CN109822575A - A kind of robot system and method carrying out mobile processing using projection properties image - Google Patents
A kind of robot system and method carrying out mobile processing using projection properties image Download PDFInfo
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- CN109822575A CN109822575A CN201910227766.6A CN201910227766A CN109822575A CN 109822575 A CN109822575 A CN 109822575A CN 201910227766 A CN201910227766 A CN 201910227766A CN 109822575 A CN109822575 A CN 109822575A
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Abstract
The invention belongs to milling robot manufacture fields, and disclose a kind of robot system that mobile processing is carried out using projection properties image.It includes projector, robot, mobile platform and controller, wherein controller by workpiece to be processed machining locus and working process parameter encode and pass to projector after forming image, projector projects on region to be processed；Processing head and tracking target are provided in robot, mobile platform is for making robot be moved near workpieces, tracking target is used to mark the position of processing head, camera is used to the image on the workpiece to be processed surface of shooting and tracking target target image passing to controller, and controller judges position and the posture of processing head according to the image of shooting.The invention also discloses the processing methods of above system.Through the invention, the integration processing for realizing projection, measurement and the processing of various large scale Surfaces of Unusual Shape components, saves process time, guarantees processing quality.
Description
Technical field
The invention belongs to milling robot manufacture fields, are moved more particularly, to a kind of using projection properties image
The robot system and method for dynamic processing.
Background technique
As industrial robot is in the extensive use of field of machining and machinebuilding technology, various processing occasions are to robot
More stringent requirements are proposed for processing technology.Such as automobile, Aeronautics and Astronautics and shipbuilding field, large complicated carved component is such as
High-speed rail vehicle body, aircraft skin, fan blade and ship hull etc., size is larger, and surface shape is complicated, general process equipment
If Longmen machine tool and fixed industrial robot are difficult to meet so big range of work demand, guide tracked robot is also difficult to root
Processing stations are adjusted flexibly according to Components Shape feature, in addition, needing in process to guarantee to obtain high-precision processing quality
High-precision surface measurement, and the relative positional relationship of positioning process head and component in real time are carried out to component.
Traditional diamond-making technique such as uses three-coordinates measuring machine or laser tracker generally by the way of first measuring reprocessing
Obtain the three-dimensional point cloud model of workpiece, and then machining path planned according to three-dimensional point cloud model, finally by industrial robot or
Large-size numerical control machine processes workpiece, and this mode generally requires to devote a tremendous amount of time in measuring phases, and measurement obtains
The threedimensional model precision obtained and the tool and measurement method that use are closely related, in addition, global Toolpath Generation needs to consider
To many factors such as processing efficiency, robot collision avoidances, occur some use multi-court position optical measuring apparatus pair in recent years
Component carries out large-range measuring, and the method for then carrying out global collision prevention path planning to workpiece to be processed and processing also occurs
Some pairs of workpiece surfaces carry out local measurement, and then the method processed in measurement.
In prior art, patent CN201710702727.8 proposes a kind of fixed milling robot, passes through work to be processed
The 3D point cloud model of part obtains processing point sequence, and collision prevention processing is realized in passage path planning, and this method is related to complicated rule
Journey is streaked, and needs to obtain the 3D point cloud model of workpiece to be processed in advance, however it is whole how to obtain accurate workpiece to be processed
3D point cloud data are always problem to be solved；Patent CN201710498471.3 proposes a kind of by grating scale and robot
Lead screw feed mechanism combine autonomous milling robot, use orthogonal binocular stereo vision to add laser aid, to entirely to
Processing curve realize look-and-move traversal processing, however the building of the robot system coordinate system with additional outer shaft with
Calibration process it is extremely cumbersome with it is complicated.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, it is carried out the present invention provides a kind of using projection properties image
The robot system and method for moving processing, with characteristic image after being encoded machining locus and technological parameter by utilization projector
Form flash to component surface, machining locus in conjunction with the geometrical characteristic on workpiece to be processed surface after form new image, phase
Machine shoots the new image to obtain new machining locus and working process parameter, while also dynamically shooting tracking target is marked with camera
Processing cutter head position is obtained, and then controls processing head and workpiece is processed, whether entire work is traversed by judging characteristic image
Part surface is realized to the processing of the traversal of workpiece.
To achieve the above object, according to one aspect of the present invention, it provides and a kind of is moved using projection properties image
The robot system of dynamic processing, which is characterized in that the system includes projector, robot and controller, wherein
The projector is connect with the controller, and the controller is by the processing rail in the region to be processed on workpiece to be processed
Mark and working process parameter encode to form image after pass to the projector, the projector is by the image described to be processed
It is projected on region；
Camera, processing head and tracking target, the mobile platform is provided in the robot to be arranged in the robot
Lower end, for changing the position of the processing head, the processing head be arranged in the robot end be used for to be processed
Workpiece is processed, and the top of the robot is arranged in the tracking target, described for marking the position of the processing head
The top of the mobile platform is arranged in camera, for shooting workpiece to be processed and tracking target, by the described to be added of shooting
The image and tracking target target image of work workpiece surface pass to the controller, the controller on the one hand according to shooting with
The image of track target judges position and the posture of the processing head, on the other hand according to the image on the workpiece to be processed surface of shooting
Judge processed region and unprocessed region.
It is further preferred that the artificial Six-DOF industrial robot of machine, the processing head setting is at robot end
In end flanges, is moved by joint of robot and realize the multivariant movement of processing head.
It is further preferred that the camera selected depth camera, to measure object to be measured the distance between to camera.
It is another aspect of this invention to provide that providing a kind of processing method using system described above, feature exists
In this method includes the following steps:
(a) workpiece to be processed clamping is on fixture and fixed, mobile platform loading robot is moved to be processed
Near workpieces；
(b) controller passes to the image that the projector includes initial manufacture track and technological parameter, the throwing
Shadow instrument projects described image on the workpiece to be processed, which makes in conjunction with the surface characteristics of workpiece to be processed
The initial manufacture track is obtained to change to form new image；
(c) camera shoots the new image and passes it to the controller, which identifies that this is new
Machining locus and technological parameter in image, then the camera shoots the tracking target and the image of shooting is passed to institute
Controller is stated, the controller judges according to the image of shooting and obtains position and the posture of presently described processing head；
(d) position and posture of the controller according to presently described processing head, and in conjunction with the machining locus and technique
Parameter adjusts and controls the processing head and process the workpiece to be processed surface according to the machining locus and technological parameter, directly
To the processing for completing the machining locus；
(e) controller compares all images of current shooting with workpiece threedimensional model, judges workpiece to be processed
Surface whether there are also undressed region, if so, then mobile platform is moved to next processing stations, and repeat step (b)~
(e), until completing the processing of workpiece to be processed surface all areas.
It is further preferred that the processing head is according to described in the machining locus and technological parameter processing in step (d)
It is by the position of processing head described in the camera captured in real-time and posture and to feed back to the control when workpiece to be processed surface
Device, the controller are realized with this to described further according to the position of processing head described in the machining locus and technical arrangement plan
The closed-loop control of processing head.
It is further preferred that the machining locus is preferably the fractal curves such as hibert curve in step (b).
It is further preferred that the processing method is suitable for the sanding and polishing to workpiece to be processed.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, characteristic image of the present invention using projector projects comprising technological parameter is to workpiece to be processed surface, by the figure
As workpiece geometrical characteristic information and location information can not only be obtained, moreover it is possible to obtain machining locus and working process parameter, this method
Relative to existing vision measurement process, can not only obtain workpiece surface geological information can also be special by process requirements and workpiece surface
Sign is associated, and provides necessary condition to realize to process in projection；
2, the present invention shoots characteristic image and tracking target by camera, is processed with controlling processing head to workpiece, should
Method, which synchronizes, to be shot, is measured and process, and by control processing head workpieces processing to obtain preferable processing quality；
3, method provided by the invention realizes that projection, shooting are same with process by the cooperating of various components
Step carries out, while identifying current processing progress in real time by taking pictures in real time for camera, also judges whether to traverse work to be processed
The processing of part all areas realizes and processes to the traversal on workpiece to be processed surface that this method does not need integrally to survey workpiece
Amount and threedimensional model splicing, it is more efficient.
Detailed description of the invention
Fig. 1 is the processing for carrying out mobile processing constructed by preferred embodiment according to the invention using projection properties image
The flow chart of method；
Fig. 2 is the machine for carrying out mobile processing constructed by preferred embodiment according to the invention using projection properties image
The structural schematic diagram of people's system；
Fig. 3 is that machining locus constructed by preferred embodiment according to the invention is not projected in showing for workpiece to be processed surface
It is intended to；
Fig. 4 is that machining locus constructed by preferred embodiment according to the invention is projected in showing behind workpiece to be processed surface
It is intended to.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- projector 2- processing head 3- tracks target 4- industrial robot 5- mobile platform 6- camera
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of processing method for carrying out mobile processing using projection properties image, this method is by projector
With the form flash of characteristic image to workpiece to be processed surface after technological parameter is encoded, mobile platform transformation station simultaneously uses camera
Shooting characteristic image is to obtain workpiece to be processed surface information and working process parameter, while camera dynamic shooting tracking target is marked with
Processing cutter head position is obtained, and then controls processing head and workpiece is processed, whether entire work is traversed by judging characteristic image
Part surface is realized to the processing of the traversal of workpiece.
The above method specifically includes the following steps:
1) clamping workpiece and starting point is moved to
Workpiece to be processed clamping is on fixture and fixed, and the mobile platform loads robot and is moved to workpiece to be processed
Near.
2) projector characteristic image
The controller passes to the image that the projector includes initial manufacture track and technological parameter, the projector
Described image is projected on the workpiece to be processed, the image is in conjunction with the surface characteristics of workpiece to be processed, so that institute
Initial manufacture track is stated to change to form new image.
3) camera shoots characteristic image
The camera shoots the new image and passes it to the controller, which identifies the new image
In machining locus and technological parameter, then the camera shoots the tracking target and the image of shooting is passed to the control
Device processed, the controller judge according to the image of shooting and obtain position and the posture of presently described processing head.
4) processing head workpieces processing
Position and posture of the controller according to presently described processing head, and join in conjunction with the machining locus and technique
Number adjusts and controls the processing head and processes the workpiece to be processed surface according to the machining locus and technological parameter, until
Complete the processing of the machining locus.
5) judge whether completion of processing
The controller compares all images of current shooting with workpiece threedimensional model, judges workpiece to be processed surface
Whether there are also undressed regions, if so, then mobile platform is moved to next processing stations, and repeat step (2)~(5), directly
To the processing for completing workpiece to be processed surface all areas.
As shown in Fig. 2, a kind of robot system for carrying out mobile processing using projection properties image, the system include projection
Instrument, processing head track target, industrial robot, mobile platform, camera and controller.Wherein:
Projector is fixed in processing scene, for tracking target and being installed on work to workpiece to be processed projection properties image
Industry robot end, for obtaining processing head position, processing head is fixed on industrial robot end, is used for workpieces processing, camera
It is fixed on mobile platform, for shooting the characteristic image on workpiece and tracking target.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of robot system for carrying out mobile processing using projection properties image, which is characterized in that the system includes projection
Instrument (1), robot (4), mobile platform (5) and controller, wherein
The projector (1) connect with the controller, and the controller is by the processing rail in the region to be processed on workpiece to be processed
Mark and working process parameter encode to form image after pass to the projector, the projector is by the image described to be processed
It is projected on region；
Camera (6), processing head (2) and tracking target (3) are provided on the robot (4), mobile platform (5) setting exists
The lower end of the robot, for changing the position of the processing head, the end of the robot is arranged in the processing head (2)
For processing to workpiece to be processed, the top of the robot is arranged in tracking target (3), for marking described add
The position of foreman, the camera (6) are arranged in the top of the mobile platform (5), for shooting workpiece to be processed and tracking target
Mark, passes to the controller, the control for the image on the workpiece to be processed surface of shooting and tracking target target image
On the one hand device processed judges position and the posture of the processing head according to the tracking target target image of shooting, on the other hand according to shooting
The image on workpiece to be processed surface judge processed region and unprocessed region.
2. a kind of robot system for being carried out mobile processing using projection properties image as described in claim 1, feature are existed
In the robot (4) is Six-DOF industrial robot, and the processing head is arranged on robot end's flange, passes through machine
Device person joint, which moves, realizes the multivariant movement of processing head.
3. a kind of robot system for carrying out mobile processing using projection properties image as claimed in claim 1 or 2, feature
It is, camera (6) the selected depth camera, to measure object to be measured the distance between to camera.
4. a kind of processing method using system described in claim 1, which is characterized in that this method includes the following steps:
(a) workpiece to be processed clamping is on fixture and fixed, the mobile platform loads robot and is moved to workpiece to be processed
Near；
(b) controller passes to the image that the projector includes initial manufacture track and technological parameter, the projector
Described image is projected on the workpiece to be processed, the image is in conjunction with the surface characteristics of workpiece to be processed, so that institute
Initial manufacture track is stated to change to form new image；
(c) camera shoots the new image and passes it to the controller, which identifies the new image
In machining locus and technological parameter, then the camera shoots the tracking target and the image of shooting is passed to the control
Device processed, the controller judge according to the image of shooting and obtain position and the posture of presently described processing head；
(d) position and posture of the controller according to presently described processing head, and in conjunction with the machining locus and technological parameter,
It adjusts and controls the processing head and process the workpiece to be processed surface according to the machining locus and technological parameter, until completing
The processing of the machining locus；
(e) controller compares all images of current shooting with workpiece threedimensional model, judges workpiece to be processed surface
Whether there are also undressed regions, if so, then mobile platform is moved to next processing stations, and repeat step (b)~(e), directly
To the processing for completing workpiece to be processed surface all areas.
5. processing method as claimed in claim 4, which is characterized in that in step (d), the processing head is according to the processing
It is the position by processing head described in the camera captured in real-time when track and technological parameter process the workpiece to be processed surface
With posture and feed back to the controller, the controller is further according to processing head described in the machining locus and technical arrangement plan
Position, the closed-loop control to the processing head is realized with this.
6. processing method as described in claim 4 or 5, which is characterized in that in step (b), the machining locus is preferably
The fractal curves such as hibert curve.
7. processing method as described in claim 4 or 5, which is characterized in that the processing method is suitable for workpiece to be processed
Sanding and polishing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110665707A (en) * | 2019-10-18 | 2020-01-10 | 马鞍山远荣机器人智能装备有限公司 | Automatic spraying robot |
| WO2021258273A1 (en) * | 2020-06-23 | 2021-12-30 | 广东省航空航天装备技术研究所 | Processing method, apparatus and device based on three-dimensional imaging, and storage medium |
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