis robots, and calculated according to affine transformation matrix
Coordinate after affine transformation；
It is debugged by the controller of on-axis point laser sensor in each specific position of workpiece for measurement and sets the ginseng of dot laser
Number；
Four axis robots carry each specific position that on-axis point laser sensor moves to workpiece for measurement successively, measure respectively simultaneously
Obtain the parameter of each specific position.
2. the method according to claim 1 measured using dot laser to workpiece specific position parameter, feature are existed
Include in, the debugging and the parameter that sets dot laser：Mobile four axis robots are in optimum measurement range by laser head；If
Determine frequency acquisition and the period of laser；Set laser triggering pattern；Set data filtering and the smoothing factor of laser.
3. the method according to claim 1 or 2 measured using dot laser to workpiece specific position parameter, feature
It is, the controller of four axis robots and the controller of on-axis point laser sensor connect host computer respectively, are set by host computer
Determine the dimensional parameters of each specific position of workpiece for measurement and call algorithm types, and according to dimensional parameters and call algorithm types
Judge whether workpiece for measurement is qualified.
4. the method according to claim 3 measured using dot laser to workpiece specific position parameter, feature are existed
In the dimensional parameters and calling algorithm types of each specific position of the setting workpiece for measurement include：Set each measurement
Standard value, the bound tolerance of size, product classification limit threshold；Set the related algorithm to measured size data processing.
5. the method according to claim 1 measured using dot laser to workpiece specific position parameter, feature are existed
In four axis robots carry on-axis point laser sensor and move to each mark point position on scaling board, while record this
The coordinate of scaling board mark point itself is combined by the robot coordinate of mark point position with robot coordinate, establishes corresponding close
It is, and the affine transformation matrix of the two is asked for according to this correspondence.
6. the method according to claim 1 measured using dot laser to workpiece specific position parameter, feature are existed
In, calibrate four axis robots workpiece centre coordinate origin before, first assess workpiece for measurement each specific position.
7. the method according to claim 4 measured using dot laser to workpiece specific position parameter, feature are existed
In the parameter of the workpiece for measurement specific position includes：Highly, flatness and offset.
8. the method according to claim 7 measured using dot laser to workpiece specific position parameter, feature are existed
In the workpiece for measurement refers to phone housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482037.2A CN108151649A (en) | 2017-12-29 | 2017-12-29 | A kind of method measured using dot laser to workpiece specific position parameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482037.2A CN108151649A (en) | 2017-12-29 | 2017-12-29 | A kind of method measured using dot laser to workpiece specific position parameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108151649A true CN108151649A (en) | 2018-06-12 |
Family
ID=62460282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711482037.2A Pending CN108151649A (en) | 2017-12-29 | 2017-12-29 | A kind of method measured using dot laser to workpiece specific position parameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108151649A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109035270A (en) * | 2018-07-13 | 2018-12-18 | Oppo（重庆）智能科技有限公司 | Shell material measurement method and device, electronic equipment, computer readable storage medium |
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN110538765A (en) * | 2019-08-05 | 2019-12-06 | 苏州逸美德科技有限公司 | Method for obtaining reference coordinates of dispensing needle head, correction method and correction device |
| CN111964594A (en) * | 2020-07-15 | 2020-11-20 | 中国电子科技集团公司第二十九研究所 | System and method for intelligently selecting heat-conducting insulating pad of radiator on board-level device |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003315026A (en) * | 2002-04-24 | 2003-11-06 | Daihatsu Motor Co Ltd | Three-dimensional measuring apparatus |
| CN103673876A (en) * | 2013-11-12 | 2014-03-26 | 上海交通大学 | Swing-type measuring head robot online measuring system for body-in-white dimension measurement |
| CN103776378A (en) * | 2014-02-27 | 2014-05-07 | 上海思琢自动化科技有限公司 | Non-contact type flexible on-line dimension measurement system |
| CN104914109A (en) * | 2015-06-05 | 2015-09-16 | 天津大学 | Cell phone rear shell quality detection system and cell phone rear shell quality detection method |
| CN105806251A (en) * | 2016-03-11 | 2016-07-27 | 西北工业大学 | Four-axis measuring system based on line laser sensor and measuring method thereof |
-
2017
- 2017-12-29 CN CN201711482037.2A patent/CN108151649A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003315026A (en) * | 2002-04-24 | 2003-11-06 | Daihatsu Motor Co Ltd | Three-dimensional measuring apparatus |
| CN103673876A (en) * | 2013-11-12 | 2014-03-26 | 上海交通大学 | Swing-type measuring head robot online measuring system for body-in-white dimension measurement |
| CN103776378A (en) * | 2014-02-27 | 2014-05-07 | 上海思琢自动化科技有限公司 | Non-contact type flexible on-line dimension measurement system |
| CN104914109A (en) * | 2015-06-05 | 2015-09-16 | 天津大学 | Cell phone rear shell quality detection system and cell phone rear shell quality detection method |
| CN105806251A (en) * | 2016-03-11 | 2016-07-27 | 西北工业大学 | Four-axis measuring system based on line laser sensor and measuring method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 傅华强: "装配机器人视觉系统应用与软件开发", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109035270A (en) * | 2018-07-13 | 2018-12-18 | Oppo（重庆）智能科技有限公司 | Shell material measurement method and device, electronic equipment, computer readable storage medium |
| CN109035270B (en) * | 2018-07-13 | 2020-12-11 | Oppo（重庆）智能科技有限公司 | Shell material measuring method and device, electronic equipment and computer readable storage medium |
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN110538765A (en) * | 2019-08-05 | 2019-12-06 | 苏州逸美德科技有限公司 | Method for obtaining reference coordinates of dispensing needle head, correction method and correction device |
| CN111964594A (en) * | 2020-07-15 | 2020-11-20 | 中国电子科技集团公司第二十九研究所 | System and method for intelligently selecting heat-conducting insulating pad of radiator on board-level device |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108151649A (en) | A kind of method measured using dot laser to workpiece specific position parameter | |
| US9199379B2 (en) | Robot system display device | |
| CN100399039C (en) | Printed circuit board checking device | |
| CN102483621B (en) | Machine tool calibration method | |
| CN105081883B (en) | Machining center provided with on-machine detection device and using method of machining center | |
| CN105333819A (en) | Robot workpiece assembly and form and location tolerance detection system and method based on face laser sensor | |
| de Araujo et al. | Computer vision system for workpiece referencing in three-axis machining centers | |
| CN107121967A (en) | A kind of laser is in machine centering and inter process measurement apparatus | |
| CN115077425B (en) | Product detection equipment and method based on structured light three-dimensional vision | |
| JPS61501057A (en) | Method and apparatus for calibrating a positioning system | |
| WO2013134672A1 (en) | System and method for measuring a workpiece relative to a common measurement coordinate system | |
| US20230251752A1 (en) | Roll Map for Electrode Coating Process and Roll Map Creation Method and System | |
| TW201800178A (en) | Five-axis machine tool error detection method in which a probe assembly including a standard sphere is installed on the five-axis machine tool to be measured and a probe is moved to contact the standard sphere and feeds a signal back | |
| CN114441942A (en) | Flying probe testing method, system, equipment and storage medium for PCB | |
| TW200844426A (en) | On-line mechanical visional inspection system of an object and method thereof | |
| EP3629281A1 (en) | Quality estimation device, quality estimation method, and quality estimation program | |
| US6571148B1 (en) | System for automatically certifying the accuracy of a manufacturing machine and associated methods | |
| CN108195289A (en) | A kind of method measured using line laser to workpiece specific position parameter | |
| JPH03287343A (en) | Base coordinate system correcting device | |
| KR20120014850A (en) | Inspecting method of welding point | |
| EP3650809B1 (en) | Three-coordinate measuring system and method | |
| CN217586984U (en) | Automatic optical detection device | |
| CN109062138A (en) | A kind of five shaft platform system calibrating schemes based on stereo calibration block | |
| CN106403862A (en) | Method and system for rapidly detecting dimensions of part through sensors | |
| JPS62233746A (en) | Checker for chip mounted board |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180612 |