CN110355788A - Moving operation machine National People's Congress scale space high-precision on-line proving system - Google Patents
Moving operation machine National People's Congress scale space high-precision on-line proving system Download PDFInfo
- Publication number
- CN110355788A CN110355788A CN201910673549.XA CN201910673549A CN110355788A CN 110355788 A CN110355788 A CN 110355788A CN 201910673549 A CN201910673549 A CN 201910673549A CN 110355788 A CN110355788 A CN 110355788A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- moving operation
- measurement
- operation machine
- machine people
- 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.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims abstract description 89
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 44
- 239000012636 effector Substances 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 239000013558 reference substance Substances 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 10
- 239000000919 ceramic Substances 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The present invention relates to a kind of moving operation machine National People's Congress dimensional space high-precision on-line proving systems comprising measurement subsystem and compensation for calibrating errors subsystem.Measurement subsystem includes the multi-angle of view measuring device, at least one set of local measurement devices and the vehicle-mounted laser micrometer equipment being arranged on the mobile platform for the working space that visual field covers moving operation machine people, and compensation for calibrating errors subsystem includes moving operation machine people controller, the communication module connecting with the measurement subsystem and calibration station.Multi-angle of view measuring device include infrared camera, the image acquisition workstation being connect with infrared camera and with the associated reflective target ball of mobile platform.Each local measurement devices include CCD camera and multiple laser range sensors.Compared with the calibration of conventional mobile robot calibration, the solution of the present invention has full-automatic, large space, on-line calibration advantage；Operating flexibility is also improved simultaneously, is reduced cost, is effectively improved the practical value of moving operation machine people's system.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of moving operation machine National People's Congress scale space high-precision
On-line proving system.
Background technique
Large-scale, complex structural member processing, measurement, such as aerospace structural part, high-speed rail body construction part, usually have
In high precision, the requirement of great surface quality has relied on the large-sized processing equipments such as Longmen machine tool, large-scale milling machine all the time, to
It is much to process part, then needs great process equipment.Therefore, this input cost for not only resulting in process equipment can be very
Height, in addition, if processing component characteristics change or the increase of size, original equipment may be unable to satisfy new demand, make again
Forming apparatus risk of input is high, while flexible demands when being unable to satisfy practical application again.
Therefore, in face of large-scale, complex structural member processing, the composed shifting in conjunction with mobile robot by industrial robot
Dynamic operation robot system is a feasible scheme, dexterity with higher and great working space, while again can be with
Pass through the work compound of more moving operation machine people's systems, effectively promotion operating efficiency.
However, the critical issue that moving operation machine people's system encounters is large scale and high accuracy positioning.Current solution
Scheme is all and to guarantee machine by motion planning and robot control mode by direct or indirect mode robot measurement end
Absolute precision of the people end in a wide range of working space, and these are required by means of high-cost iGPS, laser tracker
Etc. equipment complete.In addition, this requires the motion arm end of necessary real-time follow-up moving operation machine people.Therefore, work as shifting
When moving operation robot quantity to increase, or being blocked caused by complicated processing environment, it is necessary to increase iGPS or laser tracker
Quantity, this does not only result in being significantly increased for cost, also will be greatly reduced its application flexibility.Though currently, such application
It is so a small amount of to appear in aerospace processing and manufacturing and fields of measurement, however its fancy price and lower flexibility are significantly
Limit its popularization and application.
To sum up, the calibration of traditional fixed industrial robot is often implemented in small space indoors, used precision
The measurement range of measuring instrument is generally surveyed at several meters hereinafter, accurate mechanical structure and optical principle is combined to can be realized high-precision
Amount；Traditional moving operation machine people has large-scale open shop scheduling space, but is limited to the positioning accuracy of Centimeter Level.It is based on
This, it is necessary to one kind is provided and is able to achieve moving operation machine National People's Congress space high-precision on-line proving system, without real-time
Tracking measurement robot end pose guarantees precision.The calibration system for meeting this demand can not only greatly improve flexibly
Property, while cost is also reduced, effectively improve the practical value of moving operation machine people's system.
Summary of the invention
The present invention provides a kind of mobile robot high-precision on-line calibration scheme for being applicable in large-scale dimension, above-mentioned to solve
Technical problem.
The technical scheme is that a kind of on-line proving system of moving operation machine people comprising measurement subsystem and
Compensation for calibrating errors subsystem.The measurement subsystem includes the multi-angle of view that visual field covers the working space of moving operation machine people
Measuring device, at least one set of local measurement devices and the vehicle-mounted laser micrometer equipment being arranged on the mobile platform, it is described
Compensation for calibrating errors subsystem includes moving operation machine people controller, the communication module and calibration work that connect with the measurement subsystem
It stands.The multi-angle of view measuring device include infrared camera, the image acquisition workstation being connect with infrared camera and with it is described
The associated reflective target ball of mobile platform.Each local measurement devices include CCD camera and multiple laser rangings sensing
Device.
According to certain aspects of the invention, it is arranged above the working space of the moving operation machine people multiple and different
Array composed by the infrared camera at visual angle；The image acquisition workstation and each infrared camera, which are established, to be communicated to connect；It is more
A reflective target ball is mounted on the corner of the mobile platform.
According to certain aspects of the invention, multiple laser range sensors are distributed under the support of fixture in space triangular
Around the CCD camera；Motor area of the shooting direction of the CCD camera towards the moving operation machine people
Domain.
According to certain aspects of the invention, the external attached equipment of the local measurement devices further includes equilateral triangle target
Mark, support fixture and linear motion device, wherein equilateral triangle target is installed on the mechanical arm tail end of moving operation machine people, office
Portion's measuring device is fixed on the sports platform of linear motion device by the support fixture, and linear motion device is driven
The local measurement devices are moved to carry out apart from controlled linear movement.
According to certain aspects of the invention, the linear motion device includes linear motor, for guiding the fortune
Guide rail, grating sensor and the motion drive being connect with the linear motor and grating sensor of dynamic platform linear movement.
According to certain aspects of the invention, the vehicle-mounted laser micrometer equipment includes being fixedly mounted by installation supporting element
Twin shaft outer diameter micrometer on the mobile platform；The workpiece of the twin shaft outer diameter micrometer in plate-like, it is intermediate there are
Laser measurement region, for detecting the outer diameter for being inserted into the stick columnar object in the laser measurement region, to have the behaviour of stick column feature
The pose calibration for making arm end effector provides Fundamentals of Measurement.
According to certain aspects of the invention, mechanical arm tail end is equipped with the equilateral triangle block as target, in the equilateral triangle
Target ball is respectively set in the vertex of block, and marks in the center of equilateral triangle block setting vision-based detection.
According to certain aspects of the invention, moving operation machine people's controller includes industrial motion controller, deposits
The motion control program of reservoir and moving operation machine people.
According to certain aspects of the invention, the calibration station is by being connected to mobile manipulator using communication module
Device people's controller, control manipulator motion to measurement pose receive mechanical arm information and each joint angles of collection machinery arm in place
Data are also connected to each electrical equipment of measurement subsystem by communication module, to receive measurement subsystem data and to survey
Quantized system implements control；Mechanical transmission test error model is preserved in calibration station, and is obtained from mechanical arm controller
It is named adopted geometric parameter, based on the true value that above-mentioned measurement subsystem obtains, respectively to the mechanical arm body basis coordinates at operation
Parameter, geometric parameter and end effector offset parameter are calibrated, and generate new motion profile and to motion controller into
Row compensation.
According to certain aspects of the invention, the laser range sensor is demarcated in advance by off-line calibration equipment,
The off-line calibration equipment includes laser tracker, and associated with laser tracker and that mechanical arm tail end is set one or
Multiple target balls, the rod piece for connecting the target ball and laser tracker aided measurement device Tmac.
Technical solution of the present invention further relates to a kind of high-precision scaling method of moving operation machine National People's Congress scale space, packet
Include following steps:
The global reference net of large-scale dimension is arranged under the world coordinate system in S1, at the scene space, and based on global benchmark
Multiple local measurement devices of the wet end administration for the multi-angle of view measuring device of bigness scale amount and for accurate measurement amount；
S2, after the mobile platform of moving operation machine people stops at preset job position, set using multi-angle of view measurement
It is standby that coarse positioning is carried out to the mobile platform, and on the basis of the mechanical arm base coordinate system under coarse positioning, control is with self-control mark
The mechanical arm tail end of the moving operation machine people of target enters the measurement range of local measurement devices；
S3, in smart measurement range, identified by local visual, the target of mechanical arm tail end guided to move to a position,
So that target is measured laser and successfully hits, the mechanical arm is calculated according to more laser distance measuring principles and target geological information
Then end pose is varied multiple times mechanical arm tail end pose and measures the end pose value after record changes, calibrates out mechanical arm
Base coordinate system deviation and kinematics geometric parameter error；
S4, the position and attitude error based on the mechanical arm body and pedestal for calculating acquisition, recalculate robot arm end effector
Planning pose, end effector of robot error is compensated by backoff algorithm；
S5, vehicle-mounted laser micrometer system is built on a mobile platform, using vehicle-mounted laser micrometer system to column reference substance
Pose measurement is carried out, on-line calibration goes out the offset parameter of robot arm end effector.
The invention has the benefit that
A kind of global rough grade proposed by the present invention adds the on-line calibration scheme of partial high-precision, with conventional fixed-type and shifting
The calibration calibration of dynamic formula robot is compared, and has full-automatic, large space, on-line calibration advantage；In addition, according to the present invention
Scaling scheme also improves operating flexibility, while also reducing cost, effectively improves the practical valence of moving operation machine people's system
Value.
Detailed description of the invention
Fig. 1 is overall Vision measurement subsystem and on-line calibration system schematic.
Fig. 2 is the schematic diagram based on guide rails moving type local visual guidance equipment.
Fig. 3 is the vehicle-mounted two-axis laser micrometer instrumentation plan of moving operation machine people.
Fig. 4 is global baseline network example schematic.
Fig. 5 is the details enlarged drawing of the end target of Fig. 4.
Fig. 6 is on-line proving system implementation flow chart.
Fig. 7 is the compensation for calibrating errors flow chart at calibration station.
Fig. 8 is the relational graph of on-line proving system components and calibration implementing procedure.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as upper and lower, left and right used in invention are only the mutual alignment pass relative to each component part of the present invention in attached drawing
For system.In the present invention and the "an" of singular used in the attached claims, " described " and "the" also purport
It is including most forms, unless the context clearly indicates other meaning.
It will be appreciated that though various elements, but this may be described using term first, second, third, etc. in the disclosure
A little elements should not necessarily be limited by these terms.These terms are only used to for same type of element being distinguished from each other out.For example, not departing from
In the case where disclosure range, first element can also be referred to as second element, and similarly, second element can also be referred to as
One element.
In addition, so-called " large scale degree space " of the invention, refers to compared to traditional fixed or mobile robot
The space for the several times that the size of itself is compared.In general, it is possible to understand that at least 10 meters × 10 meters × 10 meters of space, but
Various practical applications, " large scale degree space " can be examined according to combined factors such as processing part, robot motion's ranges
Consider and limits.So-called " high-precision " of the invention refers to the machining accuracy of the prior art higher than various applications, movement essence
For degree, to obtain superior technique effect and improvement.
Referring to figs. 1 to Fig. 3, calibration system according to the present invention includes a set of measurement subsystem and a set of compensation for calibrating errors subsystem
System.
Measurement subsystem be used to hold 110 coordinate system of mobile platform, 113 pose of mechanical arm tail end and mechanical arm tail end
The pose amount of bias of row device 114 carries out vision measurement.
The measurement subsystem includes: the multi-angle of view measuring device, local measurement devices 120 and vehicle-mounted laser of spatial distribution
Micrometer equipment.
Multi-angle of view measuring device include: infrared camera 116, the image acquisition workstation being connect with infrared camera 116 130 and
With the associated reflective target ball of moving operation machine people 109.
Infrared camera 116 is set to the upper space of the work of moving operation machine people 109.It can use steel, aluminium etc.
Several infrared cameras 116 are fixedly mounted by distribution in supporter and crossbeam.The measurement visual field energy of multiple infrared cameras 116
The space of large scale is enough shrouded, for example shrouds at least 10 meters × 10 meters × 10 meters of space.
Image acquisition workstation 130 and each camera, which are established, to be communicated to connect, and 110 image of camera synchronous acquisition mobile platform is controlled
Information carries out feature point extraction and polyphaser data fusion to image, and the location information for obtaining mobile platform 110 gives calibration work
Make station 127.
Reflective target ball is mounted on four angles of robot moving platform 110, carries out space to mobile platform 110 convenient for camera
Positioning.
Local measurement devices 120 and its external attached equipment can be set in 109 mechanical arm 111 of moving operation machine people
Operating area.
The external attached equipment includes the linear motion device with high-precision linear motion characteristic.The linear motion device
Include linear motor, guide rail, grating sensor and driver etc..
Local measurement devices 120 are fixed on the sports platform of linear motion device by support fixture 102, so that straight line is transported
Dynamic device can drive the local measurement devices 120 to carry out apart from controlled fine linear movement.
Local measurement devices 120 include multiple (preferably 9) laser range sensors 121 and a CCD camera 122.
The measurable region that CCD camera 122 is used to that 113 target of mechanical arm tail end to be guided to enter laser range sensor 121, therefore install
In the center of fixture.Multiple laser range sensors 121 can be divided into 3 groups, on fixture in space triangular (for example,
Every 120 °) it is distributed in around CCD camera 122.Every group of laser can determine in 113 target of mechanical arm tail end a target ball center
Spatial position, for further calculating to obtain equilateral target center position and posture information；
Equilateral triangle target 123 is installed on the mechanical arm tail end 113 of moving operation machine people 109.In triangular bar 123
A high-accuracy reflective target ball is installed on vertex respectively, and pastes vision-based detection label 128 in corner block center.Wherein,
Reflective target ball is, for example, the target ball of the smooth ceramic material in surface, is also possible to the target ball of other metal material polishings.
Vehicle-mounted laser micrometer equipment includes installation supporting element and twin shaft outer diameter micrometer 125, is mounted on robot
Mobile platform 110 on.The workpiece of the twin shaft outer diameter micrometer is in plate-like, and there are laser measurement areas among it
It is held for detecting the outer diameter for being inserted into the stick columnar object in the laser measurement region to have the motion arm end of stick column feature in domain
The pose calibration of row device provides Fundamentals of Measurement.
Compensation for calibrating errors subsystem includes: moving operation machine people controller 129, communication module and calibration station 127.
Moving operation machine people controller 129 is used to control the movement of 111 ontology of mechanical arm and mobile platform 110, control
There is 111 kinematic geometry name parameter of mechanical arm inside device processed.Moving operation machine people controller 129 includes industrial motion control
Device (for example, PLC, motion control card), driver of moving operation machine people 109 etc..
Communication module for communication between controller, fieldbus, interchanger and various equipment, may include gateway,
Interchanger, the headend of various agreements, wireless network card etc..
Calibration station 127: it is connected to moving operation machine people controller 129 using communication module, controls mechanical arm 111
Measurement pose is moved to mobile platform 110, receives mechanical arm 111 information and each joint angle degree of collection machinery arm 111 in place
According to；It is connected to each electrical equipment (including image acquisition workstation 130) of measurement subsystem using communication module, receives measurement
Subsystem data simultaneously can implement control to measurement subsystem；By establishing 111 kinematic error model of mechanical arm, and from machinery
111 kinematic geometry name parameter of mechanical arm is extrapolated in 111 mechanical structure of arm, is obtained based on above-mentioned measurement subsystem true
Value, carries out school to 111 ontology basis coordinates parameter of mechanical arm, geometric parameter and the end effector offset parameter at operation respectively
Standard, and generate new motion profile and controller is compensated.
With reference to the accompanying drawing 6 to 8, by 5 key steps, the calibration running stream of calibration system according to the present invention is described
Some embodiments of journey.As shown in figure 8, step S1 is related to the building and corresponding ranging of each hardware platform of above-mentioned calibration system
The off-line calibration of sensor.Step S2 to S5 be related to on-line proving system from the low precision calibration of 110 Centimeter Level of mobile platform by
Step is advanced to the micron-sized high-precision calibrating of mechanical arm 111, also realizes the micron order high-precision school of 113 tool of mechanical arm tail end
It is quasi-.In application scenes, each sensing equipment of on-line proving system according to the present invention only need to be by an off-line calibration, so
It can repeat the process of step S2 to S5, online updating robot in real time in the course of work of moving operation machine people 109 afterwards
Position money and truing tool.Wherein, step S2 mainly passes through the infrared camera 116 of multi-angle of view measuring device, moving operation machine
Vehicle-mounted reflective target ball on people 109 is implemented；Directing step S3.1 in step S3 passes through the CCD phase of local measurement devices 120
Vision-based detection label 128 that machine 122 and mechanical arm tail end 113 are arranged is implemented, and measuring process S3.2 then is to pass through office
The target and target of laser range sensor 121 and mechanical arm tail end 113 installation of portion's measuring device 120 are implemented；Step S4
It can be executed, can also be directly or indirectly executed by the motion controller of moving operation machine people 109 by external computing device；Step
Rapid S5 is mainly implemented by the twin shaft micrometer sensor on 109 vehicular platform of moving operation machine people.
Each step is described below by detailed embodiment.
Step S1
Large-scale dimension overall situation reference net is built, to solve large space, the manufacture of large-sized industrial robot is surveyed in scene
Measure error accumulation problem caused by the equipment frame of reference is repeatedly converted mutually.In the network point distribution and space of global reference net
The factors such as measurement distance and precision, the spatial occlusion of sensor it is related.
Using the canonical measure equipment of contactless, a wide range of, the high convenience such as laser tracker 101, in baseline network
Place directly or indirectly measures the posture information of the sensor in space, mobile for the sensor device except measurable space
Laser tracker 101 equally can be measured that a site senses in a part at the baseline network to next baseline network
The posture information of device extrapolates information converting of the site relative to a upper site.In order to reduce the accumulated error between site,
It is built by the way of being spread around by center site, it is opposite finally to establish sensor in space using the method for splicing
In the posture information of unified world coordinate system.
In an example, such as Fig. 4 and Fig. 5, using (such as product of Leica company) laser tracker 101 as benchmark
Point building instrument calibrates some laser range sensor 121 and some pose of infrared camera 116 in datum mark simultaneously.In machine
Support fixture 102 is installed in tool arm end 113, is equipped on fixture: (1) minute diameter (such as 1mm) high-precision ceramic target ball
124, the laser for reflection laser distance measuring sensor 121；(2) laser tracker aided measurement device Tmac 104, Ke Yizhi
The reversed position feedback 6-DOF and posture information；(3) reflective target ball group 105 is identified for infrared camera 116.Make between reflective target ball
It is connected with high-precision rod piece 106.
Control mechanical arm 111 moves at first position 107, so that ceramic target ball 124 is directed at laser range sensor 121
Laser rays, captured by laser tracker 101 and be scaled the pose of ceramic target ball 124 here；Mechanical arm 111 is controlled to transport
It moves to the second position 108, similarly, so that ceramic target ball 124 is directed at the laser rays of laser range sensor 121, ceramic target ball
124 pose here can also obtain.It can be obtained by the pose of ceramic 124 two o'clock of target ball and prolong laser range sensor 121
The direction of incident laser, and range information can be measured by laser range sensor 121 itself, finally obtain the laser ranging
Posture information of the sensor 121 in datum mark.Likewise, infrared camera 116 also can by measuring reflective target ball group 105 twice
Obtain itself pose relative to datum mark.
Step S2
In order to reduce the probability that spatial obstacle object blocks, such as Fig. 1, the supporters such as steel, aluminium and the bracket of crossbeam composition are utilized
115 installation 116 vision measurement subsystems of infrared camera.Reflective target ball 117 is installed on to four angles of mobile platform 110, works as shifting
Dynamic operation robot 109 and mobile platform 110 move in the measurable range of infrared camera 116, and infrared camera 116 identifies instead
Light target ball 117 is simultaneously further distributed the spatial position for calculating determining mobile platform 110 according to the geometry of reflective target ball.
Due to disposing multiple infrared cameras 116 in space.Mobile platform 110 may be by multiple infrared cameras 116 simultaneously
It captures, the redundancy location data generated using polyphaser is simultaneously optimized with data anastomosing algorithm.
It later, with mobile platform 110 is connect by rigidity of vehicle body due to mechanical arm pedestal 112, the conversion between them
Off-line calibration when relationship can pass through factory determines；Thus the posture information of mobile platform 110 is being obtained by above-mentioned measurement
Under conditions of, posture information of the available mechanical arm pedestal 112 relative to world coordinate system.But vision is surveyed in large space
The precision of amount is limited, and the positioning of mechanical arm pedestal 112 is a Primary Location, transports for control mechanical arm tail end 113 in next step
The partial high-precision measured zone moved under world coordinate system provides reference.
Step S3
Such as Fig. 2, Precision Machining goes out one piece of equilateral triangle block 123, and the vertex of corner block 123 install respectively three it is high-precision
Close ceramic target ball 124, and vision-based detection label 128 (for example, mark point marks) is pasted in 123 center of corner block, it should
The flange that equilateral triangle block 123 is installed in mechanical arm tail end 113 as target (or is installed on the end method by prolonging Shen bar
It is blue).Become a local measurement with CCD camera 122 (for example, CCD guides camera) group with 9 laser range sensors 121 to set
Standby 120, being installed on can be on the mobile support fixture 102 of precise linear guide 118.For the target with equilateral triangle block
123 is corresponding, and it is 3 groups that 9 laser range sensors 121, which divide, an angle in the every group of triangle that takes up space respectively, and CCD camera
122 are installed on the center of space triangular.
In the partial high-precision local measurement area that 113 target 123 of mechanical arm tail end moves to, pasted on target 123 at this time
Attached vision-based detection label 128 enters guidance CCD camera 122 within sweep of the eye, by by 128 vectoring aircraft of vision-based detection label
Tool arm end 113 is to some pose, and 3 beam laser of every group of laser range sensor 121 can hit equilateral three under the pose
Target ball 124 is corresponded in hornblock target 123.At this point, 111 pause motion of mechanical arm, calibration station 127 passes through one side of communication module
Face records the ranging data of each laser range sensor 121, is on the other hand captured by moving operation machine people controller 129
Each joint values of mechanical arm 111.According to trilateration, every group of laser can determine the spatial position at 124 center of target ball, lead to
Cross geometry calculating, can calculate 123 central point of equilateral triangle block position and posture information.It is tracked and is marked using CCD camera 122
Remember pose, under the premise of guaranteeing that 3 groups of laser can hit respective target ball, repeatedly changes 113 pose of mechanical arm tail end and record
Above-mentioned measurement result obtains 112 coordinate system of mechanical arm pedestal relative to world coordinates via the calibration algorithm at calibration station 127
The deviation and kinematics geometric parameter error of system.
In view of movable operating arm moves freely in the operation interval of large space, to guarantee beside each setting
At least one local measurement devices 120 implements high-acruracy survey to mechanical arm tail end 113, and saves local measurement devices 120
Deployment number, using segmented high precision movement guide rail 118 carry that local measurement devices 120 move to mechanical arm 111 can
In opereating specification.In order to improve mechanical arm 111 parametric calibration quality, at least guarantee local measurement devices 120 and two at two
Locate that there is certain space length between local measurement devices 120, the pose of mechanical arm 111 there are enough variations, so as in number
Student movement upper " excitation " kinematics parameters to be calibrated as much as possible during calculating.
Step S4
It in general, is the efficiency and precision that guarantee robotic programming, the task and finder of robot are necessary
It is planned and is generated by off-line programing system, through given end actuator central point (TCP) in world coordinate system
Absolute pose is programmed robot.111 basis coordinates system of mechanical arm at operation is joined respectively based on step S2-S3
Number, geometric parameter are calibrated, and the calibration of end effector offset parameter is calibrated and compensated in 111 geometric parameter of mechanical arm
Later, i.e., it is accurate that the calibration that implement end effector offset parameter, which needs 111 ontology of mechanical arm,.
It is more due to being not that every money mechanical arm 111 can allow directly to modify kinematics parameters file such as Fig. 7
It is to be compensated by modification end effector pose to mechanical arm 111.First 111 basis coordinates system of mechanical arm is compensated into offline
Compensated pose is implemented Inverse Kinematics using true geometric parameter by the pose of the robot arm end effector 114 after programming
Solution obtains each joint values, is then implemented to each joint values using nominal geometric parameter (or geometric parameter of previous calibration)
Forward kinematics solution obtains the pose value of new end effector.The compensation of end effector biasing is equally compensation end effector
Pose value.
By the communication between calibration station 127 and moving operation machine people controller 129, according to new end effector
Pose value modification controller instruct to complete to compensate.
Step S5
Such as Fig. 3, in building vehicle-mounted two-axis laser micrometer 125 on mobile platform 110, when the geometric parameter of mechanical arm 111
After being calibrated, if there is cone cell or the columnar geometrical characteristic of stick in end effector 114.Control robot arm end effector
114 are inserted perpendicularly into 125 median plane of two-axis laser micrometer, record the light for intersecting both direction in two-axis laser micrometer 125
The location point that element is blocked, and the benchmark position that this position is biased as end effector 114, end executes at benchmark position
114 pose of device is biased to zero.When 114 operation of robot arm end effector for a period of time after, detect end effector 114 and machine
Whether the relationship of tool arm end 113 changes, and is inserted into center by the movement instruction moving end actuator 114 of former setting again
Face, the biasing of end effector 114 will appear as the change for the location point that light receiving element is blocked in laser micrometer 125 at this time
Change, needs to calibrate end effector 114 at this time.
End effector more than 114 times with biasing are inserted into 125 Spot detection of two-axis laser micrometer with different postures
Face stops the position that the light receiving element of both direction when calibration station 127 being waited to record insertion median plane every time is blocked
111 joint angles of mechanical arm at this time are put and captured, relationship of the end effector 114 relative to mechanical arm tail end 113 is calculated
Bias.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all any modifications within the spirit and principle of the disclosure, made,
Equivalent replacement, improvement etc. should be included within the scope of disclosure protection.It all should belong to protection scope of the present invention.At this
Its technical solution and/or embodiment can have a variety of different modifications and variations in the protection scope of invention.
Description of symbols list
101 laser trackers
102 support fixtures
103 minute diameter high-precision ceramic target balls
104 laser tracker aided measurement device Tmac
105 reflective target ball groups
106 rod pieces
107 first positions
108 second positions
109 moving operation machine people
110 mobile platforms
111 mechanical arms
112 mechanical arm pedestals
113 mechanical arm tail ends
114 robot arm end effectors
115 brackets
116 infrared cameras
117 infrared reflecting target balls
118 linear motion guide rails
119 support fixtures
120 local measurement devices
121 laser range sensors
122 CCD cameras
123 equilateral triangle targets
124 ceramic target balls
125 two-axis laser micrometers
126 mechanical arm control cabinets
127 calibration stations
128 vision-based detections label
129 moving operation machine people's controllers
130 image acquisition workstations.
Claims (10)
1. a kind of moving operation machine people (109) large-scale dimension high-precision on-line proving system, including measurement subsystem and school
Quasi- Compensation subsystem, the moving operation machine people (109) include mobile platform (110) and mechanical arm (111),
It is characterized in that, the measurement subsystem includes the working space that visual field covers the moving operation machine people (109)
Multi-angle of view measuring device, at least one set of local measurement devices (120) and the vehicle-mounted laser being arranged on the mobile platform (110)
Micrometer equipment, the compensation for calibrating errors subsystem include that moving operation machine people controller (129) and the measurement subsystem connect
The communication module connect and calibration station (127), in which:
The image acquisition workstation that the multi-angle of view measuring device includes infrared camera (116), is connect with infrared camera (116)
(130) and with the associated reflective target ball of mobile platform (110)；
Each local measurement devices (120) include CCD camera (122) and multiple laser range sensors (121).
2. on-line proving system according to claim 1, it is characterised in that:
The infrared camera (116) at multiple and different visual angles is arranged above the working space of the moving operation machine people (109)
Composed array；
The image acquisition workstation (130) and each infrared camera (116), which is established, to be communicated to connect；
Multiple reflective target balls are mounted on the corner of the mobile platform (110).
3. on-line proving system according to claim 1, it is characterised in that:
Multiple laser range sensors (121) are distributed in the CCD camera (122) under the support of fixture in space triangular
Around；
Moving region of the shooting direction of the CCD camera (122) towards the moving operation machine people (109).
4. on-line proving system according to claim 1 or 3, which is characterized in that the local measurement devices (120)
External attached equipment further includes equilateral triangle target (123), support fixture (102) and linear motion device, wherein equilateral triangle
Target (123) is installed on the mechanical arm tail end (113) of moving operation machine people (109), and local measurement devices (120) pass through described
Support fixture (102) is fixed on the sports platform of linear motion device, and linear motion device is enabled to drive the local measurement
Equipment (120) is carried out apart from controlled linear movement.
5. on-line proving system according to claim 4, which is characterized in that the linear motion device includes straight-line electric
Machine, the guide rail for guiding the sports platform linear movement, grating sensor and with the linear motor and grating sensing
The motion drive of device connection.
6. on-line proving system according to claim 1, it is characterised in that:
The vehicle-mounted laser micrometer equipment includes pair being fixedly mounted on the mobile platform (110) by installing supporting element
Axis outer diameter micrometer (125)；
The workpiece of the twin shaft outer diameter micrometer (125) is in plate-like, and intermediate there are laser measurement regions, for detecting insertion
The outer diameter of the stick columnar object in the laser measurement region mentions to have the calibration of the pose of the motion arm end effector of stick column feature
For Fundamentals of Measurement.
7. on-line proving system according to claim 1 or 6, it is characterised in that:
Mechanical arm tail end (113) is equipped with the equilateral triangle block as target, and target ball is respectively set on the vertex of the equilateral triangle block,
And (128) are marked in the center of equilateral triangle block setting vision-based detection.
8. on-line proving system according to claim 1, it is characterised in that:
The moving operation machine people controller (129) includes industrial motion controller, memory and moving operation machine
The motion control program of people (109)；
The calibration station (127) is controlled by being connected to moving operation machine people controller (129) using communication module
Mechanical arm (111) moves to measurement pose, receives mechanical arm (111) information and collection machinery arm (111) each joint angles in place
Data are also connected to each electrical equipment of measurement subsystem through communication module, to receive measurement subsystem data and to measurement
Subsystem implements control；
Mechanical arm (111) kinematic error model is preserved in calibration station (127), and from mechanical arm (111) controller
Nominal geometric parameter is obtained, based on the true value that above-mentioned measurement subsystem obtains, respectively to mechanical arm (111) ontology at operation
Basis coordinates parameter, geometric parameter and end effector offset parameter are calibrated, and are generated new motion profile and controlled to movement
Device processed compensates.
9. on-line proving system according to claim 1, which is characterized in that the laser range sensor (121) by
Off-line calibration equipment is demarcated in advance, which includes laser tracker (101), and and laser tracker
(101) associated and be arranged mechanical arm tail end (113) one or more target balls, connect the rod piece (106) of the target ball and sharp
Optical tracker system aided measurement device Tmac (104).
10. a kind of high-precision scaling method of moving operation machine people (109) large-scale dimension, comprising the following steps:
The global reference net of large-scale dimension is arranged under the world coordinate system in S1, at the scene space, and based on global benchmark wet end
Multiple local measurement devices (120) of the administration for the multi-angle of view measuring device of bigness scale amount and for accurate measurement amount；
After S2, the mobile platform (110) when moving operation machine people (109) stop at preset job position, multi-angle of view is utilized
Measuring device carries out coarse positioning to the mobile platform (110), and using mechanical arm pedestal (112) coordinate system under coarse positioning as base
The mechanical arm tail end (113) of standard, moving operation machine people (109) of the control with self-control target enters local measurement devices
(120) measurement range；
S3, in smart measurement range, identified by local visual, guidance mechanical arm tail end (113) target move to a position,
So that target is measured laser and successfully hits, the mechanical arm is calculated according to more laser distance measuring principles and target geological information
(111) then end pose is varied multiple times mechanical arm tail end (113) pose and measures the end pose value after record changes,
Calibrate out mechanical arm pedestal (112) coordinate system deviation and kinematics geometric parameter error；
S4, the position and attitude error based on the mechanical arm body and pedestal for calculating acquisition, recalculate robot arm end effector (114)
Planning pose, end effector of robot error is compensated by backoff algorithm；
S5, vehicle-mounted laser micrometer system is built on mobile platform (110), using vehicle-mounted laser micrometer system to column reference substance
Pose measurement is carried out, on-line calibration goes out the offset parameter of robot arm end effector (114).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910673549.XA CN110355788A (en) | 2019-07-24 | 2019-07-24 | Moving operation machine National People's Congress scale space high-precision on-line proving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910673549.XA CN110355788A (en) | 2019-07-24 | 2019-07-24 | Moving operation machine National People's Congress scale space high-precision on-line proving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110355788A true CN110355788A (en) | 2019-10-22 |
Family
ID=68220717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910673549.XA Pending CN110355788A (en) | 2019-07-24 | 2019-07-24 | Moving operation machine National People's Congress scale space high-precision on-line proving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110355788A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716355A (en) * | 2020-06-16 | 2020-09-29 | 海克斯康制造智能技术(青岛)有限公司 | Robot absolute positioning precision compensation system and method |
| CN112008937A (en) * | 2020-07-28 | 2020-12-01 | 上海发那科机器人有限公司 | System and method for automatically filling foam by robot |
| CN112706193A (en) * | 2021-01-27 | 2021-04-27 | 浙江谱麦科技有限公司 | Cleaning robot performance detection system based on dynamic capture camera |
| CN113146613A (en) * | 2021-01-22 | 2021-07-23 | 吉林省计量科学研究院 | Three-dimensional self-calibration device and method for D-H parameters of industrial robot |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
| CN114305705A (en) * | 2022-03-15 | 2022-04-12 | 珠海维尔康生物科技有限公司 | Automatic correcting device and method for position of surgical robot |
| CN114359410A (en) * | 2022-01-10 | 2022-04-15 | 杭州巨岩欣成科技有限公司 | Swimming pool drowning prevention multi-camera space fusion method and device, computer equipment and storage medium |
| CN114367993A (en) * | 2021-12-29 | 2022-04-19 | 上海航天设备制造总厂有限公司 | Device, system and method for converting space coordinates and scanning coordinates of complex curved surface |
| CN116379984A (en) * | 2023-04-03 | 2023-07-04 | 广州橘子电气有限公司 | Industrial robot positioning accuracy calibration method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799271A (en) * | 2010-04-01 | 2010-08-11 | 哈尔滨工业大学 | Method for obtaining camera calibration point under large viewing field condition |
| CN102208108A (en) * | 2011-04-01 | 2011-10-05 | 哈尔滨工业大学 | Large-field high-precision quick field overall calibration method for camera |
| US20140074291A1 (en) * | 2011-05-12 | 2014-03-13 | Ihi Corporation | Motion prediction control device and method |
| US20180009000A1 (en) * | 2016-07-08 | 2018-01-11 | Macdonald, Dettwiler And Associates Inc. | System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations |
| CN108858124A (en) * | 2018-09-07 | 2018-11-23 | 北京特种机械研究所 | Its method for carrying mechanical arm position is demarcated using AGV location information |
| CN109099883A (en) * | 2018-06-15 | 2018-12-28 | 哈尔滨工业大学 | The big visual field machine vision metrology of high-precision and caliberating device and method |
| CN210819622U (en) * | 2019-07-24 | 2020-06-23 | 哈尔滨工业大学（深圳） | Large-scale space high-precision online calibration system of mobile operation robot |
-
2019
- 2019-07-24 CN CN201910673549.XA patent/CN110355788A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799271A (en) * | 2010-04-01 | 2010-08-11 | 哈尔滨工业大学 | Method for obtaining camera calibration point under large viewing field condition |
| CN102208108A (en) * | 2011-04-01 | 2011-10-05 | 哈尔滨工业大学 | Large-field high-precision quick field overall calibration method for camera |
| US20140074291A1 (en) * | 2011-05-12 | 2014-03-13 | Ihi Corporation | Motion prediction control device and method |
| US20180009000A1 (en) * | 2016-07-08 | 2018-01-11 | Macdonald, Dettwiler And Associates Inc. | System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations |
| CN109099883A (en) * | 2018-06-15 | 2018-12-28 | 哈尔滨工业大学 | The big visual field machine vision metrology of high-precision and caliberating device and method |
| CN108858124A (en) * | 2018-09-07 | 2018-11-23 | 北京特种机械研究所 | Its method for carrying mechanical arm position is demarcated using AGV location information |
| CN210819622U (en) * | 2019-07-24 | 2020-06-23 | 哈尔滨工业大学（深圳） | Large-scale space high-precision online calibration system of mobile operation robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716355A (en) * | 2020-06-16 | 2020-09-29 | 海克斯康制造智能技术(青岛)有限公司 | Robot absolute positioning precision compensation system and method |
| CN112008937A (en) * | 2020-07-28 | 2020-12-01 | 上海发那科机器人有限公司 | System and method for automatically filling foam by robot |
| CN113146613A (en) * | 2021-01-22 | 2021-07-23 | 吉林省计量科学研究院 | Three-dimensional self-calibration device and method for D-H parameters of industrial robot |
| CN113146613B (en) * | 2021-01-22 | 2022-11-04 | 吉林省计量科学研究院 | Three-dimensional self-calibration device and method for D-H parameters of industrial robot |
| CN112706193A (en) * | 2021-01-27 | 2021-04-27 | 浙江谱麦科技有限公司 | Cleaning robot performance detection system based on dynamic capture camera |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
| CN114367993A (en) * | 2021-12-29 | 2022-04-19 | 上海航天设备制造总厂有限公司 | Device, system and method for converting space coordinates and scanning coordinates of complex curved surface |
| CN114359410A (en) * | 2022-01-10 | 2022-04-15 | 杭州巨岩欣成科技有限公司 | Swimming pool drowning prevention multi-camera space fusion method and device, computer equipment and storage medium |
| CN114359410B (en) * | 2022-01-10 | 2024-04-19 | 杭州巨岩欣成科技有限公司 | Swimming pool drowning prevention multi-camera space fusion method and device, computer equipment and storage medium |
| CN114305705A (en) * | 2022-03-15 | 2022-04-12 | 珠海维尔康生物科技有限公司 | Automatic correcting device and method for position of surgical robot |
| CN116379984A (en) * | 2023-04-03 | 2023-07-04 | 广州橘子电气有限公司 | Industrial robot positioning accuracy calibration method and system |
| CN116379984B (en) * | 2023-04-03 | 2023-10-03 | 广州橘子电气有限公司 | Industrial robot positioning accuracy calibration method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110355788A (en) | Moving operation machine National People's Congress scale space high-precision on-line proving system | |
| Wang et al. | A mobile robotic measurement system for large-scale complex components based on optical scanning and visual tracking | |
| CN106247932B (en) | A kind of online error-compensating apparatus of robot based on camera chain and method | |
| CN102706277B (en) | Industrial robot online zero position calibration device based on all-dimensional point constraint and method | |
| CN210819622U (en) | Large-scale space high-precision online calibration system of mobile operation robot | |
| CN104786226A (en) | Posture and moving track positioning system and method of robot grabbing online workpiece | |
| CN106903687A (en) | Industrial robot calibration system and method based on laser ranging | |
| CN110455246A (en) | A kind of surface shape measurement device and method for conformal optical element | |
| CN205734940U (en) | A kind of online fast calibration device of TCP being applied to industrial robot | |
| Liu et al. | Pose alignment of aircraft structures with distance sensors and CCD cameras | |
| CN111426270B (en) | Industrial robot pose measurement target device and joint position sensitive error calibration method | |
| CN109895094A (en) | A kind of industrial robot measurement track analysis of Positioning Error method and system | |
| Morozov et al. | Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing | |
| CN109341532A (en) | A kind of part coordinate scaling method based on structure feature towards automatic assembling | |
| CN113681563B (en) | Assembling method and system based on double cameras | |
| CN109591019A (en) | A kind of Space Precision Orientation Method of no certainty location feature object | |
| Zhu et al. | Kinematic self-calibration method for dual-manipulators based on optical axis constraint | |
| Peng et al. | Development of an integrated laser sensors based measurement system for large-scale components automated assembly application | |
| CN109128540B (en) | Method for determining laser welding focal track of T-shaped joint | |
| Li et al. | A laser-guided solution to manipulate mobile robot arm terminals within a large workspace | |
| CN102589448B (en) | High-precision six-freedom degree pose monitoring device | |
| Lou et al. | A 3D passive laser tracker for accuracy calibration of robots | |
| CN112828454B (en) | Two-dimensional galvanometer online plane precision compensation system and compensation method thereof | |
| Jian et al. | On-line precision calibration of mobile manipulators based on the multi-level measurement strategy | |
| Nieves et al. | Development of a position sensitive device and control method for automated robot calibration |
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 |