CN108195354A - A kind of vehicle positioning method and vehicle positioning system based on robot - Google Patents
A kind of vehicle positioning method and vehicle positioning system based on robot Download PDFInfo
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- CN108195354A CN108195354A CN201711393963.2A CN201711393963A CN108195354A CN 108195354 A CN108195354 A CN 108195354A CN 201711393963 A CN201711393963 A CN 201711393963A CN 108195354 A CN108195354 A CN 108195354A
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- vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
A kind of vehicle positioning method based on robot provided herein, including：The target area image of the vehicle is shot, data template is established according to the target area image and calculates corresponding template pose；Coordinate system is established according to the template pose, obtains first pose of the vehicle relative to robot basis coordinates system；The vehicle is positioned according to first pose.By establishing coordinate system, vehicle body can be accurately positioned, this method avoids cumbersome light source debugging to ambient light no requirement (NR), strong applicability.Present invention also provides a kind of vehicle positioning system based on robot, a kind of readable storage medium storing program for executing and a kind of robots, have above-mentioned advantageous effect.
Description
Technical field
This application involves robot field, more particularly to a kind of vehicle positioning method based on robot, vehicle location system
System and a kind of readable storage medium storing program for executing and a kind of robot.
Background technology
As industrial robot deepens continuously what automobile manufacturing field was applied, the installation of each automobile component is such as kept out the wind
Glass, car door etc. are required for vision positioning technology.Glass is captured by robot and it is guided to complete glass by vision system
Lean and correct assembly work is the development trend of automotive automation production line.However vehicle body pipeline carry out discharge position with relatively large deviation and
Certain workshop light environments are complicated, while there are multiple color, various types of vehicle bodies, these problems on production line to have
It may cause robot cannot be accurately by glass assembling on body of a motor car, it could even be possible to leading to hitting for robot and vehicle body
It hits to damage production equipment.
The vehicle body vision positioning system at the automatic installment work station of current robot windshield uses binocular or more mesh more
Stereoscopic vision positioning method respectively installs multiple cameras in headstock and the tailstock, restores the 3D models of vehicle body by disparity map, then passes through
The morphology feature of vehicle body is handled and is identified, so as to fulfill the positioning of vehicle body.
It is existing several localization methods and its corresponding shortcoming below：
1st, binocular or multi-view stereo vision are difficult to ensure that final positioning accuracy, and phase for this large scale object of vehicle body
For machine to light source requirements harshness, the variation of ambient light is affected to system acquisition picture, while color to body surface,
The quality reconstruction adaptability of material, textural characteristics etc. is poor.
When the 2nd, being positioned using the method for characteristic matching, body surface not necessarily has apparent geometric properties, and feature
It is easily interfered by other impurities, influences locating effect and positioning accuracy, adaptability is poor.
3rd, line laser can be influenced during robot carries laser scans image by robot actuating mechanism, can
Manipulator jitter phenomenon, which can occur, causes flating and robot motion to scan the problem of difficult synchronous with laser line generator,
Positioning beat simultaneously can also increase.
4th, the locating effect of big visual field camera and positioning accuracy easily by body surface feature (feature complexity, feature
How much, size, concave-convex surface etc.) influence.Therefore a kind of novel vehicle positioning method is needed.
Apply for content
The purpose of the application is to provide a kind of vehicle positioning method based on robot, vehicle positioning system and one kind
Readable storage medium storing program for executing and a kind of robot solve the problems, such as that existing multi-view stereo vision positioning is affected by site environment.
In order to solve the above technical problems, the application provides a kind of vehicle positioning method based on robot, particular technique side
Case is as follows：
The target area image of the vehicle is shot, data template is established according to the target area image and calculates correspondence
Template pose；
Coordinate system is established according to the template pose, obtains the vehicle relative to first of robot basis coordinates system
Appearance；
The vehicle is positioned according to first pose.
Wherein, it before the target area image for shooting the vehicle, further includes：
The laser coordinates system of Calibration of Laser sensor and the robot tool coordinate system of the robot, and determine described
The coordinate direction of three base parameters of laser coordinates system.
Wherein, it after positioning the vehicle according to first pose, further includes：
After vehicle location variation, the offset of the vehicle is determined, and shooting position is adjusted according to the offset
It puts；
The target area image of the vehicle is shot, the second data template is established according to the target area image and is calculated
Corresponding second template pose；
The template pose and the second template pose are matched, obtains relative pose；
The vehicle is positioned according to the relative pose.
Wherein, the offset for determining the vehicle includes：
The offset of the vehicle is determined according to the coordinate direction.
Wherein, coordinate system is established according to the template pose to include：
Minimum enclosed rectangle is established for the template pose；
By coordinate centered on the minimum enclosed rectangle center；
Coordinate system is established using three or three centre coordinates described above.
Wherein, the target area image for shooting the vehicle includes：
The target area image of the vehicle is shot by preset times using three-dimensional laser sensor.
Wherein, it before the target area image for shooting the vehicle, further includes：
Obtain the exposure value of the body color corresponding three-dimensional laser sensor of the vehicle.
The application also provides a kind of vehicle positioning system based on robot, including：
Template establishes module, for shooting the target area image of the vehicle, is established according to the target area image
Data template simultaneously calculates corresponding template pose；
Pose computing module for establishing coordinate system according to the template pose, obtains the vehicle relative to robot
First pose of basis coordinates system；
Vehicle localization module, for positioning the vehicle according to first pose.
The application also provides a kind of readable storage medium storing program for executing, is stored thereon with program, it is as follows that described program is performed realization
Step：
The target area image of the vehicle is shot, data template is established according to the target area image and calculates correspondence
Template pose；
Coordinate system is established according to the template pose, obtains the vehicle relative to first of robot basis coordinates system
Appearance；
The vehicle is positioned according to first pose.
The application also provides a kind of robot, including memory and processor, computer program stored in the memory, and the place
Reason device realizes following steps when calling the program in the memory：
The target area image of the vehicle is shot, data template is established according to the target area image and calculates correspondence
Template pose；
Coordinate system is established according to the template pose, obtains the vehicle relative to first of robot basis coordinates system
Appearance；
The vehicle is positioned according to first pose.
A kind of vehicle positioning method based on robot provided herein, including：Shoot the target area of the vehicle
Area image establishes data template according to the target area image and calculates corresponding template pose；According to the template pose
Coordinate system is established, obtains first pose of the vehicle relative to robot basis coordinates system；Institute is positioned according to first pose
State vehicle.By establishing coordinate system, vehicle body can be accurately positioned, this method avoids ambient light no requirement (NR), strong applicability
Cumbersome light source debugging.Present invention also provides a kind of vehicle positioning system based on robot, a kind of readable storage medium storing program for executing
With a kind of robot, there is above-mentioned advantageous effect.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or it will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
The flow chart of a kind of vehicle positioning method based on robot that Fig. 1 is provided by the embodiment of the present application；
Fig. 2 positions schematic diagram by the vehicle window that the embodiment of the present application provides；
Each coordinate system schematic diagram that Fig. 3 is provided by the embodiment of the present application；
The structure diagram of a kind of vehicle positioning system based on robot that Fig. 4 is provided by the embodiment of the present application.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present application are clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical solution in the embodiment of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
All other embodiments obtained without making creative work shall fall in the protection scope of this application.
It please refers to Fig.1, the flow of a kind of vehicle positioning method based on robot that Fig. 1 is provided by the embodiment of the present application
Figure, specific technical solution are as follows：
S101:The target area image of the vehicle is shot, data template is established according to the target area image and is counted
Calculate corresponding template pose；
After camera site is determined, robot motion drives the laser movement positioned at ring flange end to first
Camera site, and take pictures.Why it is referred to as target area image, because of object suiting measures to different conditions.By taking vehicle glazing as an example, shooting process is practical
On be acquire windshield surface three-dimensional data.Pay attention to camera site here should in plane where projecting to vehicle window incident point
Can be the marginal position of vehicle window in the position of vehicle window.Such as position shown in Fig. 2, three camera sites are in vehicle window side
Edge.
Preferably, shooting tool can be three-dimensional laser sensor, can easily acquire the three-dimensional data of windshield surface.
It is noted that at this to shooting number and camera site be not restricted, as long as shooting number and camera site rationally,
It properly, should all be in the protection domain of the application.
It is worth noting that, further including a non-negligible step in this step, i.e., the vehicle is obtained from MES system
Body color corresponding three-dimensional laser sensor exposure value, with obtain adapt to different colours vehicle body three dimension of windshield surface
According to.Once exposure value is not right, it is possible to cause the windshield surface three-dimensional data obtained invalid.
After three-dimensional data is obtained, data template can be established using three-dimensional data.The effect for establishing template is to integrate to clap
Act as regent the related data put, such as center, center of gravity, area and boundary rectangle parameter etc..By taking three camera sites as an example, calculating should
Coordinate of the minimum enclosed rectangle center of data template under robot basis coordinates system is P0, and control robot is moved to the
Two and third camera site, are in the same way windshield surface point cloud data drawing template establishment, and obtain corresponding P1, P2
Value.
S102:Coordinate system is established according to the template pose, obtains the vehicle relative to the of robot basis coordinates system
One pose；
The purpose for establishing coordinate system is that vehicle relative to the pose of robot coordinate system, does not limit its tool herein in order to obtain
Body implementation and implementation process, the method that can reach identical purpose should all be in the protection domain of the application.It provides herein
A kind of method for establishing coordinate system：
Minimum enclosed rectangle is established for the template pose；By coordinate centered on the minimum enclosed rectangle center；Profit
Coordinate system is established with three or three centre coordinates described above.
Equally by taking above three camera site as an example：
P1 is determined for coordinate origin, using the vector of point P1 and P0 formation as X-axis, and its is unitization, obtain X axis amount
Result of calculation isEqually, the unit vector of P1 and P2 formation isBased on right-handed coordinate system principle,
The vector obtained by the use of P1P0 vectors and P1P3 vectors progress multiplication cross is vectorial as Z-directionTogether
Reason just obtains Y-axis amount by multiplication cross z and x, existed by the way that each axis is calculated in robot basis coordinates system projection to each axis
Posture in robot basis coordinates system, the coordinate system so established are pose of the vehicle relative to robot basis coordinates system, are claimed
Be the first pose.
S103:The vehicle is positioned according to first pose.
After the first pose is obtained, i.e., vehicle, then can positioning vehicle easily relative to the position of robot basis coordinates system.
Specifically, about important coordinate systems several in the application, Fig. 3, each coordinate that Fig. 3 is provided by the embodiment of the present application are referred to
It is schematic diagram, wherein robot basis coordinates system is base coordinate system, and robot tool coordinate system refers to machine in this application
People's end flange coordinate system is obtained by calibration.It should be noted that in S103 according to the coordinate system of template pose foundation not
It is shown in FIG. 3.
The embodiment of the present application provides kind of the vehicle positioning method based on robot, and it is accurate to be realized by the above method
Positioning vehicle body.To ambient light no requirement (NR), strong applicability avoids cumbersome light source debugging.
Based on above-described embodiment, as preferred embodiment, after positioning for the first time, can also be carried out after vehicle movement
It repositions, is as follows：
After vehicle location variation, the offset of the vehicle is determined, and shooting position is adjusted according to the offset
It puts；The target area image of the vehicle is shot, the second data template is established according to the target area image and calculates correspondence
The second template pose；The template pose and the second template pose are matched, obtains relative pose；According to the opposite position
Appearance positions the vehicle.
It implies that after vehicle location variation, robot carries laser camera and obtained in an identical manner using template matches
Mode acquires the windshield surface three-dimensional data of preset times again, by the way of template matches respectively with the template of corresponding position
It is matched, calculates the relative pose (i.e. pose deviation) between template, then according to the front and rear relative pose of vehicle body variation
And template pose, the vehicle body pose of each camera site after variation is calculated, vehicle is finally calculated in a manner of identical with S103
The pose of opposed robots obtains, so as to fulfill the reposition after the movement of vehicle body.
This step is intended to corresponding positioning action when reply vehicle location changes.
It is understood that offset is a mathematics scope, it is therefore desirable to which a reference position is as calculating offset
Tool.In the pipelining of vehicle, the laser of robot TCP, then Calibration of Laser sensor can be demarcated in advance
Coordinate system, and determine the coordinate direction of three base parameters of the laser coordinates system, it is determining to deviate according to coordinate direction
Amount.It specifically, can be with the following method：
One piece of surface plate for carrying standard circular hole is made, circular hole is shot using laser, obtains the center of circle of circular hole
Relative to position x0, y0, z0 of laser, control robot shoots circular hole with different postures so that the center of circle of circular hole
Consistent with x0, y0, z0 relative to the position x, y, z of laser, the above process is demarcated using robot TCP in triplicate
Tool obtains the origin of laser coordinates systems, and the x-axis of laser coordinates system and y-axis respectively with the short side of laser enclosure and length
Side keeping parallelism, therefore can obtain using the method for demarcating robot basis coordinates system direction the side of three axis of laser coordinates system
To so as to obtain the module and carriage transformation matrix StoTMat of laser opposed robots' basis coordinates system.It should be noted that because method
Blue disk end pose it is known that here be module and carriage transformation matrix of the laser relative to robot basis coordinates system.
Certain above method is a kind of preferably method, can also be demarcated using other methods.
Behind clear and definite coordinate system direction, you can obtain vehicle in the offset in three directions of x, y, z, root according to coordinate direction
The camera site of laser is adjusted correspondingly according to the offset.It should be noted that it is not directly by laser here
Device is moved to camera site, is simply moved to corresponding position.For example, vehicle window distance lasers are too far, this will be so that shoot
The image come is unqualified, it is therefore desirable to laser are moved to suitable position in order to shooting hereafter in advance.
A kind of vehicle positioning system based on robot provided by the embodiments of the present application is introduced below, is described below
Vehicle positioning system can correspond reference with above-described vehicle positioning method.
Referring to Fig. 4, Fig. 4 is shown by the structure of a kind of vehicle positioning system based on robot that the embodiment of the present application provides
It is intended to, which can include：
Template establishes module 100, and for pressing preset times shooting subject image, data mould is established according to the subject image
Plate simultaneously calculates corresponding template pose；
Pose computing module 200 for establishing coordinate system according to the template pose, obtains the vehicle relative to machine
First pose of people's basis coordinates system；
Vehicle localization module 300, for positioning the vehicle according to first pose.
Present invention also provides a kind of readable storage medium storing program for executing, computer program stored thereon, which, which is performed, to realize
State the step of embodiment provides.The storage medium can include：USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various to deposit
Store up the medium of program code.For the application, it should be the storage medium that suitable machine people uses.
Present invention also provides a kind of robot, memory and processor can be included, computer program stored in the memory,
When the processor calls the program in the memory, the step of above-described embodiment provides can be realized.Certain machine
Device people can also include the electronic building bricks such as various network interfaces, power supply and corresponding mechanical organ, such as ring flange.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For embodiment provide system and
Speech, since it is corresponding with the method that embodiment provides, so description is fairly simple, related part is referring to method part illustration
.
The principle and implementation of this application are described for specific case used herein, and above example is said
It is bright to be merely used to help understand the present processes and its core concept.It should be pointed out that the ordinary skill for the art
For personnel, under the premise of the application principle is not departed from, can also to the application, some improvement and modification can also be carried out, these improvement
It is also fallen into the application scope of the claims with modification.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except also there are other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of vehicle positioning method based on robot, which is characterized in that including：
The target area image of the vehicle is shot, data template is established according to the target area image and calculates corresponding mould
Plate pose；
Coordinate system is established according to the template pose, obtains first pose of the vehicle relative to robot basis coordinates system；
The vehicle is positioned according to first pose.
2. vehicle positioning method according to claim 1, which is characterized in that shoot the vehicle target area image it
Before, it further includes：
The laser coordinates system of Calibration of Laser sensor and the robot tool coordinate system of the robot, and determine the laser
The coordinate direction of three base parameters of device coordinate system.
3. vehicle positioning method according to claim 2, which is characterized in that the vehicle is positioned according to first pose
Later, it further includes：
After vehicle location variation, the offset of the vehicle is determined, and camera site is adjusted according to the offset；
The target area image of the vehicle is shot, the second data template is established according to the target area image and calculates correspondence
The second template pose；
The template pose and the second template pose are matched, obtains relative pose；
The vehicle is positioned according to the relative pose.
4. vehicle positioning method according to claim 3, which is characterized in that the offset packet for determining the vehicle
It includes：
The offset of the vehicle is determined according to the coordinate direction.
5. vehicle positioning method according to claim 4, which is characterized in that coordinate system packet is established according to the template pose
It includes：
Minimum enclosed rectangle is established for the template pose；
By coordinate centered on the minimum enclosed rectangle center；
Coordinate system is established using three or three centre coordinates described above.
6. according to claim 1-5 any one of them vehicle positioning methods, which is characterized in that shoot the target area of the vehicle
Area image includes：
The target area image of the vehicle is shot by preset times using three-dimensional laser sensor.
7. vehicle positioning method according to claim 6, which is characterized in that shoot the vehicle target area image it
Before, it further includes：
Obtain the exposure value of the body color corresponding three-dimensional laser sensor of the vehicle.
8. a kind of vehicle positioning system based on robot, which is characterized in that including：
Template establishes module, and for shooting the target area image of the vehicle, data are established according to the target area image
Template simultaneously calculates corresponding template pose；
Pose computing module for establishing coordinate system according to the template pose, obtains the vehicle relative to robot base
Mark the first pose of system；
Vehicle localization module, for positioning the vehicle according to first pose.
9. a kind of readable storage medium storing program for executing, is stored thereon with program, which is characterized in that described program is performed realization such as right will
Seek 1-7 any one of them vehicle positioning methods.
10. a kind of robot, which is characterized in that including memory and processor, computer program stored in the memory, the processing
Device realizes such as claim 1-7 any one of them vehicle positioning methods when calling the program in the memory.
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| CN201711393963.2A CN108195354A (en) | 2017-12-21 | 2017-12-21 | A kind of vehicle positioning method and vehicle positioning system based on robot |
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| CN201711393963.2A CN108195354A (en) | 2017-12-21 | 2017-12-21 | A kind of vehicle positioning method and vehicle positioning system based on robot |
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| CN109483539A (en) * | 2018-11-19 | 2019-03-19 | 施努卡(苏州)智能装备有限公司 | Vision positioning method |
| CN109738213B (en) * | 2019-02-03 | 2020-10-02 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection pose detection system and method |
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Application publication date: 20180622 |