CN109605372A - A kind of method and system of the pose for survey engineering mechanical arm - Google Patents
A kind of method and system of the pose for survey engineering mechanical arm Download PDFInfo
- Publication number
- CN109605372A CN109605372A CN201811566919.1A CN201811566919A CN109605372A CN 109605372 A CN109605372 A CN 109605372A CN 201811566919 A CN201811566919 A CN 201811566919A CN 109605372 A CN109605372 A CN 109605372A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- coordinate system
- target
- pose
- carrier coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of method and system of pose for survey engineering mechanical arm, this method comprises: target installation steps, at least three targets are mounted on to the end of the engineering machinery arm, this at least three target and the set point of the central axes of the mechanical arm cantilever crane is made to constitute predetermined location relationship；Parameters acquiring procedure obtains the parameters of structural dimension and installation dimension parameter of location information and the target of at least three target under mechanical arm carrier coordinate system；Mechanical arm tail end pose calculates step, using the location information and parameters of structural dimension and installation dimension parameter of the predetermined location relationship and acquisition, posture information including position coordinates and posture of the mechanical arm tail end currently under mechanical arm carrier coordinate system is calculated.It is capable of position and the posture of real-time and accurate measurement mechanical arm by means of the present invention, less important work personnel are used to control the movement of the mechanical arm, and preferably fulfil assignment task.
Description
Technical field
The present invention relates to a kind of method of engineering machinery field more particularly to pose for survey engineering mechanical arm and it is
System.
Background technique
During tunnel construction, surrouding rock deformation and broken in order to prevent, it usually needs using setting up arch, installation
The methods of anchor pole, extension steel mesh, gunite concrete reinforce country rock.It, should by taking tunnel arch Multifunctional performing machine as an example
Trolley is to collect arch position, install, being welded in integrated automation constructing tunnel equipment, and the operation cantilever crane as its core is one
The serial mechanism of a 10 freedom degree makes the scheduled position of end apparatus for work realization by adjusting joint position and posture is more function
The basic demand of energy Mobile workbench, while being also the key technology in its development.
Multifunctional performing machine cantilever crane is long, joint is more, own wt is big, Yi Fasheng plastic deformation, and after processing and assembly
All parts there are scale error, realize that the accurate positioning of end apparatus for work has very big technical difficulty, it is therefore desirable to
A kind of method that can quickly, more accurately acquire mechanical arm tail end pose.
Summary of the invention
The first technical problem to be solved by the present invention is to need to provide a kind of pose for survey engineering mechanical arm
Method and system.
In order to solve the above-mentioned technical problem, embodiments herein provides firstly a kind of for survey engineering mechanical arm
The method of pose, this method comprises: at least three targets, are mounted on the end of the engineering machinery arm by target installation steps,
This at least three target and the set point of the central axes of the mechanical arm cantilever crane is set to constitute predetermined location relationship；Parameters acquiring procedure,
Obtain the parameters of structural dimension of location information and the target of at least three target under mechanical arm carrier coordinate system
With installation dimension parameter；Mechanical arm tail end pose calculates step, using the predetermined location relationship and acquisition location information and
Parameters of structural dimension and installation dimension parameter, the mechanical arm tail end is calculated currently includes under mechanical arm carrier coordinate system
The posture information of position coordinates and posture.
According to one embodiment of present invention, it is calculated in step in the mechanical arm tail end pose, includes the following steps: appearance
State calculates step, determines first attitude matrix and the target of the target coordinate system relative to end arm support joint coordinate system
Second attitude matrix of the coordinate system relative to mechanical arm carrier coordinate system is determined according to the first attitude matrix and the second attitude matrix
Attitude matrix of the end arm support joint coordinate system relative to mechanical arm carrier coordinate system, to obtain the posture of the mechanical arm tail end
Information.
According to one embodiment of present invention, it is calculated in step in the mechanical arm tail end pose, further includes following steps:
Position calculates step, according to the parameters of structural dimension of target and installation dimension parameter, obtains setting on mechanical arm central axes respectively
The coordinate of fixed point and the distance and the set point of end arm support articulation center point under mechanical arm carrier coordinate system, and then obtain
Coordinate of the end arm support articulation center point under mechanical arm carrier coordinate system.
According to one embodiment of present invention, in Attitude Calculation step, according to three targets in mechanical arm carrier coordinate
The positional relationship between coordinate and target coordinate system and three targets under system can acquire first attitude matrix；According to obtaining
The setting of the central axes of the location information and this at least three target and the mechanical arm cantilever crane of at least three target taken
Point constitutes predetermined location relationship and determines second attitude matrix.
According to one embodiment of present invention, when installing three targets, the predetermined location relationship be three targets with
Centered on the central axes of mechanical arm cantilever crane, line differs set angle each other between adjacent two target and the set point on central axes
Degree.
According to another aspect of the present invention, a kind of system of pose for survey engineering mechanical arm is additionally provided, this is
System includes: at least three targets, is installed in the end of the engineering machinery arm, makes this at least three target and the mechanical arm
The set point of the central axes of cantilever crane constitutes predetermined location relationship；Parameter obtaining device obtains at least three target in machine
The parameters of structural dimension and installation dimension parameter of location information and the target under tool arm carrier coordinate system；Mechanical arm tail end
Pose computing device is joined using the predetermined location relationship and the location information and parameters of structural dimension and installation dimension of acquisition
Pose letter including position coordinates and posture of the mechanical arm tail end currently under mechanical arm carrier coordinate system is calculated in number
Breath.
According to one embodiment of present invention, the mechanical arm tail end pose computing device, further comprises such as lower die
Block: Attitude Calculation module determines first attitude matrix of the target coordinate system relative to end arm support joint coordinate system, Yi Jisuo
Second attitude matrix of the target coordinate system relative to mechanical arm carrier coordinate system is stated, according to the first attitude matrix and the second posture square
Battle array determines attitude matrix of the end arm support joint coordinate system relative to mechanical arm carrier coordinate system, to obtain the mechanical arm tail end
Posture information.
According to one embodiment of present invention, the mechanical arm tail end pose computing device, further includes following module: position
Computing module is set, according to the parameters of structural dimension of target and installation dimension parameter, obtains setting on mechanical arm central axes respectively
The coordinate of fixed point and the distance and the set point of end arm support articulation center point under mechanical arm carrier coordinate system, and then obtain
Coordinate of the end arm support articulation center point under mechanical arm carrier coordinate system.
According to one embodiment of present invention, the Attitude Calculation module, further performs the following operations: according to three
Positional relationship of the target between the coordinate and target coordinate system and three targets under mechanical arm carrier coordinate system acquires described
First attitude matrix；According to the location information of at least three target of acquisition and this at least three target and the mechanical arm
The set point of the central axes of cantilever crane constitutes predetermined location relationship and determines second attitude matrix.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
Method of the invention constructs a georeferencing object using at least three target balls being mounted on end arm support, when
When the structure size and installation site of target ball determine, there is determining relative pose to close for the georeferencing object and end arm support
System.And the georeferencing object being made of target ball can be sat in the pose of mechanical arm carrier coordinate system by measuring the position of each target ball
Mark is calculated and is acquired.Therefore, further according to the position orientation relation of georeferencing object and end arm support, end arm support can be acquired in machinery
Pose under arm carrier coordinate system.It is more accurate, quick by the pose of above method calculating machine arm end arm support.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing technical solution of the present invention.The objectives and other advantages of the invention can by
Specifically noted structure and/or process are achieved and obtained in specification, claims and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to the technical solution of the application or further understanding for the prior art, and constitutes specification
A part.Wherein, the attached drawing for expressing the embodiment of the present application is used to explain the technical side of the application together with embodiments herein
Case, but do not constitute the limitation to technical scheme.
Fig. 1 is the flow diagram of the method for the pose for survey engineering mechanical arm of the embodiment of the present application one.
Fig. 2 is target ball in the example of the application relative to set point (abbreviation central point) A ' on mechanical arm central axes
The scheme of installation of installation.
Fig. 3 be in the example of the application target, target coordinate system and the end arm support joint coordinate system established it
Between mechanical arm carrier coordinate system position orientation relation schematic diagram.
Fig. 4 is the schematic diagram of the target ball mechanism in the example of the application.
Fig. 5 is the kinematic sketch of target ball mechanism deploying shown in Fig. 4.
Fig. 6 is the schematic diagram of the calculating end arm support position of the example of the application.
Fig. 7 is the structural block diagram of the system of the pose for survey engineering mechanical arm of the embodiment of the present application two.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching relevant art effect can fully understand and implement.This Shen
Please each feature in embodiment and embodiment, can be combined with each other under the premise of not colliding, be formed by technical solution
It is within the scope of the present invention.
The pose measurement technical principle of the engineering machinery arm of the embodiment of the present invention is briefly summarized as follows: using being mounted on end
At least three target balls on cantilever crane construct a georeferencing object, when the structure size of target ball and installation site determine,
The georeferencing object and end arm support have determining relative pose relationship.And the georeferencing object being made of target ball is in machine
The pose of tool arm carrier coordinate system can be acquired by measuring the position coordinates calculating of each target ball.Therefore, further according to georeferencing pair
As the position orientation relation with end arm support, pose of the end arm support under mechanical arm carrier coordinate system can be acquired.In order to further
Understand the present invention, this application involves the specific embodiments arrived for explanation below.
Embodiment one
Firstly, introducing the measuring tool used in following this example: a laser tracker (example of coordinate information collector
Son), foldable target ball mechanism (example of target, specific structure can as shown in Figure 4).The foldable target ball mechanism can lead to
The driving for crossing motor is unfolded and is closed, and to guarantee in measurement process, is prevented as caused by the movement of mechanical arm
The case where target ball is blocked guarantees being normally carried out for measurement.Structure in relation to the target ball mechanism, herein without limitation, as long as energy
Enough has the target ball of above-mentioned function.
As shown in figure 4, the meaning of each appended drawing reference is as follows in the accompanying drawings: the meaning of each appended drawing reference is as follows in the accompanying drawings:
1, pedestal, 2, folding target ball, 3, protection board, 10, target ball support deck, 11, protection board support deck, 12, intermediate transmission
Frame, 13, rack gear, 14, first sliding groove, 15, second sliding slot, the 16, first sliding pin, the 17, second sliding pin, 18, motor, 19, silk
Thick stick, 21, flip-arm, 22, support arm, 23, target ball ontology, 31, rotating shaft, 32, gear.
The structure of the target ball mechanism is described below.
As shown in figure 4, present embodiments providing a kind of target ball mechanism, comprising: pedestal 1, be arranged on the pedestal 1 can
Collapsible target ball 2, the folding target ball 2 are constructed to be permeable to fold or stretch on the pedestal 1.
Preferably, the pedestal 1 is provided with folding protection board 3, and the folding target ball 2 is in folded state
When, the protection board 3 is in folded state and is covered on the top of the folding target ball 2.Preferably, the pedestal 1 wraps
The target ball support deck 10 for connecting the folding target ball 2 is included, and the protection board of the connection protection board 3 supports deck
11；Moveable intermediate transmission frame 12 is provided between the target ball support deck 10 and protection board support deck 11；Its
In, the intermediate transmission frame 12 is able to drive the folding target ball 2 and the protection board 3 while folding or stretching when mobile
Exhibition.
In one example, first sliding groove 14, one end setting of intermediate transmission frame 12 are provided on target ball support deck 10
There is the first sliding pin 16 matched with the first sliding groove 14；Second sliding slot 15, institute are provided on protection board support deck 11
The other end for stating intermediate transmission frame 12 is provided with the second sliding pin 17 matched with second sliding slot 15.
Further, folding target ball 2 includes the flip-arm 21 being hinged on target ball support deck 10, and is hinged on institute
The support arm 22 on intermediate transmission frame 12 is stated, and the upper end of the support arm 22 is provided with target ball ontology 23；Wherein, flip-arm
21 upper end and the middle part of support arm 22 are hinged.
In one example, the angle of certain angle, the angle are set between target ball ontology 23 and the support arm 22
Guarantee that the target ball ontology 2 and the flip-arm 21 are in parastate when the folding target ball 2 is in folded state.
Preferably, the bottom of protection board 3 supports deck 11 hinged by rotating shaft 31 and the protection board, the rotating shaft
It is arranged on 31 and with the co-rotational gear 32 of the rotating shaft 31；It is provided on the intermediate transmission frame 12 and the gear 32
The rack gear 13 matched.
In one example, being provided on rotating shaft 31 makes the protection board 3 in the case where not stressing in stretch-like
The torsional spring of state, and the protection board 3 is in extended state, the rack gear 13 with the intermediate transmission frame 12 be moved to it is described
The position that gear 32 is detached from.
Preferably, it is provided with power device between the protection board support deck 11 and the intermediate transmission frame 12, it is described
Power device is constructed to be permeable to drive the intermediate transmission frame 12 mobile to drive the folding target ball 2 and the protection
Plate 3 folds or stretching, extension.
Further, power device includes lead screw 19, and one end of the lead screw 19 is rotatably connected on the protection board support card
On seat (11), the other end is connected with the motor 18 for driving lead screw 19 to rotate；Wherein, it is provided with screw hole on intermediate transmission frame 12, institute
Lead screw 19 is stated across the screw hole, and the screw thread of the lead screw 19 is matched with the screw thread of the screw hole.
Next, illustrating how the pose measurement of progress engineering machinery arm with reference to Fig. 1, Fig. 1 is the embodiment of the present application one
The pose for survey engineering mechanical arm method flow diagram.
In step S110 (target installation steps), at least three targets are mounted on to the end of the engineering machinery arm,
The set point on the central axes of this at least three target and the mechanical arm cantilever crane is set to constitute predetermined location relationship.
In step S120 (parameters acquiring procedure), at least three target is obtained under mechanical arm carrier coordinate system
The parameters of structural dimension and installation dimension parameter of location information and the target.
In step S130 (mechanical arm tail end pose calculates step), the position of the predetermined location relationship and acquisition is utilized
The mechanical arm tail end is calculated currently under mechanical arm carrier coordinate system in information and parameters of structural dimension and installation dimension parameter
The posture information including position coordinates and posture.
Below to illustrate above-mentioned each step for mechanical arm tail end installs three foldable target ball mechanisms.
In step s 110, by three target ball mechanisms centered on the central axes of mechanical arm cantilever crane, so that adjacent two target ball
(face refers to the face that the set point on adjacent two target ball and central axes is constituted, centered on the set point in this for axial plane in mechanism
Point A ', such as plane P1, P2 and P3 in Fig. 2) between differ set angle each other, such as 120 ° are symmetrically installed, as shown in Fig. 2,
B, C, D are respectively three target ball mechanisms in figure, and A ' is the central point on cantilever crane central axes.
Start to get parms in the step s 120: firstly, industrial personal computer issues calibration instruction, control motor makes three target ball exhibitions
It opens, laser tracker starting.Then, the target ball coordinate information of end three is acquired using laser tracker, and anti-by can bus
It is fed in industrial personal computer.On the other hand, the parameters of structural dimension and installation dimension parameter of the target also to be obtained.
Then, in step s 130, industrial personal computer finds out mechanical arm end using the location information of at least three target balls of feedback
End position and posture.An example is set forth below to illustrate how the position and attitude for measuring mechanical arm by three target balls, specific packet
It includes attitude measurement and position measures two parts.
(1) attitude measurement
Determine first attitude matrix and the target coordinate system phase of the target coordinate system relative to end arm support coordinate system
For the second attitude matrix of mechanical arm carrier coordinate system, end arm support is determined according to the first attitude matrix and the second attitude matrix
Attitude matrix of the coordinate system relative to mechanical arm carrier coordinate system, to obtain the posture information of the mechanical arm tail end.Specific side
Formula is as described below.
Firstly, target ball is installed as shown in Figure 2 relative to robot central point A '.Just due to 3 points of target ball center B, C, D
A triangle is constituted well, therefore when the position B, C, D determines, unique point A is certainly existed on mechanical arm central axes, so thatIt is mutually perpendicular between any two.
The pose for forming georeferencing object by three target ball constructions for ease of calculation, using A as origin, Direction is respectively x, y, z axis direction to establish target coordinate system A-xAyAzA, while cantilever crane joint seat is established on cantilever crane EA '
Mark system E-xEyEzE, E is the articulation center point of end arm support, xEAxis along cantilever crane central axes, withIn the same direction, zEThe vertical cantilever crane of axis to
On, withDirection is identical；It is as shown in Figure 3 to establish mechanical arm carrier coordinate system O-xyz.According to target ball design feature it is found that
During target ball expansion and withdrawal, relative to cantilever crane central point A ', only distance changes target ball center B, C, D, and direction is constant.
Therefore no matter target ball moves to any position, coordinate system A-xAyAzAWith end arm support coordinate system E-xEyEzEThere is determining appearances
State matrix(the first attitude matrix).
It willProject to xAAyAPlane obtainsWith xAThe angle of axis is α=45 °, withAngle is β
=35.26 °, the target coordinate system A-x that can be asked is defined according to Eulerian anglesAyAzAWith end arm support coordinate system E-xEyEzEThere is true
Fixed attitude matrix
Therefore a demand obtains target coordinate system A-xAyAzAAttitude matrix relative to mechanical arm carrier coordinate system?
Acquire attitude matrix of the end arm support relative to mechanical arm carrier coordinate system
According to the location information of at least three target of acquisition and this at least three target and the mechanical arm cantilever crane
Central axes set point constitute predetermined location relationship determine second attitude matrix.It specifically, can using laser tracker
The coordinate of target ball B, C, D under mechanical arm carrier coordinate system mechanical arm carrier coordinate system is respectively under certain position surveyedThen A ' is carried in mechanical arm carrier coordinate system mechanical arm
Coordinate under body coordinate system isJust due to A-BCD
Constitute one well with the special triangular pyramid on the vertex A: three rib length are identical and are mutually perpendicular to, therefore in known B, C, D situation
Under, the coordinate that can acquire A point is calculated using geometry teaching.A point is under mechanical arm carrier coordinate system mechanical arm carrier coordinate system
CoordinateFollowing relationship should be met:
It is defined according to attitude matrix it is found that attitude matrixFor target coordinate system xA、yA、zAUnit vector on axis is in machine
Projection under tool arm carrier coordinate system x, y, z axis.X can be acquired by A, B, C, D point coordinateA、yA、zAUnit vector on axis:
Then target coordinate system A-xAyAzAAttitude matrix relative to mechanical arm carrier coordinate system(the second attitude matrix)
Are as follows:
Then attitude matrix of the end arm support coordinate system relative to mechanical arm carrier coordinate systemAre as follows:
(2) position measures
According to the parameters of structural dimension of target and installation dimension parameter, obtain respectively set point on mechanical arm central axes and
The distance of end arm support articulation center pointAnd coordinate of the set point under mechanical arm carrier coordinate systemAnd then it obtains
Take coordinate of the end arm support articulation center point under mechanical arm carrier coordinate system.
Fig. 5 is the kinematic sketch of target ball mechanism deploying, and figure central axes a is the central axes of end arm support, and revolute pair G is overturning
Rotating shaft between arm 21 and target ball bearing cartridge 10；Rotating shaft of the revolute pair F between support arm 22 and flip-arm 21；B is
Target ball measuring center point；Prismatic pair H corresponds to active pin shaft 16.
As shown in fig. 6, confirmable target ball structure size and installation dimension parameter have: the length d of connecting rod GFGF；Between BH
Distance dBH；And the horizontal distance d under original state between G and HGHx；Displacement sensor, measurement are installed at linear joint H
The displacement Δ d (being detected using displacement sensor) of active pin shaft 16；The distance between EG ' is d1；Linear joint H is away from cantilever crane
Axial line distance is dA′I；Revolute pair G is d away from cantilever crane central axes distanceGG′.According to above-mentioned parameter, following size can be further acquired:
The real standard distance of G and H:
d2=dGHx+Δd
Target ball can be acquired away from cantilever crane central axes distance according to the coordinate of B point and at A 'Therefore the horizontal distance of H and J:
The distance between two o'clock can be acquired according to the coordinate of A point and at A 'AndAre as follows:
Due toWithCollinearly, therefore:
It can then acquireCoordinate of the as E point under mechanical arm carrier coordinate system:
Method through the embodiment of the present invention is capable of position and the posture of real-time and accurate measurement mechanical arm, less important work personnel
For controlling the movement of the mechanical arm, preferably fulfil assignment task.
Embodiment two
Fig. 7 is the system of the pose for survey engineering mechanical arm of the embodiment of the present application two, is illustrated below with reference to Fig. 7
The composition and function of the system.
As shown in fig. 7, the system includes: at least three targets (B, C, D of diagram), it is installed in the engineering machinery
The end of arm makes this at least three target and the set point of the central axes of the mechanical arm cantilever crane constitute predetermined location relationship；Parameter
Acquisition device 81 obtains location information (position coordinates master of at least three target under mechanical arm carrier coordinate system
If being measured by laser tracker) and the target parameters of structural dimension and installation dimension parameter；Mechanical arm tail end position
Appearance computing device 82 is joined using the predetermined location relationship and the location information and parameters of structural dimension and installation dimension of acquisition
Pose letter including position coordinates and posture of the mechanical arm tail end currently under mechanical arm carrier coordinate system is calculated in number
Breath.
Mechanical arm tail end pose computing device 82, further comprises following module: Attitude Calculation module 822, is determined
Target coordinate system is carried relative to the first attitude matrix of end arm support coordinate system and the target coordinate system relative to mechanical arm
Second attitude matrix of body coordinate system, according to the first attitude matrix and the second attitude matrix determine end arm support coordinate system relative to
The attitude matrix of mechanical arm carrier coordinate system, to obtain the posture information of the mechanical arm tail end.Position computation module 824,
According to the parameters of structural dimension of target and installation dimension information, the set point and end arm support on mechanical arm central axes are obtained respectively
Coordinate of the distance and the set point of articulation center point under mechanical arm carrier coordinate system, and then obtain in end arm support joint
Coordinate of the heart point under mechanical arm carrier coordinate system.
Attitude Calculation module 822, further performs the following operations: according to three targets under mechanical arm carrier coordinate system
Coordinate and target coordinate system and three targets between positional relationship acquire first attitude matrix；According to the institute of acquisition
The set point for stating the location information of at least three targets and the central axes of this at least three target and the mechanical arm cantilever crane is constituted
Predetermined location relationship determines second attitude matrix.
When installing three target ball mechanisms, mechanical arm tail end pose computing device 82 can execute the step of embodiment one
Rapid S130, details are not described herein again.
Although disclosed herein embodiment it is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (9)
1. a kind of method of the pose for survey engineering mechanical arm, which is characterized in that this method comprises:
At least three targets are mounted on the end of the engineering machinery arm by target installation steps, make this at least three target with
The set point of the central axes of the mechanical arm cantilever crane constitutes predetermined location relationship；
Parameters acquiring procedure obtains location information and the mark of at least three target under mechanical arm carrier coordinate system
The parameters of structural dimension and installation dimension parameter of target；
Mechanical arm tail end pose calculates step, utilizes the location information and parameters of structural dimension of the predetermined location relationship and acquisition
With installation dimension parameter, be calculated the mechanical arm tail end currently under mechanical arm carrier coordinate system include position coordinates and appearance
The posture information of state.
2. the method according to claim 1, wherein the mechanical arm tail end pose calculate step in, including
Following steps:
Attitude Calculation step determines first attitude matrix of the target coordinate system relative to end arm support joint coordinate system, Yi Jisuo
Second attitude matrix of the target coordinate system relative to mechanical arm carrier coordinate system is stated, according to the first attitude matrix and the second posture square
Battle array determines attitude matrix of the end arm support joint coordinate system relative to mechanical arm carrier coordinate system, to obtain the mechanical arm tail end
Posture information.
3. method according to claim 1 or 2, which is characterized in that calculated in step in the mechanical arm tail end pose, also
Include the following steps:
Position calculates step, according to the parameters of structural dimension of target and installation dimension parameter, obtains on mechanical arm central axes respectively
Set point and end arm support articulation center point coordinate under mechanical arm carrier coordinate system of distance and the set point, in turn
Obtain coordinate of the end arm support articulation center point under mechanical arm carrier coordinate system.
4. according to the method described in claim 2, it is characterized in that, in Attitude Calculation step,
According to position of three targets between the coordinate and target coordinate system and three targets under mechanical arm carrier coordinate system
Relationship can acquire first attitude matrix；
According in the location information of at least three target of acquisition and this at least three target and the mechanical arm cantilever crane
The set point of axis constitutes predetermined location relationship and determines second attitude matrix.
5. method according to any one of claims 1 to 4, which is characterized in that described predetermined when installing three targets
Positional relationship is three targets centered on the central axes of mechanical arm cantilever crane, between the set point on adjacent two target and central axes
Line differs set angle each other.
6. a kind of system of the pose for survey engineering mechanical arm, which is characterized in that the system includes:
At least three targets are installed in the end of the engineering machinery arm, make this at least three target and the mechanical arm arm
The set point of the central axes of frame constitutes predetermined location relationship；
Parameter obtaining device obtains location information of at least three target under mechanical arm carrier coordinate system and described
The parameters of structural dimension and installation dimension parameter of target；
Mechanical arm tail end pose computing device is joined using the predetermined location relationship and the location information and structure size of acquisition
Several and installation dimension parameter, be calculated the mechanical arm tail end currently under mechanical arm carrier coordinate system include position coordinates and
The posture information of posture.
7. system according to claim 6, which is characterized in that the mechanical arm tail end pose computing device, further
Including following module:
Attitude Calculation module determines first attitude matrix of the target coordinate system relative to end arm support joint coordinate system, and
Second attitude matrix of the target coordinate system relative to mechanical arm carrier coordinate system, according to the first attitude matrix and the second posture
Matrix determines attitude matrix of the end arm support joint coordinate system relative to mechanical arm carrier coordinate system, to obtain mechanical arm end
The posture information at end.
8. system according to claim 6 or 7, which is characterized in that the mechanical arm tail end pose computing device also wraps
Include following module:
Position computation module obtains mechanical arm central axes according to the parameters of structural dimension of target and installation dimension parameter respectively
On set point and end arm support articulation center point coordinate under mechanical arm carrier coordinate system of distance and the set point, into
And obtain coordinate of the end arm support articulation center point under mechanical arm carrier coordinate system.
9. system according to claim 7, which is characterized in that the Attitude Calculation module further executes following behaviour
Make:
According to position of three targets between the coordinate and target coordinate system and three targets under mechanical arm carrier coordinate system
Relationship acquires first attitude matrix；
According in the location information of at least three target of acquisition and this at least three target and the mechanical arm cantilever crane
The set point of axis constitutes predetermined location relationship and determines second attitude matrix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811566919.1A CN109605372B (en) | 2018-12-20 | 2018-12-20 | Method and system for measuring pose of engineering mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811566919.1A CN109605372B (en) | 2018-12-20 | 2018-12-20 | Method and system for measuring pose of engineering mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605372A true CN109605372A (en) | 2019-04-12 |
| CN109605372B CN109605372B (en) | 2020-06-26 |
Family
ID=66011107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811566919.1A Active CN109605372B (en) | 2018-12-20 | 2018-12-20 | Method and system for measuring pose of engineering mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605372B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110195592A (en) * | 2019-04-30 | 2019-09-03 | 华中科技大学 | Shield driving pose intelligent Forecasting and system based on interacting depth study |
| CN110893619A (en) * | 2019-11-25 | 2020-03-20 | 上海精密计量测试研究所 | Industrial robot position appearance calibrating device based on laser tracker |
| CN110962127A (en) * | 2019-12-10 | 2020-04-07 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN111947570A (en) * | 2020-07-14 | 2020-11-17 | 季华实验室 | Monocular vision measurement method and device for attitude of mechanical arm and electronic equipment |
| CN112091977A (en) * | 2020-09-18 | 2020-12-18 | 珠海格力智能装备有限公司 | External vision auxiliary positioning method and device for robot and processor |
| CN112115929A (en) * | 2020-11-23 | 2020-12-22 | 国网瑞嘉(天津)智能机器人有限公司 | Method and device for determining moving pose of operation arm support and storage medium |
| CN113340285A (en) * | 2021-06-18 | 2021-09-03 | 中铁工程装备集团有限公司 | Method and device for detecting terminal pose of main mechanical arm based on cooperative mechanical arm |
| CN114459356A (en) * | 2022-03-14 | 2022-05-10 | 哈尔滨工业大学 | Device for testing end pose precision of space mechanical arm |
| CN115030247A (en) * | 2022-05-27 | 2022-09-09 | 三一重机有限公司 | Method and device for correcting pose information of boom and excavator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
| EP2407282A2 (en) * | 2010-07-12 | 2012-01-18 | KUKA Roboter GmbH | Method for measuring a robotic arm of an industrial robot |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
| CN107738254A (en) * | 2017-08-25 | 2018-02-27 | 中国科学院光电研究院 | The conversion scaling method and system of a kind of mechanical arm coordinate system |
| CN108177145A (en) * | 2017-12-28 | 2018-06-19 | 北京航空航天大学 | A kind of optimal industrial machinery arm absolute fix precision calibration method of unbiased |
| CN108527373A (en) * | 2018-06-28 | 2018-09-14 | 深圳清华大学研究院 | The parameter measurement of mechanical arm and discrimination method and device, terminal, storage medium |
-
2018
- 2018-12-20 CN CN201811566919.1A patent/CN109605372B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
| EP2407282A2 (en) * | 2010-07-12 | 2012-01-18 | KUKA Roboter GmbH | Method for measuring a robotic arm of an industrial robot |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
| CN107738254A (en) * | 2017-08-25 | 2018-02-27 | 中国科学院光电研究院 | The conversion scaling method and system of a kind of mechanical arm coordinate system |
| CN108177145A (en) * | 2017-12-28 | 2018-06-19 | 北京航空航天大学 | A kind of optimal industrial machinery arm absolute fix precision calibration method of unbiased |
| CN108527373A (en) * | 2018-06-28 | 2018-09-14 | 深圳清华大学研究院 | The parameter measurement of mechanical arm and discrimination method and device, terminal, storage medium |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110195592A (en) * | 2019-04-30 | 2019-09-03 | 华中科技大学 | Shield driving pose intelligent Forecasting and system based on interacting depth study |
| CN110893619A (en) * | 2019-11-25 | 2020-03-20 | 上海精密计量测试研究所 | Industrial robot position appearance calibrating device based on laser tracker |
| CN110962127A (en) * | 2019-12-10 | 2020-04-07 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN110962127B (en) * | 2019-12-10 | 2020-09-01 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN111947570A (en) * | 2020-07-14 | 2020-11-17 | 季华实验室 | Monocular vision measurement method and device for attitude of mechanical arm and electronic equipment |
| CN111947570B (en) * | 2020-07-14 | 2022-03-08 | 季华实验室 | Monocular vision measurement method and device for attitude of mechanical arm and electronic equipment |
| CN112091977B (en) * | 2020-09-18 | 2022-01-28 | 珠海格力智能装备有限公司 | External vision auxiliary positioning method and device for robot and processor |
| CN112091977A (en) * | 2020-09-18 | 2020-12-18 | 珠海格力智能装备有限公司 | External vision auxiliary positioning method and device for robot and processor |
| CN112115929B (en) * | 2020-11-23 | 2021-03-02 | 国网瑞嘉(天津)智能机器人有限公司 | Method and device for determining moving pose of operation arm support and storage medium |
| CN112115929A (en) * | 2020-11-23 | 2020-12-22 | 国网瑞嘉(天津)智能机器人有限公司 | Method and device for determining moving pose of operation arm support and storage medium |
| CN113340285A (en) * | 2021-06-18 | 2021-09-03 | 中铁工程装备集团有限公司 | Method and device for detecting terminal pose of main mechanical arm based on cooperative mechanical arm |
| CN113340285B (en) * | 2021-06-18 | 2022-12-20 | 中铁工程装备集团有限公司 | Method and device for detecting terminal pose of main mechanical arm based on cooperative mechanical arm |
| CN114459356A (en) * | 2022-03-14 | 2022-05-10 | 哈尔滨工业大学 | Device for testing end pose precision of space mechanical arm |
| CN115030247A (en) * | 2022-05-27 | 2022-09-09 | 三一重机有限公司 | Method and device for correcting pose information of boom and excavator |
| CN115030247B (en) * | 2022-05-27 | 2023-10-31 | 三一重机有限公司 | Boom pose information correction method and device and excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109605372B (en) | 2020-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109605372A (en) | A kind of method and system of the pose for survey engineering mechanical arm | |
| CN109732590A (en) | A kind of online calibration method of engineering machinery arm | |
| CN108827264B (en) | Mobile workbench and its mechanical arm optics target positioning device and localization method | |
| CN105808882B (en) | The scaling method and device of imitative reptiles four feet walking robot kinematic parameter | |
| US20150041227A1 (en) | Six-legged walking robot having robotic arms for legs and plurality of joints | |
| WO2010098242A1 (en) | Device for manufacturing aircraft structure | |
| CN105459086B (en) | A kind of freedom degree parallel connection posture adjustment platform of horizontal direction and yaw steering | |
| CN105526848B (en) | A kind of posture aided measurement device and measurement method | |
| CN102601684B (en) | Indirect measurement method based tool parameter calibration method for high-precision drilling robot | |
| CN110757504A (en) | Positioning error compensation method of high-precision movable robot | |
| CN111590899B (en) | Vision auxiliary positioning device for mechanical arm 3D printing and positioning method thereof | |
| CN107253497A (en) | A kind of leg arm merges quadruped robot | |
| CN105865825A (en) | Mechanical arm test platform | |
| CN107214698B (en) | Hexapod robot joint angles scaling method based on body nodal point displacement correction | |
| CN105459116A (en) | Robot remote operation device and method based on magnetometer | |
| JP2000337807A (en) | Movement error correcting method of parallel mechanism, and its apparatus | |
| CN102910533A (en) | Spatial angle measuring method based on crane | |
| CN113119102B (en) | Humanoid robot modeling method and device based on floating-base flywheel inverted pendulum | |
| CN104760044B (en) | A kind of unpowered articulated arm teaching machine and the application in industrial robot thereof | |
| CN205665024U (en) | Manipulator test platform | |
| JP2015222196A (en) | Three dimensional measuring machine and method for measuring shape using the same | |
| JP2019094665A (en) | Boring support device | |
| CN111220074B (en) | Laser three-dimensional measurement positioning system and target determination method | |
| JP5755715B2 (en) | Robot control method | |
| CN205373610U (en) | Gesture assistant measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: China Railway Construction Heavy Industry Group Co., Ltd. Address before: 410100 No. 88 Dongqi Road, Jingkai District, Changsha City, Hunan Province Applicant before: China Railway Construction Heavy Industry Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |