CN108286949A - A kind of packaged type three dimensional detection robot system - Google Patents

A kind of packaged type three dimensional detection robot system Download PDF

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Publication number
CN108286949A
CN108286949A CN201711482288.0A CN201711482288A CN108286949A CN 108286949 A CN108286949 A CN 108286949A CN 201711482288 A CN201711482288 A CN 201711482288A CN 108286949 A CN108286949 A CN 108286949A
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China
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detection
module
mechanical arm
path
viewpoint
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CN201711482288.0A
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CN108286949B (en
Inventor
杨继之
文科
乐毅
周莹皓
蔡子慧
于望竹
林晓青
张加波
张斌
王磊
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北京卫星制造厂
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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
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures

Abstract

The invention discloses a kind of packaged type three dimensional detection robot system, which includes path planning subsystem, movable three-dimensional detection robot subsystems, detection data acquisition and analyzing subsystem.Path planning subsystem, for generating the instruction of detection overall process platform path and mechanical arm tail end routing instruction;It includes omnidirectional's intelligent family moving platform, mechanical arm module, three dimensional detection module that movable three-dimensional, which detects robot subsystems, omnidirectional's intelligent family moving platform and mechanical arm module cooperate, it is moved according to respectively preset routing instruction, it controls three dimensional detection module alignment and is tested viewpoint, three dimensional detection is carried out, testing result is sent to detection data acquisition and analyzing subsystem;Detection data acquires and analyzing subsystem, analyzes according to testing result the pattern error and site error that are tested portion faces, and analysis result is visualized and is shown.The invention enables entire detection process is automatically controllable, three dimensional detection efficiency is improved.

Description

A kind of packaged type three dimensional detection robot system

Technical field

The present invention relates to the packaged type three dimensional detection robot systems for large scale structure, and the invention belongs to industrial machines People's application field.

Background technology

The enlargement of high-end equipment can bring a series of problems using traditional fixed equipment detection product.As large size is navigated The high-end equipment size such as its device, airliner, large automobile, ship is continuously increased, and precision is continuously improved.Large-scale fixed inspection Survey no matter equipment is all difficult to meet the detection demand of these equipments in stroke, function, it is therefore desirable to be formed and be filled with mobile detection Based on standby, integrated, collaborative control flexible intelligent detecting system forms a kind of new three dimensional detection pattern.

Based on this, robot building technology is developed rapidly.Existing robot manufacturing system, such as《A kind of work Industry robot manipulating task method》CN201310680291.9 only illustrates the work flow of popular industrial machine people, with mobile machine People compares, and due to different in movement travel, work flow is also different, and without the composition of clear manufacture system.《A kind of large-scale knot The Three-Dimensional Dynamic on-line measurement device and its measurement method of structure》CN201710257168.4 is only described for large scale structure three-dimensional The basic principle and figure acquisition process process of detection illustrate move mode, the control of detection device there is no mechanical arm is combined Strategy, automation, intelligence degree are relatively low.《A kind of spray robot erect-position planing method of large size free form surface》 CN201410545718.9 describes a kind of erect-position planning of the mechanical arm spraying process on the guide rail and is advised with mechanical arm track The method of drawing, painted object is large-scale curved, and workflow is different.

Invention content

The technology of the present invention solves the problems, such as:Overcome the deficiencies of the prior art and provide a kind of packaged type three dimensional detection machine Device people's system, the three dimensional detection task for solving large scale structure can realize the planning of detection process by the system and imitate Very, and to detection data it is acquired and handles.

Technical solution of the invention is:A kind of packaged type three dimensional detection robot system, the system include path Plan subsystem, movable three-dimensional detection robot subsystems, detection data acquisition and analyzing subsystem, wherein:

Movable three-dimensional detects robot subsystems, including omnidirectional's intelligent family moving platform, mechanical arm module, three dimensional detection mould Block, three dimensional detection module are mounted on the end of mechanical arm, are used as robot arm end effector, and mechanical arm module is mounted on omnidirectional's intelligence On energy mobile platform, omnidirectional's intelligent family moving platform and mechanical arm module cooperate, and according to respective preset routing instruction, edge refers to Fixed path movement, control three dimensional detection module alignment are tested viewpoint, carry out three dimensional detection, testing result is sent to testing number According to acquisition and analyzing subsystem;

Detection data acquires and analyzing subsystem, is missed according to testing result to the pattern error and position that are tested portion faces Difference is analyzed, and analysis result is visualized and is shown;

Path planning subsystem, the threedimensional model based on examined object, according to each position to be detected in object to be detected The best shooting distance in position, installation of 3d inspection in body body coordinate system determines detection viewpoint in measured object body coordinate system Under coordinate and its visual field detection direction, and accordingly generate detection overall process platform path instruction and mechanical arm tail end path refer to It enables.

Omnidirectional's intelligent family moving platform, for realizing packaged type three dimensional detection robot more than mechanical arm in work-yard Movement outside block motion stroke, specially:It instructs according to preset platform path, is moved along specified path, when each mesh of arrival Automatic pause when labeling station site sends enabled instruction to mechanical arm;

Mechanical arm module, after receiving enabled instruction, according to preset robotic arm path instruct its mobile end to can and First detection viewpoint of portion faces to be detected in range, by three dimensional detection module alignment, the detection regards for control machinery arm end Point sends out measurement instruction to three dimensional detection module later;

Three dimensional detection module receives execution measurement action after measurement instruction, measurement result is sent to detection data and is adopted Collection and analyzing subsystem send viewpoint measurement end signal and give mechanical arm module, mechanical arm is according to preset mechanical arm road later Diameter instructs, and control machinery arm end is by the next detection viewpoint of three dimensional detection module alignment portion faces to be detected, later, to three Dimension detection module sends out measurement instruction, and by three dimensional detection module alignment, the detection viewpoint measures, and repeats the above process, until Three dimensional detection module complete the Target Station site can and the measurement task of all detection viewpoints in range after, mechanical arm module End signal is measured to omnidirectional's intelligent family moving platform transmitting station;

After omnidirectional's intelligent family moving platform receives website measurement end signal, instructed according to preset platform path, edge refers to Determine path movement, be moved to next Target Station site, repeat the above process, until having traversed all Target Station sites.

The three dimensional detection module includes binocular stereo vision equipment and photogrammetric equipment, binocular stereo vision equipment and Photogrammetric equipment is respectively imaged tested portion faces and the measured object overall situation, and by topography's information of acquisition and entirely Office's image information is sent to detection data acquisition and analyzing subsystem, and topography's information is that binocular stereo vision equipment regards Point cloud information in the range of field, including tested portion faces point cloud information and its at least four public target point point cloud information, entirely Office's image information includes the image information and at least four public target pointing informations of the testee overall situation.

It is described public punctuate to be evenly distributed on testee surface.

The public coordinate punctuate under measured object body coordinate system is obtained by target positioning measurement equipment.

The path planning module includes viewpoint planning module, platform erect-position and its path planning module, mechanical arm body Path-generating module, interference and collision inspection and emulation module, routing instruction generation module, wherein:

Viewpoint planning module, the threedimensional model based on examined object, according to each position to be detected in examined object The best shooting distance in position, installation of 3d inspection, determining detection viewpoint in body coordinate system is under measured object body coordinate system Coordinate and its visual field detection direction, be sent to platform erect-position and its path planning module and mechanical arm body coordinates measurement mould Block;

Platform erect-position and its path planning module, according to coordinate and machinery of the detection viewpoint under measured object body coordinate system Plane where the installation of arm pedestal extrapolates the corresponding mechanical arm pedestal of each detection viewpoint using mechanical arm inverse kinematics method The range of position determines the mechanical arm pedestal mesh of minimum number according to the range of the corresponding mechanical arm base position of detection viewpoint Cursor position region so that the reached Work Space Range of mechanical arm tail end positioned at these regions covers all detection viewpoints, will The central point of the mechanical arm base targets band of position is as omnidirectional's intelligent family moving platform Target Station site, according to omnidirectional's intelligent mobile Scene between the current location information of platform and the coordinate and each erect-position point, current location in each Target Station site, to carry The mechanical arm working space of three dimensional detection module is constraint, determines that a nothing touches platform path information, the platform path information Including the intermediate point coordinates between current location information, each target erect-position and erect-position point, platform is in current location, each target occupy-place The yaw angle of point and intermediate point, platform movement speed and yaw rate;

Mechanical arm body path-generating module, according to the order in Target Station site in platform path information, to each station Site is input with the corresponding all detection viewpoint position information of erect-position point, most short for principle to detect distance between viewpoint, is used Genetic algorithm, the corresponding all detection viewpoints of traversal erect-position point, and each viewpoint of one process of optimization and each detect viewpoint Only pass through primary shortest path, generates mechanical arm tail end and detect routing information;

Interference and collision inspection and emulation module detect routing information, each visual field for detecting viewpoint according to mechanical arm tail end All joint motions processes of detection direction information, the structure of mechanical arm, mechanical arm, in conjunction with the scene information on mechanical arm periphery, inspection Look into whether mechanical arm module collides interference with periphery object, in case of interference and collision, in the path for colliding interference It is inserted into evacuation point, and adjusts the forms of motion between evacuation point and two neighboring viewpoint, update mechanical arm tail end detection path letter Breath makes the interference that do not collide of mechanical arm module and periphery object retain original if not colliding interference and detect path;

Directive generation module, by the corresponding robotic arm path information in each platform Target Station site and each detection viewpoint Visual field detection direction information is converted to robotic arm path control instruction, and change station site recycles this process, generates along platform path When the corresponding robotic arm path control instruction in all Target Station sites, omnidirectional's intelligent family moving platform and mechanical arm module cooperate Sequence is added and starts and suspend control instruction, forms overall process executable program, be loaded onto mechanical arm module;By omnidirectional's intelligent sliding Moving platform routing information is converted to platform path control instruction, when omnidirectional's intelligent family moving platform and mechanical arm module cooperate Sequence is added and starts and suspend control instruction, forms overall process executable program, be loaded onto omnidirectional's intelligent family moving platform.

The coordinate and detection direction for detecting viewpoint are determined by following method:

Using portion faces central point to be detected as starting point, which is offset direction, and installation of 3d inspection is most Good shooting distance is offset distance, by portion faces central point to be detected according to offset direction and offset distance into arriving after line displacement As detection viewpoint position, detected part centre of surface point normal vector direction is detection direction for the position reached.

The detection module includes detection data acquisition module, detection data processing module, handling result display module, In:

Detection data acquisition module receives the point in the binocular stereo vision equipment field range that three dimensional detection module is sent Cloud information, and send it to detection data processing module;

Detection data processing module is fitted the point cloud information in binocular stereo vision equipment field range, obtains The real topography of measured surface, is compared with Theoretical Morphology, obtains pattern error;According to binocular stereo vision equipment visual field model Public target point in enclosing is in the coordinate information and binocular stereo vision equipment field range under measured object body coordinate system Point cloud information determines tested portion faces each coordinate of the point under measured object body coordinate system, each with theoretical finished surface The coordinate of point is compared, and obtains site error;Pattern error and site error are sent to handling result display module

Handling result display module:The pattern error and site error that receive are carried out visualization to show.

The advantages of the present invention over the prior art are that:

(1) present invention fusion omnidirectional intelligent family moving platform, industrial machinery arm, high-precision three-dimensional detection device are in one, shape At flexibly direct writing system, the pattern of traditional lathe three coordinates and artificial detection is changed, meets large-scale or super large, heavily loaded product In situ detection, improve the precision, efficiency and flexibility of detection;

(2), for the present invention for high-end equipment size is continuously increased, machining accuracy is constantly promoted, passage path plans subsystem System, can realize under conditions of ensureing accuracy of detection, optimize the erect-position of removable detection robot system detectio process, reduce Removable detection robot turns station number, and for the detection process under fixed erect-position, detection efficiency is improved in optimizing detection path, Ensure whole detection precision;

(3), the present invention plans in advance for features of the object to be detected, detection device characteristic, passage path planning subsystem It detects path and generates the program that mechanical arm and omnidirectional's intelligent family moving platform can perform offline, three-dimensional is examined automatically after completing detection Measured data is acquired and analyzes, and whole process is automatically controllable, improves three dimensional detection efficiency.

(4), the present invention is directed to the three dimensional detection process of large scale structure, is built first using the photogrammetric equipment of big field range Then the vertical entire benchmark for measuring field is directed to part and carries out the detection of small field of view range binocular stereo vision measuring apparatus, reduces The error that a wide range of three dimensional detection image mosaic is brought, improves three dimensional detection precision.

(5), the present invention simulates robotic arm path information by interference and collision inspection and emulation module, prevents tool arm Module and periphery object collide interference, and damage component improves testing reliability;

(6), by detection data acquisition and analyzing subsystem, the acquisition of detection data can be realized, by data Confluence analysis is automatically performed the comparison with theoretical model, forms intuitive error nephogram.

Description of the drawings

Fig. 1 is the system framework figure of packaged type three dimensional detection robot system of the present invention;

Fig. 2 is packaged type three dimensional detection robot system hardware of the present invention composition figure;

In figure:1 it is omnidirectional's intelligent family moving platform, 2 be detection data processing host computer, 3 be display, 4 is power control cabinet, 5 It is mechanical arm for mechanical arm controller, 6,7 be three dimensional detection module, 8 is camera.

Specific implementation mode

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

Robot detecting system can greatly promote working efficiency, improve product quality, reduce cost of labor, be led in industry The application in domain is more and more wider.Packaged type three dimensional detection robot system has the mobile system of Omni-mobile, need not be pre- First guide rail is laid in workshop, it can be achieved that the station within the scope of super large is converted.According to task, flow arrangement, quickly change Process layout truly realizes the intelligent flexible manufacture of product.Therefore, packaged type three dimensional detection robot system has There is the space flexibility of bigger, there is technical advance and frontier nature, be the important development direction of industry manufacture field.

The present invention provides a kind of packaged type three dimensional detection robot systems, can effectively improve three dimensional detection efficiency And precision.As depicted in figs. 1 and 2, which includes path planning subsystem, movable three-dimensional detection robot body subsystem System, detection data acquisition and analyzing subsystem.

1, path planning subsystem

Path planning subsystem is planning and the control mechanism of movable three-dimensional detection robot system.

Threedimensional model of the path planning subsystem based on examined object, according to each position to be detected in examined object The best shooting distance in position, installation of 3d inspection in body coordinate system determines detection viewpoint under measured object body coordinate system Coordinate and its visual field detection direction, and accordingly generate detection overall process platform path instruction and mechanical arm tail end routing instruction, It is respectively loaded on omnidirectional's intelligent family moving platform and mechanical arm module.

Path planning subsystem includes viewpoint planning module, platform erect-position and its path planning module, mechanical arm body road Diameter generation module, interference and collision inspection and emulation module, routing instruction generation module, wherein:

1.1 viewpoint planning modules

Threedimensional model based on examined object, according to each position to be detected in examined object body coordinate system Position, the best shooting distance of installation of 3d inspection determine coordinate and its visual field of the detection viewpoint under measured object body coordinate system Detection direction is sent to platform erect-position and its path planning module and mechanical arm body path-generating module.Best shooting distance It is determined according to the depth of field of installation of 3d inspection and field range.

The coordinate of the detection viewpoint and the determination method of detection direction are:

Using portion faces central point to be detected as starting point, which is offset direction, and installation of 3d inspection is most Good shooting distance is offset distance, by portion faces central point to be detected according to offset direction and offset distance into arriving after line displacement As detection viewpoint position, detected part centre of surface point normal vector direction is detection direction for the position reached.

The determination method of the portion faces central point to be detected and its normal vector is:By object surface F to be detected into Row u, v Parameter Expression F (u, v)=F (x (u, v), y (u, v), z (u, v)), u, v value range are [0,1], choose u, v Value is 0.5, obtains centre of surface coordinate to be detected (x (u, v), y (u, v), z (u, v));Further seek the method for center To vector, one of fixed u, v two parameter, such as given v=vi,vi∈ [0,1], just obtain on surface one about u curve p (u, vi), similarly, such as given u=ui,ui∈ [0,1] just obtains a curve p (u about v on surfacei, v), they are in the point (x (ui,vi),y(ui,vi),z(ui,vi)) at have u to local derviation vector p respectivelyu(ui,vi) and v to local derviation vector pv(ui,vi):

The unit normal vector of the point is:

It is hereby achieved that the normal vector of centre of surface point to be detected is n (0.5,0.5).

1.2 platform erect-positions and its path planning module

The robot motion of single erect-position is limited in scope, and cannot be satisfied the three dimensional detection of large scale structure, is based on viewpoint planning The movement accessibility constraint of the detection viewpoint and mechanical arm module of module output, using minimum erect-position as division principle generating platform station Position information.

The coordinate and machinery of platform erect-position and its path planning module according to detection viewpoint under measured object body coordinate system Plane where the installation of arm pedestal extrapolates the corresponding mechanical arm pedestal of each detection viewpoint using mechanical arm inverse kinematics method The range of position determines the mechanical arm of minimum number according to the intersection of the range of the corresponding mechanical arm base position of detection viewpoint The base targets band of position so that the reached Work Space Range of mechanical arm tail end positioned at these regions covers all detections and regards Point, using the central point of the mechanical arm base targets band of position as omnidirectional's intelligent family moving platform Target Station site, a website can It can one or more corresponding detection viewpoint.According to the current location information of omnidirectional's intelligent family moving platform and each Target Station site Scene between coordinate and each erect-position point, current location is constraint with the mechanical arm working space with three dimensional detection module, Determine that a nothing touches platform path information, the platform path information includes current location information, each target erect-position and erect-position point Between intermediate point coordinates, platform current location, each target mass point and intermediate point yaw angle, platform movement speed and Yaw rate.The movement speed of platform is the cartesian coordinate system X of omnidirectional's intelligent family moving platform module to, Y-direction speed vx、vy Value, yaw rate ωθ.The cartesian coordinate system of omnidirectional's intelligent family moving platform module is with omnidirectional's intelligent family moving platform module centers For origin, X is to, Y-direction and omnidirectional intelligent family moving platform module train axis consistent with omnidirectional's intelligent family moving platform module direction of advance Line is parallel.

1.3 mechanical arm body path-generating modules

Mechanical arm body path-generating module according to Target Station site in platform path information order, to each erect-position Point is input with the corresponding all detection viewpoint position information of erect-position point, most short for principle to detect distance between viewpoint, using something lost Propagation algorithm, the corresponding all detection viewpoints of traversal erect-position point, and each viewpoint of one process of optimization and each detection viewpoint By primary shortest path, generates mechanical arm tail end and detect routing information, the mechanical arm tail end detection routing information includes The sequence and coordinate of viewpoint, the forms of motion of mechanical arm tail end movement velocity, mechanical arm tail end between detecting viewpoint, such as directly Line, circular arc, spline curve etc..

1.4 interference and collision inspections and emulation module

Interference and collision inspection detects routing information with emulation module according to mechanical arm tail end, the visual field of each detection viewpoint is examined Directional information, the structure of mechanical arm, all joint motions processes of mechanical arm are surveyed, in conjunction with the scene information on mechanical arm periphery, are checked Whether mechanical arm module collides interference with periphery object, in case of interference and collision, is inserted in the path for the interference that collides Entering and avoid a little, and adjusts the forms of motion between evacuation point and two neighboring viewpoint, update mechanical arm tail end detects routing information, So that mechanical arm module and periphery object is not collided interference, if not colliding interference, retain original and detect path, it is described more Mechanical arm tail end detection routing information after new includes viewpoint and avoids the sequence and coordinate of point, mechanical arm tail end movement velocity, Forms of motion of the mechanical arm between each point, such as straight line, circular arc, spline curve.

Interference and collision inspection can be realized with emulation module by Process Simulate simulation softwares of Siemens, imitative Model, the controller version of mechanical arm and intelligent family moving platform are inputted in true software, simulation software can automatically extract mechanical arm With the structure and control algolithm of intelligent family moving platform, completes to model entire packaged type three dimensional detection robot system, pass through The scene layout of testee and the movement definition of simulation process Omni-mobile intelligent platform and mechanical arm, you can carry out path letter Breath simulation.

1.5 directive generation module

Each joint peak acceleration, mechanical arm basis coordinates system and the tool coordinates system of directive generation module combination setting, Posture and position of the binocular solid detection device body coordinate system in the tool coordinates system that mechanical arm is given tacit consent to, by each platform mesh The visual field detection direction information of the corresponding robotic arm path information in labeling station site and each detection viewpoint is converted to robotic arm path Control instruction, change station site recycle this process, generate along the corresponding robotic arm path control in all Target Station sites of platform path System instruction, omnidirectional's intelligent family moving platform and mechanical arm module mutual cooperation sequential are added and start and suspend control instruction, and group is helped Process executable program is loaded onto mechanical arm module;Omnidirectional's intelligent family moving platform routing information is converted into platform path control Instruction, omnidirectional's intelligent family moving platform and mechanical arm module mutual cooperation sequential are added and start and suspend control instruction, and group was helped Journey executable program is loaded onto omnidirectional's intelligent family moving platform.

2. movable three-dimensional detects robot body subsystem

Movable three-dimensional detection robot body subsystem is the executing agency of packaged type three dimensional detection robot system. Detection task is executed according to the control instruction that path planning subsystem issues.Including omnidirectional's intelligent family moving platform, mechanical arm module, Three dimensional detection module, three dimensional detection module are mounted on the end of mechanical arm, are used as robot arm end effector, mechanical arm module peace On omnidirectional's intelligent family moving platform, omnidirectional's intelligent family moving platform and mechanical arm module cooperate, according to respective preset road Diameter instructs, and is moved along specified path, and control three dimensional detection module alignment is tested viewpoint, three dimensional detection is carried out, by testing result It is sent to detection data acquisition and analyzing subsystem.

2.1 omnidirectional's intelligent family moving platform modules

Omnidirectional's intelligent family moving platform module 1 is for realizing packaged type three dimensional detection robot more than machine in work-yard Movement outside tool arm block motion stroke, specially:It is instructed according to preset platform path, is moved along specified path, work as arrival Automatic pause when each Target Station site sends enabled instruction to machinery;The website for receiving the transmission of mechanical arm module measures end letter It after number, instructs according to preset platform path, is moved along specified path, be moved to next Target Station site, repeat above-mentioned Process, until having traversed all Target Station sites.

Omnidirectional's intelligent family moving platform module 1 includes mainly power control cabinet 4, Mecanum wheel group, stable support structure, omnidirectional's intelligence Energy mobile platform module is powered using vehicle power supply, by 4 driving motor of power control cabinet, and then drives four sets of Mecanum wheels fortune It is dynamic, it can realize the 360 degree of any direction movements of Omni-mobile platform by adjusting the steering of every set Mecanum wheel and rotating speed, when When Mecanum wheel group lifts Omni-mobile intelligent platform and moves to designated position, pass through vacuum cup lower margin stable support structure Four hydraulic legs move downward and support entire platform, it is therefore an objective to when preventing manipulator motion, omnidirectional's intelligent family moving platform It vibrates.

Omnidirectional's intelligent family moving platform module uses vision guided navigation positioning method, which to acquire ground using camera 8 Graticule and Quick Response Code obtain the flute of omnidirectional's intelligent family moving platform module by identifying that graticule and Quick Response Code complete positioning and navigation Karr coordinate system X, Y value, yaw angle θ concrete numerical values.

2.2 mechanical arm modules

After mechanical arm module receives enabled instruction, according to preset robotic arm path instruct its mobile end to can and model First detection viewpoint of portion faces to be detected in enclosing, by three dimensional detection module alignment, the detection regards for control machinery arm end Point sends out measurement instruction to three dimensional detection module later.

Mechanical arm module can select the KUKA companies KR210R2700-extra (mechanical arm model), mechanical arm module to include Mechanical arm 6 and mechanical arm controller 5, mechanical arm are made of six rotary shafts of A1, A2, A3, A4, A5, A6, and manipulator is respectively closed Corner angular velocity omega A1, ω A2, ω A3, ω A4, ω A5, the ω A6 of section, Manipulator Controller is for control machinery hand module A1, A2, A3, A4, A5, A6 start and stop of totally 6 rotary shafts, rotational angle, angular speed realize the connection of A1, A2, A3, A4, A5, A6 Dynamic, i.e., the position that A6 shaft ends are connect with arm end effector can be according to specified straight line, circular arc or spline curve interpolation. The present invention controls the rotational angle, angular speed, angular acceleration of each axis by mechanical arm controller, drive three dimensional detection module into Row movement.Mechanical arm module is popular industrial machine people's system, is configured by XML file and realizes this module and three dimensional detection end The communication function of executor module.

2.3 three dimensional detection modules

Three dimensional detection module 7 executes measurement action after receiving measurement instruction, and measurement result is sent to detection data and is adopted Collection and analyzing subsystem send viewpoint measurement end signal and give mechanical arm module, mechanical arm is according to preset mechanical arm road later Diameter instructs, and control machinery arm end is by the next detection viewpoint of three dimensional detection module alignment portion faces to be detected, later, to three Dimension detection module sends out measurement instruction, and by three dimensional detection module alignment, the detection viewpoint measures, and repeats the above process, until Three dimensional detection module complete the Target Station site can and the measurement task of all detection viewpoints in range after, mechanical arm module End signal is measured to omnidirectional's intelligent family moving platform transmitting station.

It includes being directed to that three dimensional detection module, which can select GOM companies ATOS Triple Scan II, the three dimensional detection module, The binocular stereo vision equipment of small field of view range and photogrammetric equipment for big field range.Binocular stereo vision equipment master Small range high-acruracy survey is solved, photogrammetric equipment mainly solves to detect benchmark transfer on a large scale.Binocular stereo vision Equipment and photogrammetric equipment are respectively imaged tested portion faces and the measured object overall situation, and the topography of acquisition is believed Breath and global image information are sent to detection data acquisition and analyzing subsystem, and topography's information is binocular stereo vision Point cloud information in equipment field range, including tested portion faces point cloud information and its at least four public target point point cloud letters Breath, global image information include the image information and at least four public target pointing informations of the testee overall situation.Described public Punctuate is evenly distributed on testee surface.It is described public coordinate of the punctuate under measured object body coordinate system to be determined by target Level measurement device obtains, and target positioning measurement equipment can be laser tracker or total powerstation.

3, detection data acquisition and analyzing subsystem

It is the three dimensional detection interpretation of result of movable three-dimensional detection robot system that detection data, which is acquired with analyzing subsystem, With application device.It includes detection data acquisition module, detection data processing module, processing that detection data, which is acquired with analyzing subsystem, Result display module.

3.1 detection data acquisition modules

Detection data acquisition module receives the point in the binocular stereo vision equipment field range that three dimensional detection module is sent Cloud information, and send it to detection data processing module;

3.2 detection data processing modules

Detection data processing module 2 is fitted the point cloud information in binocular stereo vision equipment field range, obtains The real topography of measured surface, is compared with Theoretical Morphology, obtains pattern error;According to binocular stereo vision equipment visual field model Public target point in enclosing is in the coordinate information and binocular stereo vision equipment field range under measured object body coordinate system Point cloud information determines tested portion faces each coordinate of the point under measured object body coordinate system, each with theoretical finished surface The coordinate of point is compared, and obtains site error;Pattern error and site error are sent to handling result display module

3.3 handling result display modules

The pattern error and site error that receive are carried out visualization and shown by handling result display module 3, for instructing behaviour The judgement of result is detected as personnel.

The present invention, which is not described in detail, partly belongs to common sense well known to those skilled in the art.

Claims (8)

1. a kind of packaged type three dimensional detection robot system, it is characterised in that including path planning subsystem, movable three-dimensional Robot subsystems, detection data acquisition and analyzing subsystem are detected, wherein:
Movable three-dimensional detects robot subsystems, including omnidirectional's intelligent family moving platform, mechanical arm module, three dimensional detection module, Three dimensional detection module is mounted on the end of mechanical arm, is used as robot arm end effector, and mechanical arm module is mounted on omnidirectional's intelligence On mobile platform, omnidirectional's intelligent family moving platform and mechanical arm module cooperate, according to respective preset routing instruction, along specified Path movement, control three dimensional detection module alignment be tested viewpoint, carry out three dimensional detection, testing result is sent to detection data Acquisition and analyzing subsystem;
Detection data acquire and analyzing subsystem, according to testing result to be tested portion faces pattern error and site error into Row analysis, and analysis result is visualized and is shown;
Path planning subsystem, the threedimensional model based on examined object, according to each position to be detected in examined object sheet The best shooting distance in position, installation of 3d inspection in body coordinate system determines detection viewpoint under measured object body coordinate system Coordinate and its visual field detection direction, and accordingly generate the instruction of detection overall process platform path and mechanical arm tail end routing instruction.
2. a kind of packaged type three dimensional detection robot system according to claim 1, it is characterised in that:
Omnidirectional's intelligent family moving platform, for realizing packaged type three dimensional detection robot more than mechanical arm module in work-yard Movement outside movement travel, specially:It instructs according to preset platform path, is moved along specified path, when each Target Station of arrival Automatic pause when site sends enabled instruction to mechanical arm;
Mechanical arm module, after receiving enabled instruction, according to preset robotic arm path instruct its mobile end to can and range First detection viewpoint of interior portion faces to be detected, control machinery arm end by the three dimensional detection module alignment detection viewpoint, Later, measurement instruction is sent out to three dimensional detection module;
Three dimensional detection module receives and executes measurement action after measurement instruction, by measurement result be sent to detection data acquisition with Analyzing subsystem sends viewpoint measurement end signal and mechanical arm module, mechanical arm is given to refer to according to preset robotic arm path later It enables, control machinery arm end is by the next detection viewpoint of three dimensional detection module alignment portion faces to be detected, later, is examined to three-dimensional It surveys module and sends out measurement instruction, the detection viewpoint measures by three dimensional detection module alignment, repeats the above process, until three-dimensional Detection module complete the Target Station site can and the measurement task of all detection viewpoints in range after, mechanical arm module is to complete End signal is measured to intelligent family moving platform transmitting station;
After omnidirectional's intelligent family moving platform receives website measurement end signal, instructed according to preset platform path, along specified circuit Diameter moves, and is moved to next Target Station site, repeats the above process, until having traversed all Target Station sites.
3. a kind of packaged type three dimensional detection robot system according to claim 2, it is characterised in that three dimensional detection mould Block includes binocular stereo vision equipment and photogrammetric equipment, and binocular stereo vision equipment and photogrammetric equipment are respectively to tested Portion faces and the measured object overall situation are imaged, and topography's information of acquisition and global image information are sent to testing number According to acquisition and analyzing subsystem, topography's information is the point cloud information in binocular stereo vision equipment field range, packet Tested portion faces point cloud information and its at least four public target point point cloud information are included, global image information includes testee The global public target pointing information of image information and at least four.
4. a kind of packaged type three dimensional detection robot system according to claim 3, it is characterised in that described public Punctuate is evenly distributed on testee surface.
5. a kind of packaged type three dimensional detection robot system according to claim 3, it is characterised in that described public Coordinate of the punctuate under measured object body coordinate system is obtained by target positioning measurement equipment.
6. a kind of packaged type three dimensional detection robot system according to claim 1, it is characterised in that path planning mould Block includes viewpoint planning module, platform erect-position and its path planning module, mechanical arm body path-generating module, interference and collision inspection Look into emulation module, routing instruction generation module, wherein:
Viewpoint planning module, the threedimensional model based on examined object, according to each position to be detected in examined object ontology The seat of the best shooting distance in position, installation of 3d inspection, determining detection viewpoint under measured object body coordinate system in coordinate system Mark and its visual field detection direction, are sent to platform erect-position and its path planning module and mechanical arm body path-generating module;
Platform erect-position and its path planning module, according to coordinate and mechanical arm base of the detection viewpoint under measured object body coordinate system Plane where seat installation extrapolates the corresponding mechanical arm base position of each detection viewpoint using mechanical arm inverse kinematics method Range the mechanical arm base targets position of minimum number is determined according to the range of the corresponding mechanical arm base position of detection viewpoint Set region so that the reached Work Space Range of mechanical arm tail end positioned at these regions covers all detection viewpoints, will be mechanical The central point of the arm base targets band of position is as omnidirectional's intelligent family moving platform Target Station site, according to omnidirectional's intelligent family moving platform Current location information and the coordinate and each erect-position point, current location in each Target Station site between scene, to carry three-dimensional The mechanical arm working space of detection module is constraint, determines that a nothing touches platform path information, the platform path information includes Intermediate point coordinates between current location information, each target erect-position and erect-position point, platform current location, each target mass point and The yaw angle of intermediate point, platform movement speed and yaw rate;
Mechanical arm body path-generating module, according to the order in Target Station site in platform path information, to each erect-position point, It is input with the corresponding all detection viewpoint position information of erect-position point, it is most short for principle to detect distance between viewpoint, using heredity Algorithm, the corresponding all detection viewpoints of traversal erect-position point, and each viewpoint of one process of optimization and each detection viewpoint only passes through Primary shortest path is crossed, mechanical arm tail end is generated and detects routing information;
Interference and collision inspection and emulation module detect routing information according to mechanical arm tail end, the visual field of each detection viewpoint detects All joint motions processes of directional information, the structure of mechanical arm, mechanical arm, in conjunction with the scene information on mechanical arm periphery, check machine Whether tool arm module collides interference with periphery object, in case of interference and collision, is inserted into the path for the interference that collides Point is avoided, and adjusts the forms of motion between evacuation point and two neighboring viewpoint, update mechanical arm tail end detects routing information, makes The interference that do not collide of mechanical arm module and periphery object retains original and detects path if not colliding interference;
Directive generation module, by the visual field of the corresponding robotic arm path information in each platform Target Station site and each detection viewpoint Detection direction information is converted to robotic arm path control instruction, and change station site recycles this process, generates all along platform path The corresponding robotic arm path control instruction in Target Station site, omnidirectional's intelligent family moving platform and mechanical arm module mutual cooperation sequential, It is added and starts and suspend control instruction, form overall process executable program, be loaded onto mechanical arm module;Omnidirectional's intelligent mobile is put down Platform routing information is converted to platform path control instruction, omnidirectional's intelligent family moving platform and mechanical arm module mutual cooperation sequential, adds Enter startup and pause control instruction, forms overall process executable program, be loaded onto omnidirectional's intelligent family moving platform.
7. a kind of packaged type three dimensional detection robot system according to claim 6, it is characterised in that detect viewpoint Coordinate and detection direction are determined by following method:
Using portion faces central point to be detected as starting point, which is offset direction, and installation of 3d inspection is most preferably clapped Photographic range is offset distance, by portion faces central point to be detected according to offset direction and offset distance into reaching after line displacement As detection viewpoint position, detected part centre of surface point normal vector direction is detection direction for position.
8. a kind of packaged type three dimensional detection robot system according to claim 1, it is characterised in that the detection mould Block includes detection data acquisition module, detection data processing module, handling result display module, wherein:
Detection data acquisition module receives the point cloud letter in the binocular stereo vision equipment field range that three dimensional detection module is sent Breath, and send it to detection data processing module;
Detection data processing module is fitted the point cloud information in binocular stereo vision equipment field range, is tested The real topography on surface, is compared with Theoretical Morphology, obtains pattern error;According in binocular stereo vision equipment field range Point cloud of the public target point in coordinate information and binocular stereo vision equipment field range under measured object body coordinate system Information determines tested portion faces each coordinate of the point under measured object body coordinate system, is each put with theoretical finished surface Coordinate is compared, and obtains site error;Pattern error and site error are sent to handling result display module
Handling result display module:The pattern error and site error that receive are carried out visualization to show.
CN201711482288.0A 2017-12-29 2017-12-29 Movable three-dimensional detection robot system CN108286949B (en)

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