CN110500999A - A kind of relative position measurement method of view-based access control model device - Google Patents
A kind of relative position measurement method of view-based access control model device Download PDFInfo
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- CN110500999A CN110500999A CN201910733400.6A CN201910733400A CN110500999A CN 110500999 A CN110500999 A CN 110500999A CN 201910733400 A CN201910733400 A CN 201910733400A CN 110500999 A CN110500999 A CN 110500999A
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
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- G06T7/70—Determining position or orientation of objects or cameras
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a kind of relative position measurement methods of view-based access control model device, Step 1: positional relationship；Step 2: measuring point is set；Step 3: P2 is set；Step 4: reference value；Step 5: Pr1 ' measurement；Step 6: contrast test；Step 7: calculating test: measurement can be completed, the present invention relates to the relevant all technical fields of vision positioning.The relative position measurement method of the view-based access control model device, robot is under same posture, characteristic point difference is calculated, then the deviation is added on the original record point of TCP target point, new coordinate site is calculated, robot pose does not change before and after calculating deviation, the measurement error from non-vision device of front and back twice is cancelled out each other, calculated difference is the actual position deviation of workpiece, this method keeps sighting device measurement and positioning more flexible simultaneously, eliminates measurement posture and arrives at the consistent constraint of measurement position posture needs.
Description
Technical field
The present invention relates to the relevant all technical fields of vision positioning, specially a kind of relative position of view-based access control model device
Measurement method.
Background technique
As shown in Figure 1 (by taking position fixed mode between robot and sighting device as an example), when robot pose be (Rx1,
Ry1, Rz1) when, mobile robot makes sighting device measure characteristic point Pr1, and the characteristic point that sighting device is measured is denoted as
Coordinate of the Pr1 that (X1, Y1, Z1), i.e. sighting device are detected under robot coordinate system is P1 (X1, Y1, Z1), sighting device
Detect characteristic point when robot location be denoted as P0, when robot with posture (Rx1, Ry1, Rz1) move to coordinate position (X1,
Y1, Z1) when, robot can be accurate to up to the position characteristic point Pr1 (as shown in Figure 3), when robot with posture (Rx2, Ry2,
When Rz2) moving to coordinate position (X1, Y1, Z1), the problem of due to various errors, robot can not accurately reach characteristic point Pr1
Position (as shown in Figure 4), from figure 3, it can be seen that robot moves to characteristic point Pr1, machine in the case where posture is constant
People can accurately arrive at, figure 4, it is seen that robot with posture (Rx2, Ry2, Rz2) arrive at point (X1, Y1, Z1) when, by
In various source of errors, although robot control system is caused theoretically to arrive at (X1, Y1, Z1) point, actually (X1, Y1,
Z1 it) is not overlapped with Pr1, but there are deviations.
Since robot itself is there are absolute positioning error, along with there is also certain for the tool center point (TCP) of calibration
Error, cause robot with different postures (Rx1, Ry1, Rz1) and (Rx2, Ry2, Rz2) arrive at same coordinate position (X1, Y1,
When Z1), although robot, which is shown, has arrived at the coordinate points, actual robot with different attitude motions to same coordinate when
((X1, Y1, Z1, Rx1, Ry1, Rz1) and (X1, Y1, Z1, Rx2, Ry2, Rz2)) theoretically robot will be arrived at different postures
(X1, Y1, Z1) point, but the position being actually reached is different (as shown in Figure 3 and Figure 4), even if this problem will cause vision dress
It sets and is able to carry out accurate measurement, but posture of robot when to be different from measurement arrives at the measurement that sighting device provides
Point, will lead to practical TCP arriving at location and sighting device measurement position, there are deviations.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, it the present invention provides the relative position measurement method of view-based access control model device, solves
Posture of robot when to be different from measurement arrives at the measurement point that sighting device provides, and will lead to practical TCP and arrives at position
It sets and there are problems that deviation with sighting device measurement position.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of view-based access control model device it is opposite
Location measurement method, specifically includes the following steps: Step 1: positional relationship: the first is sighting device and robot end's method
Blue position is relatively fixed, is that sighting device is not fixed relative to robot end position for second, but can calculate indirectly and machine
Positional relationship between device people, the following steps are illustrated by taking the first positional relationship as an example；
Step 2: measuring point is set: when robot pose is (Rx1, Ry1, Rz1), mobile robot makes sighting device pair
Characteristic point carries out positioning measurement, the position for the characteristic point that sighting device detects in visual range is denoted as Pr1, and record vision
Coordinate P1 (X1, Y1, Z1) of the characteristic point Pr1 that device detects under robot coordinate system, and robot present position is remembered
For P0 point；
Step 3: P2 is set: mobile robot makes TCP arrive at characteristic point with posture actually required (Rx2, Ry2, Rz2)
The position of Pr1, and coordinate P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of the recorder people TCP under robot coordinate system；
Step 4: reference value: by coordinate points P2 and sighting device view of the TCP of record under robot coordinate system
Feel coordinate points P1 (X1, Y1, Z1) of the characteristic point measured in range under robot coordinate system as a reference value；
Step 5: Pr1 ' measurement: robot (1) is moved to P0 point after the characteristic point position on measured object changes
It sets, sighting device is made to new characteristic point Pr1 ' carry out positioning measurement, to obtain seat of the characteristic point under robot coordinate system again
Punctuate P1 ' (X1 ', Y1 ', Z1 ')；
Step 6: contrast test: by step 5 sighting device measurement characteristic point Pr1 ' obtain coordinate P1 ' (X1 ',
Y1 ', Z1 ') it is made the difference with sighting device datum mark P1 (X1, Y1, Z1) in step 4, new feature point P1 ' is obtained relative to base
The relative standard deviation values Δ P (X1 '-X1, Y1 '-Y1, Z1 '-Z1) of quasi- characteristic point P1, and the deviation is added to robot TCP base
On the coordinate points P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of quasi- value, obtain a revised position P2 ' (X2 ', Y2 ', Z2 ',
Rx2, Ry2, Rz2), subsequent robot motion can be realized to the position P2 ' and remain to accurately make TCP to reach spy after converting posture
Levy the position point Pr1 '；
Step 7: calculating test: another relationship in step 1 is successively according to Step 2: Step 3: Step 4: step
Five and step 6 measurement, measurement can be completed.
Preferably, second of positional relationship uses slide unit cooperation sighting device and robot end's tool in the step 1
Carry out unbundling test.
Preferably, characteristic point is arranged in the measuring surface of measured object described in step 5 in the step 2.
Preferably, in the step 3 TCP be robot tool center point.
Preferably, Rx2 in the step 3, Ry2, Rz2 are respectively the X of tool coordinates system, and Y, Z axis is in robot coordinate system
Under angle expression.
Preferably, in the step 6 on the coordinate P2 ' (X2 ', Y2 ', Z2 ', Rx2, Ry2, Rz2) of TCP and measured object
Characteristic point Pr1 ' coincidence.
Preferably, the coordinate calculation of P2 ' is as follows in the step 6:
X2 '=X2+ (X1 '-X1)
Y2 '=Y2+ (Y1 '-Y1)
Z2 '=Z2+ (Z1 '-Z1).
Rx, Ry, Rz illustrate the attitude angle that tool coordinates tie up under robot coordinate system, Rx2, Ry2, Rz2 in step 3
The respectively X of tool coordinates system, Y, angle expression of the Z axis under robot coordinate system.
(3) beneficial effect
The present invention provides a kind of relative position measurement methods of view-based access control model device.Have it is following the utility model has the advantages that
The relative position measurement method of the view-based access control model device, by Step 1: positional relationship: the first is sighting device
Relatively fixed with robot end's flange position, second is that sighting device is not fixed relative to robot end position, still
The positional relationship between robot can be calculated indirectly, and the following steps are illustrated by taking the first positional relationship as an example；Step 2:
Measuring point is set: when robot pose is (Rx1, Ry1, Rz1), mobile robot makes sighting device carry out positioning survey to characteristic point
Amount, is denoted as Pr1 for the position for the characteristic point that sighting device detects in visual range, and record the feature that sighting device detects
Coordinate P1 (X1, Y1, Z1) of the point Pr1 under robot coordinate system, and robot present position is denoted as P0 point；Step 3: P2
It sets: the position that mobile robot makes TCP arrive at characteristic point Pr1 with posture actually required (Rx2, Ry2, Rz2), and logging machine
Coordinate P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of the device people TCP under robot coordinate system；Step 4: reference value: will remember
The TCP of record under robot coordinate system coordinate points P2 and sighting device visual range in the characteristic point that measures in robot
Coordinate points P1 (X1, Y1, Z1) under coordinate system is used as a reference value；Step 5: Pr1 ' measurement: when the characteristic point position on measured object
Robot (1) is moved to P0 point position after changing, and makes sighting device again to new characteristic point Pr1 ' carry out positioning measurement,
Obtain coordinate points P1 ' (X1 ', Y1 ', Z1 ') of the characteristic point under robot coordinate system；Step 6: contrast test: will be in step 5
Sighting device datum mark in the coordinate P1 ' (X1 ', Y1 ', Z1 ') and step 4 that sighting device measurement characteristic point Pr1 ' is obtained
P1 (X1, Y1, Z1) makes the difference, and obtains relative standard deviation values Δ P (X1 '-X1, Y1 '-of the new feature point P1 ' relative to reference characteristic point P1
Y1, Z1 '-Z1), and the deviation is added to the coordinate points P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of robot TCP a reference value
On, obtain a revised position P2 ' (X2 ', Y2 ', Z2 ', Rx2, Ry2, Rz2), subsequent robot motion to the position P2 ',
It can be realized and remain to accurately make TCP to reach the position characteristic point Pr1 ' after converting posture；Step 7: calculating test: in step 1
Another relationship successively according to Step 2: Step 3: Step 4: the measurement of step 5 and step 6, can be completed measurement, makes
The difference of characteristic point is calculated under same posture in robot, then which is added to the original note of TCP target point
On record point, new coordinate site is calculated, since robot pose does not change before and after calculating deviation, so front and back is twice
The measurement error from non-vision device cancel out each other, calculated difference is the actual position deviation of workpiece, simultaneously should
Method keeps sighting device measurement and positioning more flexible, eliminates measurement posture while eliminating robot absolute position error
Consistent constraint is needed with measurement position posture is arrived at.
Detailed description of the invention
Fig. 1 is fixedly connected with schematic diagram with sighting device for robot of the present invention；
Fig. 2 is the schematic diagram that robot of the present invention and sighting device are not fixed connection；
Fig. 3 same posture robot motion position view when being present invention measurement；
Difference posture robot motion's position view when Fig. 4 is present invention measurement；
Fig. 5 is teaching welding gun reference point location schematic diagram of the present invention；
Fig. 6 is the schematic diagram of present invention measurement new feature point Pr1 '.
Fig. 7 is the track movement position schematic diagram after the present invention corrects
In figure, 1- robot, 2- sighting device, 3- measured object, 4- visual range, 5- slide unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of relative position survey of view-based access control model device
Amount method, specifically includes the following steps:
Step 1: positional relationship: the first is that sighting device (2) and robot (1) end flange position are relatively fixed, such as
Shown in Fig. 1, it is that sighting device (2) is not fixed relative to robot (1) terminal position for second, but can calculates indirectly and machine
Positional relationship between people (1), as shown in Fig. 2, the following steps are illustrated by taking the first positional relationship as an example；
Step 2: measuring point is set: when robot pose is (Rx1, Ry1, Rz1), mobile robot (1) makes sighting device
(2) positioning measurement is carried out to characteristic point, the position for the characteristic point that sighting device (2) detects in visual range (4) is denoted as
Pr1, and record the coordinate P1 (X1, Y1, Z1) of characteristic point Pr1 that sighting device detects under robot coordinate system, and by machine
Device people present position is denoted as P0 point, as shown in Figure 1；
Step 3: P2 set: as shown in figure 5, mobile robot (1) make TCP with posture actually required (Rx2, Ry2,
Rz2) arrive at characteristic point Pr1 position, and recorder people (1) TCP under robot (1) coordinate system coordinate P2 (X2, Y2,
Z2, Rx2, Ry2, Rz2)；
Step 4: reference value: by coordinate points P2 and vision dress of the TCP of record under robot (1) coordinate system
Coordinate points P1 (X1, Y1, Z1) of the characteristic point measured in (2) visual range (4) under robot (1) coordinate system is set as base
Quasi- value；
Step 5: Pr1 ' measurement: as shown in Figure 1, the robot after characteristic point position on measured object (3) changes
(1) it is moved to P0 point position, makes sighting device (2) again to new characteristic point Pr1 ' carry out positioning measurement, as shown in fig. 6,
To coordinate points P1 ' (X1 ', Y1 ', Z1 ') of the characteristic point under robot (1) coordinate system；
Step 6: contrast test: by sighting device in step 5 (2) measurement characteristic point Pr1 ' obtain coordinate P1 ' (X1 ',
Y1 ', Z1 ') with step 4 in sighting device (2) datum mark P1 (X1, Y1, Z1) make the difference, obtain new feature point P1 ' relative to
The relative standard deviation values Δ P (X1 '-X1, Y1 '-Y1, Z1 '-Z1) of reference characteristic point P1, and the deviation is added to robot (1)
On the coordinate points P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of TCP a reference value, obtain a revised position P2 ' (X2 ', Y2 ',
Z2 ', Rx2, Ry2, Rz2), subsequent robot motion remains to standard after converting posture to the position P2 ', as shown in fig. 7, can be realized
TCP is really set to reach the position characteristic point Pr1 '；
Step 7: calculating test: another relationship in step 1 is successively according to Step 2: Step 3: Step 4: step
Five and step 6 measurement, measurement can be completed.
Similarly, position meter when positional relationship between second of this method side of being equally applicable to sighting device and robot
It calculates.
In conclusion this method, which is not limited to single-point, seeks position, can be applicable to calculate multiple relative deviations simultaneously, by X,
Y, the deviation in tri- directions Z is combined into a new deviation, is modified to one or more points, the sighting device in this programme
Suitable for all sighting devices, it is suitable for various robots.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of relative position measurement method of view-based access control model device, it is characterised in that: specifically includes the following steps:
Step 1: positional relationship: the first is that sighting device (2) and robot (1) end flange position are relatively fixed, second
It is that sighting device (2) is not fixed relative to robot (1) terminal position, but can calculate the position between robot (1) indirectly
Relationship is set, the following steps are illustrated by taking the first positional relationship as an example；
Step 2: measuring point is set: when robot pose is (Rx1, Ry1, Rz1), mobile robot (1) makes sighting device (2)
Positioning measurement is carried out to characteristic point, the position for the characteristic point that sighting device (2) detects in visual range (4) is denoted as Pr1, and
Coordinate P1 (X1, Y1, Z1) of the characteristic point Pr1 that detects of record sighting device under robot coordinate system, and by institute, robot
Place position is denoted as P0 point；
Step 3: P2 is set: mobile robot (1) makes TCP arrive at characteristic point with posture actually required (Rx2, Ry2, Rz2)
The position of Pr1, and recorder people (1) TCP under robot (1) coordinate system coordinate P2 (X2, Y2, Z2, Rx2, Ry2,
Rz2)；
Step 4: reference value: by coordinate points P2 and sighting device (2) of the TCP of record under robot (1) coordinate system
Coordinate points P1 (X1, Y1, Z1) of the characteristic point measured in visual range (4) under robot (1) coordinate system is as a reference value；
Step 5: Pr1 ' measurement: robot (1) is moved to P0 point after the characteristic point position on measured object (3) changes
It sets, sighting device (2) is made to new characteristic point Pr1 ' carry out positioning measurement, to obtain characteristic point in robot (1) coordinate system again
Under coordinate points P1 ' (X1 ', Y1 ', Z1 ')；
Step 6: contrast test: by sighting device in step 5 (2) measurement characteristic point Pr1 ' obtain coordinate P1 ' (X1 ', Y1 ',
Z1 ') it is made the difference with sighting device (2) datum mark P1 (X1, Y1, Z1) in step 4, new feature point P1 ' is obtained relative to benchmark
The relative standard deviation values Δ P (X1 '-X1, Y1 '-Y1, Z1 '-Z1) of characteristic point P1, and the deviation is added to robot (1) TCP
On the coordinate points P2 (X2, Y2, Z2, Rx2, Ry2, Rz2) of a reference value, obtain a revised position P2 ' (X2 ', Y2 ', Z2 ',
Rx2, Ry2, Rz2), subsequent robot motion can be realized to the position P2 ' and remain to accurately make TCP to reach spy after converting posture
Levy the position point Pr1 '；
Step 7: calculating test: another relationship in step 1 successively according to Step 2: Step 3: Step 4: step 5 and
Measurement can be completed in the measurement of step 6.
2. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
Second of positional relationship carries out unbundling survey using slide unit (5) cooperation sighting device (2) and robot (1) end-of-arm tooling in rapid one
Examination.
3. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
In rapid two in the measuring surface of the characteristic point setting measured object described in step 5 (3).
4. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
TCP is the tool center point of robot (1) in rapid three.
5. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
Rx2 in rapid three, Ry2, Rz2 are respectively the X of tool coordinates system, Y, angle expression of the Z axis under robot coordinate system.
6. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
The coordinate P2 ' (X2 ', Y2 ', Z2 ', Rx2, Ry2, Rz2) of TCP is overlapped with the characteristic point Pr1 ' on measured object (3) in rapid six.
7. a kind of relative position measurement method of view-based access control model device according to claim 1, it is characterised in that: the step
The coordinate calculation of P2 ' is as follows in rapid six:
X2 '=X2+ (X1 '-X1)
Y2 '=Y2+ (Y1 '-Y1)
Z2 '=Z2+ (Z1 '-Z1).
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Application publication date: 20191126 |