CN109732589A - A kind of robot manipulating task track acquisition methods based on line laser sensor - Google Patents
A kind of robot manipulating task track acquisition methods based on line laser sensor Download PDFInfo
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- 238000000605 extraction Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 abstract description 5
- 238000009958 sewing Methods 0.000 description 12
- 238000003466 welding Methods 0.000 description 4
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Abstract
The present invention relates to a kind of robot manipulating task track acquisition methods based on line laser sensor; working path, which is scanned, to be waited for robot using line laser sensor; laser rays outline data is extracted according to certain sample frequency; the operation track of robot is finally automatically generated according to the location information of configuration sampling information and robot on whole path, operation track includes the information such as job position, operation posture and the operating speed of robot.This method can be improved robot for the operating efficiency of pahtfinder hard, the automatization level that hoisting machine is manually made.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of robot manipulating task track based on line laser sensor
Acquisition methods.
Background technique
Welding is groundwork in boat segmental manufacture, and human weld remains as main welding mean at present, and
Since preamble mismachining tolerance is larger, the automatic welding of robot is difficult to realize using teaching method.With the weldering of boat segmental T profile
It is connected in example, ideal groove activity center track should be straight line, however that there are various shapes in actual conditions is different
The robot welding track of curve, simple teaching can not be general.It is automatic according to different T profile bevel shapes that therefore, it is necessary to a kind of
The method for generating different robot manipulating task tracks.
In complicated cladding sewing field, current nearly all producer all uses craftsmen's machine to sew, path of sewing
Usually space curve, higher to the level requirement of operator, processing quality is unstable, and it is not small not to be extremely easy to appear line-spacing
One, the defects of the disunity of line style direction.Further, since the cladding for needing to sew is usually softer, even if same cladding is first
It is placed on the same workbench twice afterwards, because path to be sewed can also change, therefore adopt the reason of self-deformation
It will inefficiency with the method that robot teaching is sewed.Based on the above reasons, need one kind that can automatically extract sewing path
Method not only can solve the unstable problem of manual sewing quality, but also can solve and show with this method guidance machine people's automatic sewing
The problem for teaching sewing efficiency low.
Summary of the invention
In view of the existing technical defect, the present invention provides a kind of robot manipulating task track based on line laser sensor
Acquisition methods, to solve the technical disadvantages in above-mentioned background technique.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of robot manipulating task track acquisition methods based on line laser sensor, comprising the following steps:
(1) robot end passes through end flange hookup wire laser sensor and calibrates the same robot of line laser sensor
Coordinate conversion matrix between end flange coordinate system；
(2) the scanning track of manual teaching line laser sensor, it is desirable that on the scanning track, each laser rays all with
Working path intersection；
(3) after online laser sensor is according to the movement that track carries out is scanned or in motion process, by a timing
Between interval save motion process in robot terminal position information and posture information, by same time interval preservation laser rays
Profile information, wherein laser rays profile information is sat comprising each point on laser rays in the lateral coordinates value of sensor internal and height
Scale value；
(4) according to the characteristic point coordinate in each laser rays of lane features extraction；
(5) according to the characteristic point coordinate in step (4), the position of robot end's flange and posture information in step (3)
And the coordinate conversion matrix in step (1), calculate coordinate of all characteristic points in robot world's coordinate system；
(6) coordinate of the characteristic point generated in step (5) in robot world's coordinate system is fitted, generates path
Matched curve can be obtained the world coordinates approximation of arbitrary point on working path；
(7) coordinate value of all characteristic points in (4) is changed the step, then repeatedly step (5) generates one to step (6)
New path fitting curve；
(8) two matched curves generated according to step (6) and step (7), each point on calculating robot's working path
Posture；
(9) according to the speed of each point on the attitude value linear programming robot manipulating task path of step (8) generation.
Further, in the step (1), the coordinate conversion matrix of calibration is trick relational matrix.
Further, Wave crest and wave trough maximum deviation method is taken to extract characteristic point in the step (4), when a certain laser line profile
When the height coordinate of point is greater than the height coordinate of its adjacent two o'clock, which is wave crest point, when the height coordinate of a certain profile point
When the height coordinate of two o'clock adjacent less than its, which is trough point, seeks wave crest point and trough all on contour line first
The height coordinate of adjacent Wave crest and wave trough point is then asked poor by point, finds the maximum position of absolute difference, as characteristic point.
Further, in the step (5), the formula for calculating coordinate of the characteristic point in robot world's coordinate system is as follows:
PW=RE·RC2H·PC (1)
In formula, PWFor the world coordinates sought, REFor robot flange extremity spin matrix, RC2HIt is same for line laser sensor
Coordinate conversion matrix between robot end's flange coordinate system, PCFor characteristic point coordinate in step (4).
Further, in the step (7), the method for changing characteristic point coordinate value is as follows: for laser rays in operation plane
On projection approximation straight line the case where, seek the fitting function of laser rays contour line first, to each contour line carry out
Linear fit generates the fitting function of following form:
Z=kx+b (2)
Wherein z is the height coordinate value of contour line, and x is the lateral coordinates value of contour line, and k is slope, and b is intercept.
Further, in step (8), the method for the posture of each point is as follows on calculating robot's working path: existing first
The direction of advance for the matched curve that step (6) generates takes point P at regular intervalsi(i is title subscript a little, takes natural number, under
Together), unit vector N, the N=(r of adjacent two o'clock are then calculated11,r21,r31)T；Then the new path generated in step (7) is quasi-
The direction of advance for closing curve takes point Q according to same intervali, for identical i value, calculate PiAnd QiBetween unit vector O, O
=(r12,r22,r32)T, vector N and O multiplication cross can obtain vector A, A=(r13,r23,r33)T, according to vector N, O, A can determine each
The posture of path point, posture indicate with the Eulerian angles rotated around fixing axle, rotational order x-y-z, and rotation angle value is respectively
ɑ, β and γ, calculation method are shown in formula (3) to formula (7):
When β ≠ 0 cos, then having:
α=Atan2 (r21,r11) (4)
γ=Atan2 (r32,r33) (5)
Otherwise, can only find out α and γ and it is poor need first to specify one of them value of α or γ,
Or
Further, using the speed of each point on formula (8) linear programming robot manipulating task path:
In formula, vx, vy, vzRobot is respectively indicated in x, the speed in tri- directions y, z, v0x, v0y, v0zIt is initial for what is given
Speed, kx, ky, kzIt is conversion coefficient, Δ α, Δ β, Δ γ is the absolute change value of adjacent two o'clock rotation angle value.
Compared with prior art, the present invention its remarkable advantage is:
The present invention, being capable of automatically extraction machine by the application of line laser sensor and the theoretical calculation of many algorithms
People's operation track can effectively improve robot for the operating efficiency of pahtfinder hard, the Automated water that hoisting machine is manually made
It is flat.
Detailed description of the invention
Fig. 1 is the robot manipulating task track acquisition methods flow diagram based on laser line generator.
Fig. 2 is that schematic diagram is scanned in sewing path.
Fig. 3 is sewing workpiece cross-sectional view.
Fig. 4 is the laser rays profile diagram sewed on workpiece.
Specific embodiment
In order to keep technical solution of the present invention and advantage clearer, reality of the invention is further described with reference to the accompanying drawing
Applying method.
In conjunction with Fig. 1-4, a kind of robot manipulating task track acquisition methods based on line laser sensor, with certain high-grade suitcase seam
It threads for processing, comprising the following steps:
(1) robot end passes through end flange hookup wire laser sensor and calibrates the same robot of line laser sensor
Trick relational matrix between end flange coordinate system；
(2) the scanning track of manual teaching line laser sensor, it is desirable that on the scanning track, each laser rays all with
Working path intersection, as far as possible guarantee laser rays are during the scanning process the same as sewing path orthogonal；
(3) after online laser sensor is according to the movement that track carries out is scanned or in motion process, by a timing
Between interval save motion process in robot terminal position information and posture information, by same time interval preservation laser rays
Profile information, wherein laser rays profile information is sat comprising each point on laser rays in the lateral coordinates value of sensor internal and height
Scale value in online laser sensor scanning process, is formulated the different sampling times according to Robot Scanning speed, guarantees front and back two
The normal distance of laser rays not only can guarantee sampling precision in this way but also can avoid at the excessive increase of data volume between 1 to 3 millimeter
Manage the time.Assuming that robot movement velocity is 50mm/s, then the sampling time can be set to 50ms.In addition, in sampling laser line profile
The terminal position information and posture information of robot are saved while information；
(4) according to the characteristic point coordinate in each laser rays of lane features extraction；
(5) according to the characteristic point coordinate in step (4), the position of robot end's flange and posture information in step (3)
And the coordinate conversion matrix in step (1), calculate coordinate of all characteristic points in robot world's coordinate system；
(6) coordinate of the characteristic point generated in step (5) in robot world's coordinate system is fitted, generates path
Matched curve can be obtained the world coordinates approximation of arbitrary point on working path；
(7) coordinate value of all characteristic points in (4) is changed the step, then repeatedly step (5) generates one to step (6)
New path fitting curve；Linear fit is carried out to each laser wheel profile, fitting a straight line is as shown in Figure 4.Based on the fitting
Straight line gives arbitrary laser rays profile point lateral coordinates, can find out corresponding height coordinate approximation.Using characteristic point as base
Standard, the direction generalised displacement 10mm reduced in fitting a straight line to lateral coordinates, seeks the new height coordinate of deviation post, then
The point using the profile point of deviation post as supplemental characteristic calculates new path fitting curve；
(8) two matched curves generated according to step (6) and step (7), each point on calculating robot's working path
Posture；
(9) according to the speed of each point on the attitude value linear programming robot manipulating task path of step (8) generation, posture becomes
Change is bigger, then speed is lower, and vice versa, and robot manipulating task track includes the world coordinates and machine of arbitrary point on working path
For people in the posture and speed of corresponding points, step (6), (8), (9) obtain world coordinates, posture and speed, so far, machine respectively
The operation track acquisition of people finishes.
Further, Wave crest and wave trough maximum deviation method is taken to extract characteristic point in the step (4), when a certain laser line wheel
When the height coordinate of exterior feature point is greater than the height coordinate of its adjacent two o'clock, which is wave crest point, when the height of a certain profile point is sat
When mark is less than the height coordinate of its adjacent two o'clock, which is trough point, seeks wave crest point and wave all on contour line first
The height coordinate of adjacent Wave crest and wave trough point is then asked poor by valley point, is found the maximum position of absolute difference, that is, is characterized
Point.After robot motion, sampled data is uniformly processed.As shown in figure 3, sewing workpiece surface is more smooth, sewing
Path is the center line of surface groove.Nevertheless, the laser wheel profile that line laser sensor extracts is not straight, on contour line
There are many places fluctuations, as shown in Figure 4.This is because the measurement accuracy of sensor is higher and laser rays is easy by external environment
Interference, therefore take into account these interference informations when extracting characteristic point coordinate.Based on path of sewing in present case
Feature, can take Wave crest and wave trough maximum deviation method extract characteristic point.When the height coordinate of a certain profile point is adjacent greater than its
When the height coordinate of two o'clock, which is wave crest point, when the height that the height coordinate of a certain profile point is less than its adjacent two o'clock is sat
When mark, which is trough point.Wave crest point and trough point all on contour line are sought first, then by adjacent Wave crest and wave trough
The height coordinate of point asks poor, finds the maximum position of absolute difference.It is clear that in the present embodiment, characteristic point is in wave
Paddy position, absolute difference is maximum in height coordinate with adjacent wave crest point.
Further, in the step (5), the formula of coordinate of the characteristic point in robot world's coordinate system is calculated such as
Under:
PW=RE·RC2H·PC (1)
In formula, PWFor the world coordinates sought, REFor robot flange extremity spin matrix, RC2HIt is same for line laser sensor
Coordinate conversion matrix between robot end's flange coordinate system, PCFor characteristic point coordinate in step (4).
Further, in the step (7), the method for changing characteristic point coordinate value is as follows: laser rays in the present embodiment
Projection approximation straight line in operation plane, seeks the fitting function of laser rays contour line first, to each contour line
Linear fit is carried out, the fitting function of following form is generated:
Z=kx+b (2)
Wherein z is the height coordinate value of contour line, and x is the lateral coordinates value of contour line, and k is slope, and b is intercept.
Further, in step (8), the method for the posture of each point is as follows on calculating robot's working path: first
Point P is taken at regular intervals in the direction of advance for the matched curve that step (6) generatei(i is title subscript a little, takes natural number, under
Together), unit vector N, the N=(r of adjacent two o'clock are then calculated11,r21,r31)T；Then the new path generated in step (7) is quasi-
The direction of advance for closing curve takes point Q according to same intervali, for identical i value, calculate PiAnd QiBetween unit vector O, O
=(r12,r22,r32)T, vector N and O multiplication cross can obtain vector A, A=(r13,r23,r33)T, according to vector N, O, A can determine each
The posture of path point, posture indicate with the Eulerian angles rotated around fixing axle, rotational order x-y-z, and rotation angle value is respectively
ɑ, β and γ, calculation method are shown in formula (3) to formula (7):
When β ≠ 0 cos, then having:
α=Atan2 (r21,r11) (4)
γ=Atan2 (r32,r33) (5)
Otherwise, can only find out α and γ and it is poor need first to specify one of them value of α or γ,
Or
Further, using the speed of each point on formula (8) linear programming robot manipulating task path:
In formula, vx, vy, vzRobot is respectively indicated in x, the speed in tri- directions y, z, v0x, v0y, v0zIt is initial for what is given
Speed, kx, ky, kzConversion coefficient, this group of coefficient perseverance is greater than zero, specific value need according to robot actual operating conditions and
The maximum movement speed of robot itself determines that Δ α, Δ β, Δ γ are the absolute change values of adjacent two o'clock rotation angle value.
Basic principles and main features and advantage of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. a kind of robot manipulating task track acquisition methods based on line laser sensor, which comprises the following steps:
(1) robot end passes through end flange hookup wire laser sensor and calibrates the same robot end of line laser sensor
Coordinate conversion matrix between flange coordinate system；
(2) the scanning track of manual teaching line laser sensor, it is desirable that on the scanning track, each laser rays all with operation
Path intersection；
(3) after online laser sensor is according to the movement that track carries out is scanned or in motion process, by between certain time
Every the terminal position information and posture information for saving robot in motion process, laser line profile is saved by same time interval
Information, wherein laser rays profile information include laser rays on each point sensor internal lateral coordinates value and height coordinate
Value；
(4) according to the characteristic point coordinate in each laser rays of lane features extraction；
(5) according in step (4) characteristic point coordinate, in step (3) position of robot end's flange and posture information and
Coordinate conversion matrix in step (1) calculates coordinate of all characteristic points in robot world's coordinate system；
(6) coordinate of the characteristic point generated in step (5) in robot world's coordinate system is fitted, generates path fitting
Curve can be obtained the world coordinates approximation of arbitrary point on working path；
(7) change the step the coordinate value of all characteristic points in (4), then repeatedly step (5) to step (6), generate one it is new
Path fitting curve；
(8) two matched curves generated according to step (6) and step (7), the appearance of each point on calculating robot's working path
State；
(9) according to the speed of each point on the attitude value linear programming robot manipulating task path of step (8) generation.
2. the method according to claim 1, wherein the coordinate conversion matrix of calibration is hand in the step (1)
Eye relational matrix.
3. according to the method described in claim 2, it is characterized in that, taking Wave crest and wave trough maximum deviation method in the step (4)
Characteristic point is extracted, when the height coordinate of a certain laser rays profile point is greater than the height coordinate of its adjacent two o'clock, which is wave
Peak dot, when the height coordinate of a certain profile point is less than the height coordinate of its adjacent two o'clock, which is trough point, is sought first
All wave crest points and trough point on contour line, then ask poor for the height coordinate of adjacent Wave crest and wave trough point, and it is exhausted to find difference
To the maximum position of value, as characteristic point.
4. according to the method described in claim 3, it is characterized in that, calculating characteristic point in robot world in the step (5)
The formula of coordinate in coordinate system is as follows:
PW=RE·RC2H·PC (1)
In formula, PWFor the world coordinates sought, REFor robot flange extremity spin matrix, RC2HFor the same machine of line laser sensor
Coordinate conversion matrix between people's end flange coordinate system, PCFor characteristic point coordinate in step (4).
5. according to the method described in claim 4, it is characterized in that, changing the method for characteristic point coordinate value in the step (7)
It is as follows: for laser rays the projection approximation straight line in operation plane the case where, to seek the quasi- of laser rays contour line first
Function is closed, linear fit is carried out to each contour line, generates the fitting function of following form:
Z=kx+b (2)
Wherein z is the height coordinate value of contour line, and x is the lateral coordinates value of contour line, and k is slope, and b is intercept.
6. each on calculating robot's working path according to the method described in claim 5, it is characterized in that, in step (8)
The method of the posture of point is as follows: the direction of advance of the matched curve generated first in step (6) takes point P at regular intervalsi, then
Calculate unit vector N, the N=(r of adjacent two o'clock11,r21,r31)T；Then the new path fitting curve generated in step (7)
Direction of advance takes point Q according to same intervali, for identical i value, calculate PiAnd QiBetween unit vector O, O=(r12,
r22,r32)T, vector N and O multiplication cross can obtain vector A, A=(r13,r23,r33)T, according to vector N, O, A can determine each path point
Posture,
Posture indicates that rotational order x-y-z, rotation angle value is respectively ɑ, β with the Eulerian angles rotated around fixing axle
And γ, calculation method are shown in formula (3) to formula (7):
When β ≠ 0 cos, then having:
α=Atan2 (r21,r11) (4)
γ=Atan2 (r32,r33) (5)
Otherwise, can only find out α and γ and it is poor need first to specify one of them value of α or γ,
Or
7. according to the method described in claim 6, it is characterized in that, using on formula (8) linear programming robot manipulating task path
The speed of each point:
In formula, vx, vy, vzRobot is respectively indicated in x, the speed in tri- directions y, z, v0x, v0y, v0zFor given initial speed
Degree, kx, ky, kzIt is conversion coefficient, Δ α, Δ β, Δ γ is the absolute change value of adjacent two o'clock rotation angle value.
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| CN110926365A (en) * | 2019-12-11 | 2020-03-27 | 四川大学 | Line structure-based optical detector marking method |
| CN111521132A (en) * | 2020-04-14 | 2020-08-11 | 长春理工大学 | Novel self-calibration laser scanning projection method |
| CN111843299A (en) * | 2020-06-30 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Swing welding data analysis method applied to multilayer and multi-pass welding of robot |
| CN112518132A (en) * | 2020-10-16 | 2021-03-19 | 深圳精匠云创科技有限公司 | Hub burr removing method and electronic device |
| CN116945208A (en) * | 2023-09-19 | 2023-10-27 | 湖南固工机器人有限公司 | Robot system |
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| CN111843299A (en) * | 2020-06-30 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Swing welding data analysis method applied to multilayer and multi-pass welding of robot |
| CN112518132A (en) * | 2020-10-16 | 2021-03-19 | 深圳精匠云创科技有限公司 | Hub burr removing method and electronic device |
| CN116945208A (en) * | 2023-09-19 | 2023-10-27 | 湖南固工机器人有限公司 | Robot system |
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