CN108692688A - A kind of robot measurement-system of processing scanner coordinate system automatic calibration method - Google Patents
A kind of robot measurement-system of processing scanner coordinate system automatic calibration method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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Abstract
The invention discloses a kind of robot measurement-system of processing scanner coordinate system automatic calibration methods, it initially sets up robot motion and scanner scanning collaboration staking-out work flow, next establishes scanner scanning point data processing method, finally according to coordinate conversion relation, scanner coordinate system and the transition matrix of robot coordinate system are established, to complete the automatic Calibration of scanner coordinate system.The present invention overcomes complicated flows that traditional artificial operation robot is demarcated, and the drawbacks such as tool clamping error in calibration process, it is easily achieved the automatic Calibration of robot measurement-system of processing scanner coordinate system, the fields such as Aeronautics and Astronautics, automobile, high ferro, energy complex parts robot measurement-system of processing is can be widely applied to, and significantly improves machining accuracy.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of robot measurement-system of processing scanner seat
Mark system automatic calibration method.
Background technology
With the fast development of Industrial Robot Technology, the measurement system of processing based on robot is widely used to navigate
All kinds of parts machinings in the fields such as sky, space flight, automobile, high ferro, the energy, and traditional artificial operating type is gradually replaced, realize zero
Component production automation.In order to ensure good machining accuracy, need to demarcate measuring system (scanner), and emphasis is true
Determine the position relationship between robot coordinate system and measuring system.The procedure demarcated using manual operation robot is numerous
Trivial, operation difficulty is big, requires operating personnel's technology horizontal high.Application No. is 201510483410.0 Chinese invention patent Shens
A kind of Robotic Hand-Eye Calibration method based on scanner please be disclose, it proposes a kind of last using scanner scanning robot
Clamping device is held, to obtain scaling method of the scanner coordinate system relative to robot end's coordinate system physical location, the party
Method uses linear movement in translation matrix calibration, and calibration process operation difficulty is big, is not easy to realize calibration automation.
Invention content
The present invention provides a kind of robot measurement-system of processing scanner coordinate system automatic calibration method, it uses and resets
Position mode, has the characteristics that precision higher, is easily achieved overall process automatic Calibration, can be widely used in Surface scan and profile scanner
Device people measurement-system of processing.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of robot measurement-system of processing scanner coordinate system automatic calibration method, includes the following steps:
S1, robot motion and scanner scanning collaboration staking-out work flow are established:Chosen in robot coordinate system to
The end of few four positions antarafacial tool0, robot is clamped with standard ball, and PC control robot executes motor program and sweeps
It retouches instrument and executes scanner program, the standard ball in any positions tool0 is made to be scanned by scanner at least four different postures,
The locus of points information that robot motion and scanner scanning obtain returns to host computer;
S2, scanner scanning point data is established:According to point data processing method, host computer extracts standard umbilical point cloud,
The sphere centre coordinate of all standard balls in scanner coordinate system is calculated, then fitting sphere centre coordinate is calculated accordingly;
S3, by coordinate conversion relation, scanner coordinate system and the transition matrix of robot coordinate system are established, by step S1
The fitting sphere centre coordinate in the positions tool0 and step S2 in middle robot coordinate system, is calculated transition matrix, to realize
The automatic Calibration of scanner coordinate system.
According to the above technical scheme, in step S1, four positions antarafacial tool0 are denoted as a points, b points, c points, d points, machine respectively
Standard ball, which is clamped, in people makes it be done successively along robot coordinate system's y-axis a to b, z-axis b to c, x-axis c to d within sweep of the eye in scanner
The terminal of linear movement, the every once linear movement of robot is returned to the positions tool0 under robot coordinate system, and each
Sublinear exercise end is that TCP points do reorientation movement with tool0.
According to the above technical scheme, in step S1, distance is 100mm between a points and b points, b points and c points, c points and d points.
According to the above technical scheme, in step S1, four kinds of different postures are denoted as posture A, posture B, posture C, posture respectively
D, posture A are given for user, and posture B, posture C, posture D are generated by fixed rotation angle, and be evenly distributed on posture A weeks
It encloses.
According to the above technical scheme, step S2 includes:
S201, the extraction of standard umbilical point cloud:For the scanning element cloud containing environment such as fixtures, using method of section to standard ball
Point cloud extracts, and specially uses x=xminAnd x=xminTwo cutting planes of+d intercept a cloud, wherein xminFor a cloud cross
Coordinate minimum value, 0<d<Rb, RbFor the standard radius of a ball;
S202, standard ball scheming are calculated:To scanning element cloud extraction standard ball umbilical point cloud, believe according to umbilical point cloud position is obtained
Breath carries out ball the Fitting Calculation standard sphere centre coordinate (x using least square method0,y0,z0), expression formula is as follows:
ei(x0,y0,z0, R) and=(xi-x0)2+(yi-y0)2+(zi-z0)2-R2 (1)
Wherein, (xi,yi,zi) it is standard umbilical point cloud coordinate, R is the fit standard radius of a ball, and formula (2) meets
Solution formula (3) acquires standard sphere centre coordinate (x0,y0,z0);
S203, the fitting centre of sphere calculate:If the coordinate for being fitted the centre of sphere is (x, y, z), radius r respectively obtains A, B, C, D tetra-
Standard centre of sphere Q1 (x under the different postures of kind01,y01,z01), Q2 (x02,y02,z02), Q3 (x03,y03,z03) and Q4 (x04,y04,
z04), and meet following formula:
It is solved (x, y, z) by formula (4), that is, obtains the coordinate of the fitting centre of sphere, while being also under scanner coordinate system
Tool0 coordinate values (xs,ys,zs), tetra- fitting sphere centre coordinates of a, b, c, d, which are thus calculated, is respectively
According to the above technical scheme, step S3 includes:
S301, the sphere centre coordinate being fitted according to tool0 points under scanner coordinate system
Four antarafacials in scanning element returned according to robot
Tool0 location informations are denoted as
S302, it sets scanner coordinate system and is transformed into the spin matrix of robot coordinate system as Tr, translation matrix Tm, therefore
Following formula is met at 4 points to a, b, c, d:
Solution formula (5) obtains spin matrix
If translation matrix Tm=(xm ym zm), for any point (x in scanner coordinate systems,ys,zs), it is transformed into machine
(x in people's coordinate systemr,yr,zr) there is following formula establishment:
It substitutes into any point coordinates between a, b, c, d and acquires translation matrix Tm。
The beneficial effect comprise that:The present invention is by establishing the conversion of robot coordinate system and scanner coordinate system
Relationship overcomes complicated flow and calibration process clamping error that traditional artificial operation robot is demarcated, can significantly carry
Stated accuracy is risen, realizes calibration process automation.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is that system of processing schematic diagram is measured in the embodiment of the present invention;
Fig. 2 is automatic calibration method schematic diagram in the embodiment of the present invention;
Fig. 3 is that robot cooperates with calibration process schematic diagram with scanner in the embodiment of the present invention;
Fig. 4 is Plays spherical surface data reduction schematic diagram of the embodiment of the present invention;
Fig. 5 is four-point method digital simulation centre of sphere schematic diagram in the embodiment of the present invention;
Fig. 6 is principle of coordinate transformation figure in the embodiment of the present invention;
Fig. 7 is that calibration software flow chart is automated in the embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
A kind of robot measurement-system of processing scanner coordinate system automatic calibration method, includes the following steps:
S1, robot motion and scanner scanning collaboration staking-out work flow are established:As shown in Figure 1, in robot coordinate
At least four positions antarafacial tool0 are chosen in system, the end of robot 1 is clamped with standard ball 2, and host computer 4 controls robot 1 and holds
Row motor program and scanner 3 execute scanner program, keep the standard ball 2 in any positions tool0 different at least four
Posture is scanned by scanner, and the locus of points information of robot motion and scanner scanning acquisition returns to host computer, returns simultaneously
In tool0 (TCP) location information of scanning element;
S2, scanner scanning point data is established:As shown in figure 4, according to point data processing method, host computer is to standard spherical surface
The sphere centre coordinate of all standard balls in scanner coordinate system is calculated in data reduction, then the fitting centre of sphere is calculated accordingly and sits
Mark;
S3, as shown in fig. 6, by coordinate conversion relation, establish scanner coordinate system and the conversion square of robot coordinate system
Battle array, by the fitting sphere centre coordinate in the positions tool0 and step S2 in robot coordinate system in step S1, is calculated conversion square
Battle array, to realize the automatic Calibration of scanner coordinate system.
In a preferred embodiment of the invention, as shown in figure 3, in step S1, four positions antarafacial tool0 are denoted as a respectively
Point, b points, c points, d points, robotic gripper standard ball make it in scanner within sweep of the eye with tool0 for TCP (center cutter point)
Linear movement is done along robot coordinate system's y-axis (negative sense) a to b, z-axis b to c, x-axis c to d, specifically, a points and b points, b points and c
Distance is 100mm between point, c points and d points, makes standard ball scanned with tetra- kinds of postures of A, B, C, D in tetra- points of a, b, c, d
Instrument scans, and wherein A postures are given for user, and B, C, D posture are generated by fixed rotation angle, are evenly distributed on around A postures,
A, the standard ball centre of sphere is non-coplanar under tetra- kinds of postures of B, C, D, and the terminal of the every once linear movement of robot is returned to robot seat
The positions tool0 under mark system, and be that TCP points do reorientation movement (i.e. in robot with tool0 in linear movement terminal each time
When moving to a, robot is that TCP makees reorientation movement with tool0).Robot motion instructs with scanner scanning during being somebody's turn to do
It is triggered by host computer, to achieve the purpose that collaboration calibration.
In a preferred embodiment of the invention, step S2 includes:
S201, the extraction of standard umbilical point cloud:As shown in figure 4, for the scanning element cloud containing environment such as fixtures, using section
Method extracts standard ball point cloud, specially uses x=xminAnd x=xminTwo cutting planes of+d intercept a cloud, wherein
xminFor a cloud abscissa minimum value, 0<d<Rb, RbFor the standard radius of a ball;
S202, standard ball scheming are calculated:To scanning element cloud extraction standard ball umbilical point cloud, believe according to umbilical point cloud position is obtained
Breath carries out ball the Fitting Calculation standard sphere centre coordinate (x using least square method0,y0,z0), expression formula is as follows:
ei(x0,y0,z0, R) and=(xi-x0)2+(yi-y0)2+(zi-z0)2-R2 (1)
Wherein, (xi,yi,zi) it is standard umbilical point cloud coordinate, R is the fit standard radius of a ball, and formula (2) meets
Solution formula (3) acquires standard sphere centre coordinate (x0,y0,z0);
S203, the fitting centre of sphere calculate:As shown in figure 5, setting the coordinate for being fitted the centre of sphere as (x, y, z), radius r is obtained respectively
Standard centre of sphere Q1 (x under tetra- kinds of different postures of A, B, C, D01,y01,z01), Q2 (x02,y02,z02), Q3 (x03,y03,z03) and
Q4(x04,y04,z04), and meet following formula:
It is solved (x, y, z) by formula (4), that is, obtains the coordinate of the fitting centre of sphere, while being also under scanner coordinate system
Tool0 coordinate values (xs,ys,zs), tetra- fitting sphere centre coordinates of a, b, c, d, which are thus calculated, is respectively
In a preferred embodiment of the invention, after the fitting centre of sphere calculates completion, according to robot motion path, computer
Spin matrix between device people coordinate system and scanner coordinate system, principle of coordinate transformation figure is as shown in fig. 6, step S3 includes:
S301, the sphere centre coordinate being fitted according to tool0 points under scanner coordinate system
Four in scanning element returned according to robot are different
Face tool0 location informations are denoted asb
S302, it sets scanner coordinate system and is transformed into the spin matrix of robot coordinate system as Tr, translation matrix Tm, therefore
Following formula is met at 4 points to a, b, c, d:
Solution formula (5) obtains spin matrix
If translation matrix Tm=(xm ym zm), for any point in scanner coordinate systemIt is transformed into machine
(x in people's coordinate systemr,yr,zr) there is following formula establishment:
It substitutes into any point coordinates between a, b, c, d and acquires translation matrix Tm。
By taking a point A Attitude Calculations as an example:
1, standard umbilical point cloud extracts:Using x=xminAnd x=xmin+0.75RbTwo cutting planes intercept a cloud, such as
Shown in Fig. 4, wherein xminFor a cloud abscissa minimum value,For the standard radius of a ball;
2, standard ball scheming is calculated:It solves formula (3) and acquires standard sphere centre coordinate (x0,y0,z0), fit standard radius of a ball R
There are formula (8) calculating, Pan Duan |Rb-R|Whether≤0.01mm is true, with the accuracy and validity of criterion sphere centre coordinate,
If not, the 6th axis multiple scanning of rotary machine people calculates, and chooses the corresponding sphere centre coordinate of immediate R values as standard ball
Heart coordinate,
3, the fitting centre of sphere calculates:Similar, according to 1.2 steps to a point B, C, D Attitude Calculation standard centre ofs sphere, and pass through public affairs
Formula (4) solves (x, y, z) and obtains the point coordinates, while being also tool0 coordinate values under scanner coordinate system, and is denoted as
B, the same a of c, d point calculating process.
The cardinal principle of the present invention, as shown in Fig. 2, including following following steps:
S1, robot motion and scanner scanning collaboration staking-out work flow are established;
S2, scanner scanning point data processing method is established;
S3, scanner coordinate system and robot coordinate system are established according to coordinate conversion relation by step S2 acquisitions data
Transition matrix, to realize the automatic Calibration of scanner coordinate system.
As shown in fig. 7, the automation demarcation flow realized in measuring system of processing for the present invention.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of robot measurement-system of processing scanner coordinate system automatic calibration method, which is characterized in that including walking as follows
Suddenly:
S1, robot motion and scanner scanning collaboration staking-out work flow are established:At least four are chosen in robot coordinate system
The end of the positions a antarafacial tool0, robot is clamped with standard ball, and PC control robot executes motor program and scanner
Scanner program is executed, so that the standard ball in any positions tool0 is scanned by scanner at least four different postures, machine
The locus of points information that people moves and scanner scanning obtains returns to host computer;
S2, scanner scanning point data is established:According to point data processing method, host computer extracts standard umbilical point cloud, calculates
The sphere centre coordinate of all standard balls in scanner coordinate system is obtained, then fitting sphere centre coordinate is calculated accordingly;
S3, by coordinate conversion relation, scanner coordinate system and the transition matrix of robot coordinate system are established, by machine in step S1
The fitting sphere centre coordinate in the positions tool0 and step S2 in device people's coordinate system, is calculated transition matrix, to realize scanning
The automatic Calibration of instrument coordinate system.
2. robot measurement according to claim 1-system of processing scanner coordinate system automatic calibration method, feature exist
In in step S1, four positions antarafacial tool0 are denoted as a points, b points, c points, d points respectively, and robotic gripper standard ball makes it sweep
It retouches instrument and does linear movement along robot coordinate system's y-axis a to b, z-axis b to c, x-axis c to d successively within sweep of the eye, robot is every
The terminal of once linear movement is returned to the positions tool0 under robot coordinate system, and linear movement terminal each time with
Tool0 is that TCP points do reorientation movement.
3. robot measurement according to claim 2-system of processing scanner coordinate system automatic calibration method, feature exist
In in step S1, distance is 100mm between a points and b points, b points and c points, c points and d points.
4. robot measurement according to claim 2-system of processing scanner coordinate system automatic calibration method, feature exist
In in step S1, four kinds of different postures are denoted as posture A, posture B, posture C, posture D respectively, and posture A is given for user, appearance
State B, posture C, posture D are generated by fixed rotation angle, and are evenly distributed on around posture A.
5. robot measurement according to claim 4-system of processing scanner coordinate system automatic calibration method, feature exist
In step S2 includes:
S201, the extraction of standard umbilical point cloud:For the scanning element cloud containing environment such as fixtures, using method of section to standard ball point cloud
It extracts, specially uses x=xminAnd x=xminTwo cutting planes of+d intercept a cloud, wherein xminFor a cloud abscissa
Minimum value, 0<d<Rb, RbFor the standard radius of a ball;
S202, standard ball scheming are calculated:To scanning element cloud extraction standard ball umbilical point cloud, according to obtaining umbilical point cloud location information,
Ball the Fitting Calculation standard sphere centre coordinate (x is carried out using least square method0,y0,z0), expression formula is as follows:
ei(x0,y0,z0, R) and=(xi-x0)2+(yi-y0)2+(zi-z0)2-R2 (1)
Wherein, (xi,yi,zi) it is standard umbilical point cloud coordinate, R is the fit standard radius of a ball, and formula (2) meets
Solution formula (3) acquires standard sphere centre coordinate (x0,y0,z0);
S203, the fitting centre of sphere calculate:If the coordinate for being fitted the centre of sphere is (x, y, z), radius r respectively obtains tetra- kinds of A, B, C, D not
With the standard centre of sphere Q1 (x under posture01,y01,z01), Q2 (x02,y02,z02), Q3 (x03,y03,z03) and Q4 (x04,y04,z04), and
Meet following formula:
It is solved (x, y, z) by formula (4), that is, obtains the coordinate of the fitting centre of sphere, while being also tool0 seats under scanner coordinate system
Scale value (xs,ys,zs), tetra- fitting sphere centre coordinates of a, b, c, d, which are thus calculated, is respectively
6. robot measurement according to claim 5-system of processing scanner coordinate system automatic calibration method, feature exist
In step S3 includes:
S301, the sphere centre coordinate being fitted according to tool0 points under scanner coordinate system
Four in scanning element returned according to robot are different
Face tool0 location informations are denoted as a
S302, it sets scanner coordinate system and is transformed into the spin matrix of robot coordinate system as Tr, translation matrix Tm, therefore to a,
B, 4 points of c, d meets following formula:
Solution formula (5) obtains spin matrix
If translation matrix Tm=(xm ym zm), for any point (x in scanner coordinate systems,ys,zs), it is transformed into robot coordinate
(x in systemr,yr,zr) there is following formula establishment:
It substitutes into any point coordinates between a, b, c, d and acquires translation matrix Tm。
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| CN109571471B (en) * | 2018-12-03 | 2021-12-21 | 宇环数控机床股份有限公司 | Method for calibrating relative spatial position of double robots |
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