CN110425979A - A kind of dot laser measurement method and device based on real training robot - Google Patents
A kind of dot laser measurement method and device based on real training robot Download PDFInfo
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- CN110425979A CN110425979A CN201910726465.8A CN201910726465A CN110425979A CN 110425979 A CN110425979 A CN 110425979A CN 201910726465 A CN201910726465 A CN 201910726465A CN 110425979 A CN110425979 A CN 110425979A
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- dot laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of dot laser measurement methods and device based on real training robot, it may be implemented so flexible that be measured using dot laser device, measurement efficiency is high, it can be widely popularized, method is the following steps are included: step 1: starting dot laser device, whether focused by the focus detection focus that camera shoots shooting dot laser, if the focus that out-focus readjustment camera is shot until camera is clear；Step 2: dot laser being projected on object to be measured, whether the focus detection focus of camera shooting dot laser focuses, if out-focus, then give robot controller one position offset, robot adjusts posture to adjust the position of dot laser, whether the focus detection focus that camera re-shoots dot laser focuses, if out-focus repeats to give position offset to adjust the position of dot laser, until the focal point of camera shooting is on object to be measured；Step 3；Dot laser acquires body surface data, obtains the measured value of object through processing.
Description
Technical field
The present invention relates to intelligent measuring field more particularly to a kind of dot laser measurement methods based on real training robot
And device.
Background technique
Dot laser sensor obtains the data on object under test surface in the way of non-contacting, then by data
It handles to measure the apparent size and geometric error of object.This non-contacting measurement method, will not be right in measurement process
Part damages.But in existing dot laser measurement method, dot laser sensor is fixed, measurement is inflexible, and makes
It is also relatively low with efficiency in the process.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of dot laser measurement method and device based on real training robot,
Flexible obtain may be implemented to measure using dot laser device, measurement efficiency is high, can be widely popularized.
Its technical solution is such that a kind of dot laser measurement method based on real training robot, which is characterized in that including
Following steps:
Step 1: whether starting dot laser device is focused by the focus detection focus that camera shoots shooting dot laser, if
It is clear that out-focus readjusts the focus that camera is shot until camera；
Step 2: dot laser being projected on object to be measured, whether the focus detection focus of camera shooting dot laser gathers
Coke gives robot controller one position offset if out-focus, and robot adjusts posture to adjust the position of dot laser
It sets, whether the focus detection focus that camera re-shoots dot laser focuses, if out-focus repeats to give position offset to adjust
The position of dot laser, until the focal point of camera shooting is on object to be measured；
Step 3；Dot laser acquires body surface data, obtains the measured value of object through processing.
Further, before step 1, further comprising the steps of: camera and click being strolled into device and are mounted on robot end
End, returns to zero-bit state for each axis of robot, then obtains the positional relationship of camera and robot using hand and eye calibrating method.
Further, in step 1, calibration is in the state of focal point, the positional relationship of camera and dot laser.
Further, the positional relationship of camera and robot passes through the transformation relation matrix T1 table between camera and robot
Show, the positional relationship of camera and dot laser is indicated by the transformation relation matrix T2 between camera and laser, dot laser and machine
The positional relationship of people, which passes through the transformation relation matrix T3 between dot laser and robot, to be indicated, wherein T3=T1*T2.
Further, in step 2, after robot controller handles position offset by Robotic inverse kinematics,
The angular deviation in each joint of robot is obtained, to be mounted on machine by the corresponding adjustment each joint of robot of angular deviation
The camera position of the end of device people can be adjusted.
A kind of dot laser measuring device based on real training robot, including robot, the end of the robot are equipped with
Camera and dot laser, the robot are configured to be driven by robot controller, further includes: processor, memory and journey
Sequence；
Described program stores in the memory, and the processor calls the program of memory storage, above-mentioned to execute
Dot laser measurement method.
Further, the artificial six-joint robot of the machine.
Dot laser measurement method and device based on real training robot of the invention, by the way that dot laser is fixed on robot
On arm, the measurement to object is realized using the flexibility of robot movable, using camera come trace point laser spot, simultaneously
Dot laser is adjusted using mechanical arm, the adjust automatically focusing function during dot laser detection object has been achieved, is improved
Intelligent and measurement efficiency, may be implemented so flexible that be measured using dot laser device, and measurement efficiency is high, Ke Yiguang
It is general to be applied in the training operation of robot.
Detailed description of the invention
Fig. 1 is the flow chart of the dot laser measurement method of the invention based on real training robot；
Fig. 2 is the schematic diagram of the dot laser measuring device of the invention based on real training robot.
Specific embodiment
See Fig. 1, camera and click are first strolled device by a kind of dot laser measurement method based on real training robot of the invention
It is mounted on robot end, each axis of robot is returned into zero-bit state, then obtains camera and machine using hand and eye calibrating method
The positional relationship of people, then executes the following steps:
Step 1: whether starting dot laser device is focused by the focus detection focus that camera shoots shooting dot laser, if
The focus that out-focus readjustment camera is shot until camera is clear, specifically, the judgement of focal position was photographed according to camera
The size and quality of hot spot illustrate that laser focuses when the hot spot that camera photographed is small and limpid in sight；When the hot spot photographed
When very big and fuzzy, illustrate that laser does not focus；
Calibration is in the state of focal point, the positional relationship of camera and dot laser, the positional relationship of camera and robot
It is indicated by the transformation relation matrix T1 between camera and robot, the positional relationship of camera and dot laser passes through camera and laser
Between transformation relation matrix T2 indicate that the positional relationship of dot laser and robot passes through the transformation between dot laser and robot
Relational matrix T3 indicates, wherein T3=T1*T2；
Step 2: dot laser being projected on object to be measured, whether the focus detection focus of camera shooting dot laser gathers
Coke, when dot laser is beaten on object, camera can be good at tracing into the focus of dot laser, when body surface difference in height is too big
When, dot laser cannot focus at this time, and camera can be quickly detected this phenomenon, if out-focus, give robot control
One position offset of device obtains robot after robot controller handles position offset by Robotic inverse kinematics
The angular deviation in each joint makes the end for being mounted on robot by the corresponding adjustment each joint of robot of angular deviation
Camera position can be adjusted, robot adjusts posture to adjust the position of dot laser, after the completion of primary adjustment, if
Camera detects that dot laser in focus on objects, continues to acquisition testing object；If dot laser is not in focus on objects, just
It gives position offset to continue to adjust, until dot laser focuses on body surface again, position offset is exactly robot setting
Move distance, adjust always, until laser focus；
The robot pose to be reached according to position offset, pose, that is, X, Y, the translational movement of Z-direction and three directions
Rotational coordinates obtain the angular deviation in each joint, then, robot is just according to Robotic inverse kinematics calculation formula
Specified position can be reached, wherein the computation of inverse- kinematics formula has in robot controller, to be reached as long as known
Pose coordinate, robot can be in the hope of each joint offsets；
Step 3；Dot laser acquires body surface data, unified to swash to point by the collected body surface data of dot laser
It is handled under the coordinate system of light, obtains the measured value of object.
Dot laser measurement method based on real training robot of the invention, by establishing dot laser position, mechanical arm tail end
Relativeness between posture and object under test position and three, guarantee dot laser can real-time tracking detection object,
The adjust automatically focusing function during dot laser detection object has been achieved, has improved intelligent and measurement efficiency,
So flexible that measure using dot laser device, measurement efficiency height may be implemented, the real training behaviour of robot can be widely applied to
In work
See Fig. 2, the dot laser measuring device of the invention based on real training robot, including robot 1, the end of robot
Camera 2 and dot laser 3 are installed, robot is configured to be driven by robot controller, further includes: processor, memory with
And program；
Program stores in memory, and processor calls the program of memory storage, to execute above-mentioned dot laser measurement
Method.
In the present embodiment, the artificial six-joint robot of machine.
In the realization of the above-mentioned dot laser measuring device based on real training robot, between memory and processor directly or
It is electrically connected indirectly, to realize the transmission or interaction of data.For example, these elements between each other can be by one or more
Communication bus or signal wire, which are realized, to be electrically connected, and can such as be connected by bus.Realization data access is stored in memory
The computer executed instructions of control method, the software that can be stored in memory in the form of software or firmware including at least one
Functional module, the software program and module that processor is stored in memory by operation, thereby executing various function application
And data processing.
Memory may be, but not limited to, random access memory (Random Access Memory, referred to as: RAM),
Read-only memory (Read Only Memory, referred to as: ROM), programmable read only memory (Programmable Read-Only
Memory, referred to as: PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, letter
Claim: EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
Referred to as: EEPROM) etc..Wherein, memory is for storing program, and processor executes program after receiving and executing instruction.
Processor can be a kind of IC chip, the processing capacity with signal.Above-mentioned processor can be logical
With processor, including central processing unit (Central Processing Unit, referred to as: CPU), network processing unit (Network
Processor, referred to as: NP) etc..It may be implemented or execute disclosed each method, step and the logic in the embodiment of the present application
Block diagram.General processor can be microprocessor or the processor is also possible to any conventional processor etc..
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of dot laser measurement method based on real training robot, which comprises the following steps:
Step 1: whether starting dot laser device is focused by the focus detection focus that camera shoots shooting dot laser, if not gathering
It is clear that coke readjusts the focus that camera is shot until camera；
Step 2: dot laser is projected on object to be measured, whether the focus detection focus of camera shooting dot laser focuses,
If out-focus, give robot controller one position offset, robot adjusts posture to adjust the position of dot laser, phase
Whether the focus detection focus that machine re-shoots dot laser focuses, if out-focus repeats to give position offset to adjust dot laser
Position, until camera shooting focal point on object to be measured；
Step 3；Dot laser acquires body surface data, obtains the measured value of object through processing.
2. a kind of dot laser measurement method based on real training robot according to claim 1, it is characterised in that: in step
It is further comprising the steps of before 1: camera and click being strolled into device and are mounted on robot end, each axis of robot is returned into zero-bit
Then state obtains the positional relationship of camera and robot using hand and eye calibrating method.
3. a kind of dot laser measurement method based on real training robot according to claim 2, it is characterised in that: in step
In 1, the positional relationship of camera and dot laser in the state of focal point is demarcated.
4. a kind of dot laser measurement method based on real training robot according to claim 3, feature exist: in camera with
The positional relationship of robot indicates that the position of camera and dot laser is closed by the transformation relation matrix T1 between camera and robot
System indicated by transformation relation matrix T2 between camera and laser, the positional relationship of dot laser and robot by dot laser with
Transformation relation matrix T3 between robot indicates, wherein T3=T1*T2.
5. a kind of dot laser measurement method based on real training robot according to claim 1, it is characterised in that: in step
In 2, after robot controller handles position offset by Robotic inverse kinematics, the angle for obtaining each joint of robot is inclined
Shifting amount, enables the camera position for being mounted on the end of robot by the corresponding adjustment each joint of robot of angular deviation
It is adjusted.
6. a kind of dot laser measurement method based on real training robot according to claim 1, it is characterised in that: in step
In 3, by the collected body surface data of dot laser, is handled under unification to the coordinate system of dot laser, obtain the survey of object
Magnitude.
7. a kind of dot laser measuring device based on real training robot, including robot, it is characterised in that: the end of the robot
End is equipped with camera and dot laser, and the robot is configured to be driven by robot controller, further includes: processor, storage
Device and program；
Described program stores in the memory, and the processor calls the program of memory storage, requires 1 with perform claim
The dot laser measurement method.
8. a kind of dot laser measuring device based on real training robot according to claim 7, it is characterised in that: the machine
The artificial six-joint robot of device.
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| CN201910726465.8A CN110425979A (en) | 2019-08-07 | 2019-08-07 | A kind of dot laser measurement method and device based on real training robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212787A (en) * | 2020-10-13 | 2021-01-12 | 上海柏楚数控科技有限公司 | Method, device and equipment for detecting focus offset of laser equipment and storage medium |
| CN114346485A (en) * | 2021-10-29 | 2022-04-15 | 首都航天机械有限公司 | Laser welding trajectory planning method for dense-arrangement pipe space curve under weld joint tracking |
| CN114346485B (en) * | 2021-10-29 | 2024-05-14 | 首都航天机械有限公司 | Close-packed pipe space curve laser welding track planning method under weld joint tracking |
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| US5001324A (en) * | 1989-09-14 | 1991-03-19 | General Electric Company | Precision joint tracking laser welding system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112212787A (en) * | 2020-10-13 | 2021-01-12 | 上海柏楚数控科技有限公司 | Method, device and equipment for detecting focus offset of laser equipment and storage medium |
| CN114346485A (en) * | 2021-10-29 | 2022-04-15 | 首都航天机械有限公司 | Laser welding trajectory planning method for dense-arrangement pipe space curve under weld joint tracking |
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Application publication date: 20191108 |
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