CN110125455A - A method of for optimizing drill bit pose in robotic drill - Google Patents
A method of for optimizing drill bit pose in robotic drill Download PDFInfo
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- CN110125455A CN110125455A CN201910443683.0A CN201910443683A CN110125455A CN 110125455 A CN110125455 A CN 110125455A CN 201910443683 A CN201910443683 A CN 201910443683A CN 110125455 A CN110125455 A CN 110125455A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The present invention proposes a kind of method for optimization drill bit pose in robotic drill, belongs to the field that drill bit pose is optimized and revised in robotic drill operation.This method builds the robotic drill system based on fringe projection method and Visual servoing control first and carries out system parameter calibration, and the segregation reasons for then carrying out robotic drill operation obtain a series of path points；In each path point, phase diagram of the drill bit under the path point expected pose is calculated, design visual signature and derives Interactive matrix and Visual servoing control rule；Finally the drill bit pose of each path point of segregation reasons is optimized using Visual servoing control rule, it restrains and completes until the visual servo of each path point, to improve the verticality of the section at drill axis and point hole to be drilled, and then improve drilling quality and surface smoothness.Present invention combination fringe projection contour measurement measurement accuracy height and Visual servoing control advantage with high accuracy, can effectively optimize the pose of drill bit in actual robot bore operation.
Description
Technical field
The invention belongs to optimize and revise the field of drill bit pose in robotic drill, more particularly to it is a kind of for robot brill
Optimize the method for drill bit pose in hole.
Background technique
Drilling refers to the means processed and portalled on solid material.Drilling is mainly used to processing for rivet, screw-nut
The hole of connection, therefore the quality in hole and surface smoothness are most important for the stability of connection.Traditional drilling relies primarily on
Drilling machine guarantees the quality and surface smoothness in hole, and drilling machine drilling needs clamping workpiece, and can not handle complex-curved
Drilling problems.In order to solve these problems, robotic drill technology is come into being.But robotic drill technology is limited to advise offline
The absolute precision of modeling error, workpiece deformation, installation error, workpiece and robot coordinate system's calibrated error and robot in drawing
The disadvantages of not high, it is difficult to guarantee that drill axis is kept vertically in boring point section when drilling.Therefore optimize the drill bit of segregation reasons
Pose, eliminating the above error bring influences, and then improving the quality of drilling and surface smoothness just has important technology to anticipate
Justice.But currently still without a kind of by measurement bore position partial 3 d pattern come the method that adjusts robot drill bit pose, because
This this field still belongs to blank.
Summary of the invention
The purpose of the present invention is for the precision of the drill bit pose of segregation reasons in robotic drill be limited to modeling error,
It the disadvantages of workpiece deformation, installation error, not high workpiece and robot coordinate system's calibrated error and absolute precision of robot, mentions
It is a kind of for optimizing the method for drill bit pose in robotic drill out.The present invention is the measurement in conjunction with fringe projection contour measurement
Precision is high, and Visual servoing control advantage with high accuracy optimizes the drill bit poses of segregation reasons, improves drill axis and contact point
Section verticality, and then improve drilling quality and surface smoothness.
The present invention proposes a kind of for optimizing the method for drill bit pose in robotic drill, which is characterized in that including following
Step:
1) the robotic drill system based on fringe projection method and Visual servoing control is built；The system comprises: machine
People's pedestal, end effector of robot, firm banking, drilling equipment, projector, camera and computer；The robot base
Be fixed on mounting platform, end effector of robot is bolted pair and is connected and fixed pedestal, drilling equipment, projector and
Camera be connected through a screw thread respectively it is fixed on the fixed base so that the hole site to be drilled of hole workpiece to be drilled be in simultaneously camera and
Within the visual field of projector and field depth；Six-DOF industrial robot, projector and camera are separately connected computer；
2) hole workpiece to be drilled is connected through a screw thread and is fixed on optical platform, laser tracker and robot are put respectively
It sets at the set distance of hole workpiece two sides to be drilled；It is as follows that each coordinate system is constructed respectively: FbIndicate robot base coordinate sys-tem, Fe
Indicate end effector of robot coordinate system, FpIndicate projector coordinates system, FcIndicate camera coordinates system, FdIndicate drill bit coordinate
System, FwIndicate the workpiece coordinate system of hole workpiece to be drilled, FLIndicate laser tracker coordinate system；
3) pass through the internal reference matrix M of camera projector inside and outside parameter standardization labeling projection instrument imaging modelp, calibration for cameras
The internal reference matrix M of imaging modelc, calibration for cameras coordinate system FcWith projector coordinates system FpBetween transformation matrixpTc, pass through trick
Demarcate calibration for cameras coordinate system FcWith end effector of robot coordinate system FeBetween transformation matrixcTe, utilize laser tracker
Calibration is fixed on workpiece coordinate system F hole to be drilledwWith laser tracker coordinate system FLTransformation matrixwTL, utilize laser tracker mark
Determine robot base coordinate sys-tem FbWith laser tracker coordinate system FLTransformation matrixbTL, and then find out workpiece coordinate system FwWith machine
Device people's base coordinate system FbBetween transformation matrixbTw；It is measured according to the threedimensional model of firm banking threedimensional model and drilling equipment
With drill bit coordinate system F is calculateddRelative to robot end's coordinate system FeTransformation matrixeTd；
4) position that corresponding one or more boring points are determined on the threedimensional model of hole workpiece to be drilled, utilizes step 3)
Obtained in transformation matrixbTwWitheTd, the segregation reasons of robotic drill are carried out, the corresponding path point of each boring point is obtained,
And calculating robot is in the joint angles in corresponding six joints of each path point；The specific method is as follows:
The boring point is read in workpiece in the position that any one boring point is selected on the threedimensional model of hole workpiece to be drilled
Coordinate under coordinate system, and the section the Dian Chu feature is generated, the normal vector of the section feature is then read, drill bit coordinate is constrained
It is FdZ axis it is coaxial in the normal vector, while drill bit coordinate origin being made to be in set distance to the boring point, obtains drill bit
Coordinate system FdOpposite piece coordinate system FwTransformation matrixdTw, in conjunction with transformation matrixbTwWitheTdIt acquires under corresponding drill bit coordinate system
Robot end's coordinate system FeRelative to base coordinate system FbTransformation matrixbTe=bTw·dTw -1·eTd -1, and then pass through machine
People's inverse kinematics acquires under this corresponding transformation matrix robot in the joint angles in each joint of this boring point respective path point；
5) drill bit is moved to first path point that step 3) segregation reasons obtain, which is denoted as current path
Point is path point drill bit pose to be optimized in the pose of the drill bit of current path point；
6) phase diagram of the drill bit under current path point expected pose is calculated；Specific step is as follows:
6-1) in current path point, method, the unit frequency of projector N outs of phase are surveyed and drawn using fringe projection profile
Rate sine streak figure and the high-frequency sine streak figure of N outs of phase are acquired to workpiece surface hole to be drilled, while using camera
The bar graph for the 2N deformations that workpiece surface hole to be drilled is obtained by projection, obtains pair under this drill bit pose by decoding algorithm
Answer phase diagram；Then the three-dimensionalreconstruction algorithm based on principle of triangulation is utilized, hole workpiece table to be drilled is reconstructed from phase diagram
The three-dimensional point cloud in face, the three-dimensional point cloud are located at projector coordinates system FpIn；
6-2) utilize drill bit coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTeAnd it throws
Shadow instrument coordinate system FpRelative to end effector of robot coordinate system FeTransformation matrixpTeInverse matrix carry out matrix multiple, obtain
To drill bit coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTp:
The intersecting point coordinate of drill axis with the obtained three-dimensional point cloud of step 6-1) is calculated, intersection point is that drill bit is arrived in three-dimensional point cloud
The nearest point of the distance of axis；
It 6-3) takes M point near intersecting point coordinate to carry out Quadratic Surface Fitting and obtains the quadratic surface of workpiece surface hole to be drilled
Then equation acquires the corresponding curved surface of the equation in the section of the point of intersection and the normal vector of section, which is
The direction of desired drill axis；
6-4) it is located at projector coordinates system F according to what step 6-1) was obtainedpIn three-dimensional point cloud and step 6-3) obtain
Desired drill axis direction, three-dimensional point cloud is moved integrally to making drill axis and desired drill bit in a simulated environment
Axis is overlapped and point hole to be drilled meets the position of set distance with drill bit coordinate origin distance, and it is new to obtain workpiece surface hole to be drilled
Three-dimensional point cloud；With the new three-dimensional point cloud for surface to be measured, surface to be measured is calculated by the algorithm of simulated projections process
Corresponding phase diagram, the phase diagram are phase diagram of the drill bit under expected pose；
7) it designs visual signature and derives Interactive matrix and Visual servoing control rule；
By drill bit under expected pose, i.e., drill axis vertical hole to be drilled section when, drill axis and hole workpiece to be drilled
Corresponding position, will as point hole to be drilled in the phase diagram in the phase diagram that step 6-4) is obtained for the intersection point of new three-dimensional point cloud
The element value overall alignment of border circular areas near the point hole to be drilled is visual feature vector: Xp=(xpt..., xpn), wherein xpi
For the value of i-th of element in border circular areas, the total quantity of border circular areas interior element is n；
Establish the Interactive matrix of the visual servo of corresponding visual signature are as follows:
Wherein
Wherein,rt, r2, r3, tt, t2,
t3Transformation matrix from camera coordinates system and projector coordinates systempTc=(rt, r2, r3, (tt, t2, t3)T), xpAnd xcRespectively
Abscissa of the spatial point in the projection of projector and camera imaging plane, ypAnd ycRespectively spatial point projector and camera at
As the ordinate of the projection of plane,
Corresponding Visual servoing control rule are as follows:Wherein VcFor the sextuple speed of camera, λ is gain coefficient,It is the approximate evaluation amount of the pseudoinverse of Interactive matrix, enablesWhereinFor the pseudoinverse of Interactive matrix, e=(s-s*) it is to miss
Poor item, wherein s*For visual signature corresponding under expected pose；
8) using current path point as the original state of visual servo, using obtaining Visual servoing control rule pair in step 7)
The pose of drill bit optimizes in the path point, restrains and completes until the visual servo of the path point, the path point is corresponding
The optimization of drill bit pose finishes；
9) robot completes to drill according to the drill bit pose after optimization in current path point, is then moved to next path
Point, and next path point is treated as into new current path point, step 6) is then returned to, until the vision of all path points is watched
Clothes convergence is completed, and method terminates.
The features of the present invention and beneficial effect are:
1) this method combines fringe projection contour measurement measurement accuracy height and Visual servoing control is with high accuracy excellent
Point can eliminate segregation reasons error caused by Interactive matrix calibrated error, modeling error etc., effectively improve actual borehole operation
The pose accuracy of drill bit in the process, and then improve drilling quality and surface smoothness.
2) Visual servoing control in this method is to mention directly using phase diagram as visual signature without carrying out feature to it
It takes, therefore avoids cumbersome image processing process, while the information of phase diagram can be made full use of, guarantee Visual servoing control
Precision and robustness.
3) this method does not depend on the surface characteristics of object, not only can be adapted for the case where band boring surface is plane,
Can be adapted for workpiece surface hole to be drilled is complex-curved situation.
Detailed description of the invention
Fig. 1 is that the robotic drill system structure based on fringe projection method and Visual servoing control is shown in the embodiment of the present invention
It is intended to.
Fig. 2 is the cell frequency bar graph and high frequency fringes figure in the embodiment of the present invention.
In figure: 1- robot base, 2- end effector of robot, 3- firm banking, 4- drilling equipment, 5- projector,
6- camera, 7- hole workpiece to be drilled, 8- laser tracker.
Specific embodiment
The present invention proposes a kind of method for optimization drill bit pose in robotic drill, with reference to the accompanying drawing and specific real
It applies example the present invention is described in more detail and is as follows.The following examples are intended to illustrate the invention, but is not limited to the scope of the present invention.
The present invention proposes a kind of for optimizing the method for drill bit pose in robotic drill, comprising the following steps:
1) the robotic drill system based on fringe projection method and Visual servoing control is built；
Robotic drill system structure such as Fig. 1 institute based on fringe projection method and Visual servoing control of the embodiment of the present invention
Show, the system comprises: Six-DOF industrial robot (hereinafter referred to as robot) pedestal 1, end effector of robot 2, Gu
Determine pedestal 3, drilling equipment 4, projector 5, camera 6 and computer.The Six-DOF industrial robot pedestal 1 is connected by screw thread
It connects and is fixed on the mounting platform with a thickness of 20mm, end effector of robot is bolted pair and is connected and fixed pedestal 3, bores
Aperture apparatus 4, projector 5 and camera 6 are connected through a screw thread respectively to be fixed on firm banking 3, wherein projector 5 and camera 6
Positional relationship needs to guarantee: the hole site to be drilled of workpiece while being within the visual field and the field depth of camera and projector；Six
The controller of freedom degree industrial robot connects computer by cable, and projector and camera pass through USB3.0 connecting line respectively and connect
Connect computer.
2) hole workpiece 7 to be drilled is connected through a screw thread and is fixed on optical platform, to guarantee 8 measurement process of laser tracker
Middle robot does not interfere the detection to target, and laser tracker and robot are individually positioned in hole workpiece two sides to be drilled set distance
Place；Laser tracker placement will lead to that measurement accuracy is impacted too far, and placing closely will lead to being limited in scope of being capable of measuring, therefore
It generally apart from 50~200cm of hole workpiece to be drilled, can meet the requirements, laser tracker 6 is placed on from hole to be drilled in the present embodiment
Workpiece 80cm or so.Hole workpiece to be drilled is placed in the operating space of robot, but to guarantee end effector of robot
Rigidity, preventing from generating too big resistance in boring procedure leads to drill vibration, and workpiece should not be too far from robot.The present embodiment
In, workpiece lies in a horizontal plane in the position away from ground 100cm, away from robot 150cm or so.It is pointed out that laser tracker
Only the transformation matrix of workpiece opposed robots' pedestal is demarcated in this method, it can be substituted by other fine measuring instruments.
Each coordinate system is constructed respectively as shown in Figure 1, each coordinate system is indicated by following symbol respectively in Fig. 1: FbIndicate robot base
Seat coordinate system, FeIndicate end effector of robot coordinate system, FpIndicate projector coordinates system, FcIndicate camera coordinates system, FdTable
Show the drill bit coordinate system in drilling equipment, FwIndicate the workpiece coordinate system of hole workpiece to be drilled, FLIndicate laser tracker coordinate system.
Conventional model can be used in all components in the present invention.In the present embodiment, camera is that resolution ratio is 2048X2560's
Gray scale industrial camera, model JAI GO5000；Projector is the DLP 4500Pro for the Texas Instrument that resolution ratio is 912X140；
Firm banking is simultaneously by camera, and projector, fixed on end effector of robot, the material of firm banking is drilling equipment
The steel plate of 15mm thickness；Six-DOF industrial robot is ABB IRB 4600, the servo controller of drilling equipment and robot control
Cabinet processed equally belongs to supporting hardware, does not influence on modeling process, so the servo controller of drilling equipment and robot control
Cabinet does not all describe in figure, is placed on safe position；Computer is association Y720.Above-mentioned all hardware is without special
It is required that.
3) parameter calibration；
Pass through the internal reference matrix M of camera projector inside and outside parameter standardization labeling projection instrument imaging modelp, calibration for cameras at
As the internal reference matrix M of modelc, calibration for cameras coordinate system FcWith projector coordinates system FpBetween transformation matrixpTc, pass through trick mark
Determine camera coordinates system FcWith end effector of robot coordinate system FeBetween transformation matrixcTe, utilize laser tracker mark
Surely it is fixed on workpiece coordinate system F hole to be drilledwWith laser tracker coordinate system FLTransformation matrixwTL, demarcated using laser tracker
Robot base coordinate sys-tem FbWith laser tracker coordinate system FLTransformation matrixbTL, and then find out workpiece coordinate system FwWith machine
People's base coordinate system FbBetween transformation matrixbTw；According to a self-designed connection camera, projector, drilling equipment and machine
The firm banking threedimensional model of device people's end effector and drilling equipment threedimensional model (threedimensional model of pedestal be oneself
SolidWorks draws gained, and the threedimensional model of drilling equipment can be asked for producer or oneself measurement obtains) it measures and calculates
Obtain drill bit coordinate system FdRelative to robot end's coordinate system FeTransformation matrixeTd。
4) segregation reasons；
Determine the position of one or more boring points according to actual needs, and the threedimensional model of hole workpiece to be drilled (here
Threedimensional model be the threedimensional model with drilling-workpiece, it is different according to different parts, and can be for processing this workpiece
Threedimensional model, be also possible to measure the threedimensional model that workpiece obtains to three-dimensional reconstruction using reverse engineering) on determine and correspond to
One or more boring points position, utilize transformation matrix obtained in step 3)bTwWitheTd, carry out robotic drill from
Line gauge is drawn, each path point (position of each a path point corresponding boring point) corresponding six of the calculating robot in planning
The joint angles in a joint.The specific method is as follows:
First according to actual needs, one or more is selected on the threedimensional model of the hole workpiece to be drilled under CATIA environment
The position of a boring point, the present embodiment take a boring point, and read coordinate of the boring point under workpiece coordinate system, and generate
Then the section the Dian Chu feature reads the normal vector of the section feature, constrain drill bit coordinate system FdZ axis in the normal vector
Coaxially, while keeping drill bit coordinate origin most suitable to the distance 5-10mm of the boring point, the present embodiment takes 5mm, the distance
Depending on the positional relationship of drill bit coordinate origin and drill bit cusp, the present embodiment is by drill bit coordinate origin and drill bit cusp weight
It closes.By the available drill bit coordinate system F of above-mentioned constraintdWith workpiece coordinate system FwTransformation matrixdTw, in conjunction with transformation matrixbTw
WitheTd, can be in the hope of robot end's coordinate system F under corresponding drill bit coordinate systemeRelative to base coordinate system FbTransformation matrixbTe
=bTw·dTw -1·eTd -1, and then robot is acquired under this corresponding transformation matrix in this boring point pair by Robotic inverse kinematics
Answer the joint angles in each joint of path point.
5) drill bit is moved to first path point that step 3) segregation reasons obtain, which is denoted as current path
Point is path point drill bit pose to be optimized in the pose of the drill bit of current path point；
6) phase diagram of the drill bit under current path point expected pose is calculated；Specific step is as follows:
6-1) in current path point, method (Fringe Projection is surveyed and drawn using fringe projection profile
Profilometry), projector N opens the cell frequency sine streak figure of out of phase and the high-frequency of N outs of phase
Sine streak figure is to workpiece surface hole to be drilled, and the cell frequency sine streak figure and high-frequency sine streak figure of the present embodiment are as schemed
Shown in 2, wherein Fig. 2 (a) is unit frequency sine bar graph, and Fig. 2 (b) is high frequency sinusoidal bar graph.It is acquired simultaneously using camera
The bar graph for the 2N deformations that workpiece surface hole to be drilled is obtained by projection, obtains pair under this drill bit pose by decoding algorithm
Answer phase diagram；The value of N is higher, and the precision that fringe projection profile surveys and draws method is higher, but time of measuring also will increase simultaneously, in order to
Accuracy and speed is taken into account, the N of the present embodiment is taken as 20；Phase diagram is the matrix of the resolution ratio same size of one and camera,
In each element value be picture point of the spatial point of the corresponding element position under projector imaging plane abscissa；Then sharp
With the three-dimensionalreconstruction algorithm based on principle of triangulation, the three-dimensional point cloud of workpiece surface hole to be drilled is reconstructed from phase diagram, it should
Three-dimensional point cloud is located at projector coordinates system FpIn.
6-2) utilize drill bit coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTeAnd it throws
Shadow instrument coordinate system FpRelative to end effector of robot coordinate system FeTransformation matrixpTeInverse matrix carry out matrix multiple, can
To obtain drill bit coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTp:
Due to drill bit coordinate system FdIt is defined as its Z axis to be overlapped with drill axis direction, it is possible thereby to which drill axis and step is calculated
Rapid 6-1) obtained in three-dimensional point cloud intersecting point coordinate, this intersection point is the point hole to be drilled in the three-dimensional point cloud；In view of a cloud
And it is discontinuous, therefore intersection point is taken as the nearest point of the distance in a cloud to drill axis.
It 6-3) takes M point near intersecting point coordinate to carry out Quadratic Surface Fitting and obtains the quadratic surface of workpiece surface hole to be drilled
Then equation acquires the corresponding curved surface of the equation in the section of the point of intersection and the normal vector of section, which is
The direction of desired drill axis.Depending on the resolution ratio of camera and the size of bore region to be drilled, M is too small to be protected the value of M
Card fitting precision, the too big pattern that cannot be then well reflected bore region to be drilled of M, generally 1000 to 10000, the present embodiment takes
M is 5000.
6-4) it is located at projector coordinates system F according to what step 6-1) was obtainedpIn three-dimensional point cloud and step 6-3) obtain
Desired drill axis direction, three-dimensional point cloud is moved integrally to making drill axis and desired drill bit in a simulated environment
Axis is overlapped, and point hole to be drilled and the position of drill bit coordinate origin (i.e. drill bit cusp) apart from certain distance, this distance is real
Drill bit cusp, should not be too far to the distance of point hole to be drilled in the drilling of border, is easy to produce bounce when otherwise drilling, equally should not be too
Closely, otherwise drill bit may collide when moving with workpiece surface, and general 10mm to 30mm, the present embodiment takes 20mm；So
Its corresponding phase is calculated by the algorithm of simulated projections process for surface to be measured with the three-dimensional point cloud of this position afterwards
Figure, which is phase diagram of the drill bit under expected pose.
7) it designs visual signature and derives Interactive matrix and Visual servoing control rule.
In order to make full use of all information of phase diagram, the accuracy and robustness of ensuring method, while from complicated
Characteristic extraction procedure, (this point is in expected pose, i.e., drill axis hangs down for point hole to be drilled in the phase diagram that step 6-4) is obtained
When waiting until boring point section, drill axis corresponding position in phase diagram with the intersection point of the new three-dimensional point cloud of hole workpiece to be drilled)
Whole element values of neighbouring border circular areas generally take 50-100 pixel directly as visual signature, the radius of border circular areas,
The present embodiment takes 60 pixels.It is visual feature vector: X by the element value overall alignment of above-mentioned border circular areasp=(xpt...,
xpn), wherein xpiFor the value of i-th of element in border circular areas, the total quantity of border circular areas interior element is n.By accordingly deriving,
The Interactive matrix for establishing the visual servo of corresponding visual signature is derived as:
Wherein
Wherein,Parameter therein
rt, r2, r3, tt, t2, t3Transformation matrix from camera coordinates system and projector coordinates systempTc=(rt, r2, r3, (tt, t2, t3)T), xp
And xcRespectively abscissa of the spatial point in the projection of projector and camera imaging plane, ypAnd ycRespectively spatial point is projecting
The ordinate of the projection of instrument and camera imaging plane,
Corresponding Visual servoing control rule are as follows:Wherein VcFor the sextuple speed of camera, λ is gain coefficient,It is the approximate evaluation amount of the pseudoinverse of Interactive matrix, the present invention takesWhereinFor the pseudoinverse of Interactive matrix, e=(s-
s*) it is error term, wherein s*For visual signature corresponding under expected pose；
8) Visual servoing control is carried out, drill bit pose is optimized.
Using current path point as the original state of visual servo, using obtained in step 7) Visual servoing control rule to
The pose of drill bit optimizes in the path point, restrains and completes until the visual servo of the path point, the corresponding brill of the path point
Head pose optimization finishes；
9) robot completes to drill according to the drill bit pose after optimization in current path point, is then moved to next path
Point, and next path point is treated as into new current path point, step 6) is then returned to, until the vision of all path points is watched
Clothes convergence is completed, and method terminates.
Since present invention incorporates fringe projection contour measurement measurement accuracy height and Visual servoing control are with high accuracy excellent
Point, it is possible to eliminate segregation reasons error caused by Interactive matrix calibrated error, modeling error etc., improve actual borehole operation
The pose accuracy of drill bit in the process, and then improve drilling quality and surface smoothness.In addition, the Visual servoing control in this method
It is without carrying out feature extraction to it, therefore to avoid cumbersome image processing process directly using phase diagram as visual signature,
The information that phase diagram can be made full use of simultaneously, guarantees the precision and robustness of Visual servoing control
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, without departing from the technical principles of the invention, can also make several improvement and replacement, these are improved and replacement is also answered
It is considered as protection scope of the present invention.
Claims (1)
1. a kind of for optimizing the method for drill bit pose in robotic drill, which comprises the following steps:
1) the robotic drill system based on fringe projection method and Visual servoing control is built；The system comprises: robot base
Seat, end effector of robot, firm banking, drilling equipment, projector, camera and computer；The robot base is fixed
On mounting platform, end effector of robot is bolted pair and is connected and fixed pedestal, drilling equipment, projector and camera
It is connected through a screw thread and is fixed on the fixed base respectively, so that the hole site to be drilled of hole workpiece to be drilled is in camera and projection simultaneously
Within the visual field of instrument and field depth；Six-DOF industrial robot, projector and camera are separately connected computer；
2) hole workpiece to be drilled is connected through a screw thread and is fixed on optical platform, laser tracker and robot are individually positioned in
At the set distance of hole workpiece two sides to be drilled；It is as follows that each coordinate system is constructed respectively: FbIndicate robot base coordinate sys-tem, FeIt indicates
End effector of robot coordinate system, FpIndicate projector coordinates system, FcIndicate camera coordinates system, FdIndicate drill bit coordinate system, Fw
Indicate the workpiece coordinate system of hole workpiece to be drilled, FLIndicate laser tracker coordinate system；
3) pass through the internal reference matrix M of camera projector inside and outside parameter standardization labeling projection instrument imaging modelp, calibration for cameras imaging
The internal reference matrix M of modelc, calibration for cameras coordinate system FcWith projector coordinates system FpBetween transformation matrixpTc, pass through hand and eye calibrating
Calibration for cameras coordinate system FcWith end effector of robot coordinate system FeBetween transformation matrixcTe, demarcated using laser tracker
It is fixed on workpiece coordinate system F hole to be drilledwWith laser tracker coordinate system FLTransformation matrixwTL, machine is demarcated using laser tracker
Device people's base coordinate system FbWith laser tracker coordinate system FLTransformation matrixbTL, and then find out workpiece coordinate system FwWith robot
Base coordinate system FbBetween transformation matrixbTw；It is measured and is counted according to the threedimensional model of firm banking threedimensional model and drilling equipment
Calculation obtains drill bit coordinate system FdRelative to robot end's coordinate system FeTransformation matrixeTd；
4) position that corresponding one or more boring points are determined on the threedimensional model of hole workpiece to be drilled, obtains using in step 3)
The transformation matrix arrivedbTwWitheTd, the segregation reasons of robotic drill are carried out, obtain the corresponding path point of each boring point, and count
Robot is calculated in the joint angles in corresponding six joints of each path point；The specific method is as follows:
The boring point is read in workpiece coordinate in the position that any one boring point is selected on the threedimensional model of hole workpiece to be drilled
Coordinate under system, and the section the Dian Chu feature is generated, the normal vector of the section feature is then read, drill bit coordinate system F is constrainedd
Z axis it is coaxial in the normal vector, while drill bit coordinate origin being made to be in set distance to the boring point, obtains drill bit coordinate
It is FdOpposite piece coordinate system FwTransformation matrixdTw, in conjunction with transformation matrixbTwWitheTdAcquire machine under corresponding drill bit coordinate system
People's ending coordinates system FeRelative to base coordinate system FbTransformation matrixbTe=bTw·dTw -1·eTd -1, and then pass through robot inverse
Kinematics acquires under this corresponding transformation matrix robot in the joint angles in each joint of this boring point respective path point；
5) drill bit is moved to first path point that step 3) segregation reasons obtain, which is denoted as current path point,
It is path point drill bit pose to be optimized in the pose of the drill bit of current path point；
6) phase diagram of the drill bit under current path point expected pose is calculated；Specific step is as follows:
6-1) in current path point, method is surveyed and drawn using fringe projection profile, the cell frequency of projector N outs of phase is just
String bar graph and the high-frequency sine streak figure of N outs of phase are to workpiece surface hole to be drilled, while it is to be drilled to utilize camera to acquire
The bar graph for the 2N deformations that hole workpiece surface is obtained by projection, obtains the correspondence phase under this drill bit pose by decoding algorithm
Bitmap；Then the three-dimensionalreconstruction algorithm based on principle of triangulation is utilized, workpiece surface hole to be drilled is reconstructed from phase diagram
Three-dimensional point cloud, the three-dimensional point cloud are located at projector coordinates system FpIn；
6-2) utilize drill bit coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTeAnd projector is sat
Mark system FpRelative to end effector of robot coordinate system FeTransformation matrixpTeInverse matrix carry out matrix multiple, obtain drill bit
Coordinate system FdRelative to end effector of robot coordinate system FeTransformation matrixdTp:
The intersecting point coordinate of drill axis with the obtained three-dimensional point cloud of step 6-1) is calculated, intersection point is that drill axis is arrived in three-dimensional point cloud
The nearest point of distance；
It 6-3) takes M point near intersecting point coordinate to carry out Quadratic Surface Fitting and obtains the quadratic surface side of workpiece surface hole to be drilled
Then journey acquires the corresponding curved surface of the equation in the section of the point of intersection and the normal vector of section, which schedules to last
The direction of the drill axis of prestige；
6-4) it is located at projector coordinates system F according to what step 6-1) was obtainedpIn three-dimensional point cloud and step 6-3) obtained phase
The direction of the drill axis of prestige in a simulated environment moves integrally three-dimensional point cloud to making drill axis and desired drill axis
Coincidence and point hole to be drilled and drill bit coordinate origin distance meet the position of set distance, obtain three of workpiece surface hole to be drilled newly
Dimension point cloud；With the new three-dimensional point cloud for surface to be measured, it is corresponding that surface to be measured is calculated by the algorithm of simulated projections process
Phase diagram, which is phase diagram of the drill bit under expected pose；
7) it designs visual signature and derives Interactive matrix and Visual servoing control rule；
By drill bit under expected pose, i.e., drill axis vertical hole to be drilled section when, drill axis and hole workpiece to be drilled are new
This is waited for as point hole to be drilled in the phase diagram intersection point of three-dimensional point cloud corresponding position in the phase diagram that step 6-4) is obtained
The element value overall alignment of border circular areas near boring point is visual feature vector: Xp=(xpt..., xpn), wherein xpiFor circle
The value of i-th of element in shape region, the total quantity of border circular areas interior element are n；
Establish the Interactive matrix of the visual servo of corresponding visual signature are as follows:
Wherein
Wherein,rt, r2, r3, tt, t2, t3Come
From the transformation matrix of camera coordinates system and projector coordinates systempTc=(rt, r2, r3, (t1, t2, t3)T), xpAnd xcRespectively space
Abscissa of the point in the projection of projector and camera imaging plane, ypAnd ycRespectively spatial point is flat in projector and camera imaging
The ordinate of the projection in face,
Corresponding Visual servoing control rule are as follows:Wherein VcFor the sextuple speed of camera, λ is gain coefficient,It is
The approximate evaluation amount of the pseudoinverse of Interactive matrix enablesWhereinFor the pseudoinverse of Interactive matrix, e=(s-s*) it is error term,
Wherein s*For visual signature corresponding under expected pose；
8) it using current path point as the original state of visual servo, is restrained using Visual servoing control is obtained in step 7) at this
The pose of drill bit optimizes in path point, restrains and completes until the visual servo of the path point, the corresponding drill bit of the path point
Pose optimization finishes；
9) robot completes to drill according to the drill bit pose after optimization in current path point, is then moved to next path point, and
Next path point is treated as into new current path point, then returns to step 6), until the visual servo of all path points is received
Completion is held back, method terminates.
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