CN111409067B - Automatic calibration system and calibration method for robot user coordinate system - Google Patents

Automatic calibration system and calibration method for robot user coordinate system Download PDF

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Publication number
CN111409067B
CN111409067B CN202010170905.9A CN202010170905A CN111409067B CN 111409067 B CN111409067 B CN 111409067B CN 202010170905 A CN202010170905 A CN 202010170905A CN 111409067 B CN111409067 B CN 111409067B
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robot
calibration
coordinate system
measuring
displacement sensor
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CN111409067A (en
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李正刚
梁帆锋
王一帆
刘翠苹
王庆
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Hangzhou Siasun Robot & Automation Co ltd
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Hangzhou Siasun Robot & Automation Co ltd
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    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Abstract

The invention relates to the field of robots and discloses an automatic calibration system and a calibration method for user coordinates of a robot. The calibration method comprises the following steps: installing and arranging a robot user coordinate automatic calibration system; establishing a robot coordinate system; the robot executes the measuring action, and the computer records the measuring result of the displacement sensor and the robot position and posture information corresponding to each measuring position; and the computer calculates a calibration result according to the measurement result to finish the calibration of the user coordinate. The calibration process can be automatically carried out under the control of a computer, human errors can not be generated, and the calibration precision and efficiency are high; and is suitable for calibrating workpieces of any shapes.

Description

Automatic calibration system and calibration method for robot user coordinate system
Technical Field
The invention relates to the field of robots, in particular to an automatic calibration system and a calibration method for a robot user coordinate system.
Background
During the operation of the robot, in order to better complete the content of the work, a coordinate system is usually established on the operated workpiece, which is called a user coordinate system, and the origin of the coordinate system is located on the workpiece, and the direction of the X, Y, Z coordinate axes is determined according to specific requirements. Because the position and posture precision of the user coordinate system directly influences the relative pose of the robot end effector and the workpiece, and further influences the precision of the robot for executing operation on the workpiece, accurate establishment of the robot user coordinate is necessary.
At present, the coordinates of a robot user are calibrated by using mechanical calibration tools such as a pointed cone and the like based on a three-point method, for example, "a single-axis positioner calibration method based on the three-point calibration method" disclosed in the Chinese patent literature, and the publication number CN109048887A comprises the following steps: step 1, selecting a target calibration point, and obtaining a position vector relative to a robot base coordinate system { B } when a robot tail end pointed cone TCP point moves to a calibration characteristic point P on the surface of a worktable of a single-axis positioner when the rotation angle of the single-axis positioner is 0 degrees, and a position vector sum corresponding to the calibration characteristic point P after a rotating shaft of the single-axis positioner rotates forwards and reversely for a certain angle; and 2, calculating a matrix relation according to the obtained three position vectors to obtain the relative position relation of the two axes of the single-axis positioner and the poses of the two axes relative to the robot base coordinate system { B }.
However, when the user coordinate is calibrated by using the traditional three-point method, not only is an observation error existed, but also the calibration efficiency is low, and the calibration precision and efficiency are influenced.
Disclosure of Invention
The invention aims to overcome the problems that observation errors exist when the coordinates of a robot user are calibrated by a traditional three-point method in the prior art, the calibration efficiency is low, and the calibration precision and efficiency are influenced.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic calibration system for a user coordinate system of a robot comprises a displacement sensor, a calibration block and a computer, wherein the displacement sensor is arranged on the robot and used for non-contact measurement, the calibration block is arranged on a workpiece of the user coordinate system to be established and is positioned in the measurement range of the displacement sensor, the computer is in communication connection with the displacement sensor and the robot, and the surface of the calibration block at least comprises three surfaces which are perpendicular to each other.
The invention sets a calibration block on a workpiece of a user coordinate system to be established, drives a displacement sensor to move near the calibration block through a robot during calibration, and respectively takes a group of measurement positions comprising at least three measurement sites on three mutually perpendicular planes of the calibration block. During calibration, only the displacement sensor is needed to be installed on the robot, the calibration block is fixed on a workpiece of which a user coordinate system is to be established, then the computer is respectively in communication connection with the robot and the displacement sensor, the calibration process can be automatically carried out under the control of the computer, human errors are avoided, and the calibration precision is high; and the calibration time is short, and the calibration efficiency is high.
Preferably, the robot is an industrial robot, a mounting flange is arranged on an end executing mechanism of the industrial robot, and the displacement sensor is connected with the mounting flange through a sensor mounting bracket. The displacement sensor is arranged on the mounting flange of the robot through the sensor mounting bracket, so that the sensor can be conveniently detached and the position of the sensor can be conveniently adjusted.
Preferably, the sensor mounting bracket comprises two mounting surfaces which are perpendicular to each other, the cross section of the sensor mounting bracket is L-shaped, one of the mounting surfaces is connected with the mounting flange, and the other mounting surface is connected with the displacement sensor.
Preferably, the calibration block is fixedly connected with the workpiece through magnetism, adhesive or a mounting structure matched with the workpiece on which the user coordinate system is to be established.
The invention also discloses a user coordinate system calibration method using the automatic calibration system, which comprises the following steps:
(1) installing and arranging an automatic calibration system of a robot user coordinate system;
(2) establishing a robot coordinate system;
(3) the robot executes the measuring action, and the computer records the measuring result of the displacement sensor and the robot position and posture information corresponding to each measuring position: the robot drives the displacement sensor to move and respectively traverse three groups of measuring positions, each group of measuring positions comprises at least three non-collinear measuring positions, and when the displacement sensor is at each measuring position in the three groups of measuring positions, the measuring direction is respectively parallel to an Z, Y, X axis of a robot coordinate system;
(4) and the computer calculates a calibration result according to the measurement result to finish the calibration of the user coordinate system.
Preferably, when the robot coordinate system is established in step (2), the direction of the cable socket on the robot base is defined as the back, the positive direction of the X-axis of the robot coordinate system is forward, the positive direction of the Z-axis is upward, and the positive direction of the Y-axis is determined by the right-hand rule.
Preferably, in the step (4), the computer fits a plane equation of the surface of the calibration block where each group of measurement positions are located in the robot coordinate system according to the measurement result in the step (3), then the three plane equations are intersected in pairs, and a linear equation of three intersecting lines of the three planes which are perpendicular to each other in space in the robot coordinate system can be obtained, namely a linear equation of an edge formed by the intersection of the three perpendicular surfaces of the calibration block in the robot coordinate system, so that the calibration of the user coordinate system with the origin located at the angular point of the calibration block and the three coordinate axes coinciding with the edges of the calibration block is completed.
Preferably, when the number of the measurement positions in each set of measurement positions is more than 3, the plane equation is fitted by using a least square method.
The invention carries out the calibration of the user coordinate system through three mutually vertical planes of the calibration block arranged on the workpiece of which the user coordinate system is to be established, and can be used for the calibration of workpieces in any shapes. The displacement sensor respectively takes a group of measuring positions comprising at least three non-collinear measuring points on three mutually vertical planes of the calibration block during calibration, the computer obtains the coordinates of each measuring point in each group of measuring positions in the robot coordinate system according to the measuring result, then the equations of three surfaces are respectively fitted according to each coordinate, then the equations of three mutually vertical edges of the calibration block in the robot coordinate system are obtained through intersection of two lines, the intersection point of the three lines is the origin of the user coordinate system, and the calibration of the user coordinate system is completed. The method is used for calibrating the user coordinates, the displacement sensor can automatically take points for measurement under the drive of the robot, and the points are flexible in position, accurate in measurement and high in efficiency; the computer has high calculation accuracy on the plane, fitting and coordinate system, eliminates human errors, is convenient and fast to operate, and has accurate and reliable calibration results.
Therefore, the invention has the following beneficial effects:
(1) the calibration process can be automatically carried out under the control of a computer, human errors can not be generated, and the calibration precision and efficiency are high;
(2) the point taking positions of the measurement points in each group of measurement positions are flexible and random, the measurement difficulty is reduced, and the measurement efficiency is improved; the computer has high calculation accuracy on the plane, fitting and coordinate system, and the calibration result is accurate and reliable;
(3) the workpiece with the user coordinate to be calibrated is calibrated by the calibration block, so that the calibration block is suitable for calibrating workpieces in any shapes, and the practicability is high.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting of the displacement sensor;
FIG. 3 is a schematic view of the robot position when measuring a first set of measurement positions;
FIG. 4 is a schematic view of the robot position when measuring a second set of measurement positions;
fig. 5 is a schematic view of the robot positions when measuring the third set of measurement positions.
In the figure: the system comprises a robot 1, a 101-axis, a 102-axis, a 103-axis, a 104-axis, a 105-axis, a 106-axis, a 2-displacement sensor, a 3-workpiece, a 4-calibration block, a 5-computer, a 6-mounting flange, a 7-sensor mounting bracket, an 8-workbench, a 9-first measurement site, a 10-second measurement site, an 11-third measurement site, a 12-fourth measurement site, a 13-fifth measurement site, a 14-sixth measurement site, a 15-seventh measurement site, a 16-eighth measurement site and a 17-ninth measurement site.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
Example (b):
as shown in fig. 1, an automatic calibration system for robot user coordinates comprises a laser displacement sensor 2 for non-contact measurement arranged on an industrial robot 1, a cube calibration block 4 arranged on a workpiece 3 to be set up with a user coordinate system and located in the measurement range of the laser displacement sensor, and a computer 5 in communication connection with the laser displacement sensor and the robot. The industrial robot is a six-axis robot comprising a first axis 101, a second axis 102, a third axis 103, a fourth axis 104, a fifth axis 105 and a sixth axis 106, wherein a mounting flange 6 is arranged on an end executing mechanism of the robot, and the laser displacement sensor is connected with the mounting flange through a sensor mounting bracket 7. As shown in fig. 2, the sensor mounting bracket includes two mounting surfaces perpendicular to each other, and the cross section is L-shaped, wherein one mounting surface is connected to the mounting flange by a bolt, and the other mounting surface is connected to the side surface of the laser displacement sensor. A workpiece to be calibrated is placed on the workbench 8, and the calibration block is adhered to the surface of the workpiece through an adhesive.
A user coordinate calibration method using the automatic calibration system comprises the following steps:
(1) installing and arranging the automatic calibration system of the robot user coordinate system: installing a laser displacement sensor on a flange of a robot tail end executing mechanism through a sensor installing support, placing a workpiece of which a user coordinate system is to be established on a workbench, adhering a calibration block on the surface of the workpiece by using an adhesive, and then establishing communication connection between a computer and the robot and the laser displacement sensor respectively;
(2) establishing a robot coordinate system: as shown in fig. 1, after the direction of the robot base with the cable socket is defined as the back, the positive direction of the X axis of the robot coordinate system is forward, the positive direction of the Z axis is upward, the positive direction of the Y axis is determined by the right-hand rule, the origin of the robot coordinate system is located on the one axis of the robot, and the two axes of the robot move along the negative direction of the X axis and are above the intersection point of the one axis;
(3) the robot executes the measuring action, and the computer records the measuring result of the displacement sensor and the robot position and posture information corresponding to each measuring position:
first, as shown in fig. 3, the robot drives the laser displacement sensor to traverse a first set of measurement positions, which includes three measurement sites that are not collinear, that is: the system comprises a first measuring site 9, a second measuring site 10 and a third measuring site 11, wherein when a laser displacement sensor is arranged at each measuring site, the measuring direction is parallel to the Z axis of a robot coordinate system, and a computer records the measuring result of the laser displacement sensor and the position and posture information of the robot corresponding to the measuring site in the process;
then, as shown in fig. 4, the robot drives the laser displacement sensor to traverse a second set of measurement positions, which includes three measurement sites that are not collinear, that is: a fourth measuring site 12, a fifth measuring site 13 and a sixth measuring site 14, wherein when the laser displacement sensor is at each measuring site, the measuring direction is parallel to the Y axis of the robot coordinate system, and the computer records the measuring result of the laser displacement sensor and the position and posture information of the robot corresponding to the measuring site in the process;
finally, as shown in fig. 5, the robot drives the laser displacement sensor to traverse a third set of measurement positions, which includes three measurement sites that are not collinear, that is: a seventh measuring site 15, an eighth measuring site 16 and a ninth measuring site 17, wherein when the laser displacement sensor is at each measuring site, the measuring direction is parallel to the X axis of the robot coordinate system, and the computer records the measuring result of the laser displacement sensor and the robot position and posture information corresponding to the measuring site in the process;
(4) the computer calculates a calibration result according to the measurement result to finish the calibration of the user coordinate system:
the computer can calculate the coordinates of each measuring point on the surface of the calibration block in a robot coordinate system according to the recorded data of the measuring result of the laser displacement sensor, the position and posture information of the robot corresponding to the measuring data and the installation size of the laser displacement sensor, wherein the coordinate of the first measuring point is marked as P1And the coordinate of the second measurement site is marked as P2And so on.
For the coordinates of each measurement point in the first set of measurement positions in the robot coordinate systemP1、P2、P3The surface of the calibration block where the first set of measurement locations is located, i.e. the planar equation a of the upper surface of the calibration block in the robot coordinate system, can be determined1x+B1y+C1z+D1And = 0. The same method is adopted for the coordinates of the second group of measurement positions and the third group of measurement positions, so that a plane equation A of the other two measurement surfaces of the calibration block in the robot coordinate system is obtained2x+B2y+C2z+D2=0 and A3x+B3y+C3z+D3And = 0. (when the number of the measuring points in each group is more than 3, a least square method is adopted to fit a plane equation)
The three plane equations are crossed in pairs and are connected A1x+B1y+C1z+D1=0 and A2x+B2y+C2z+D2=0, the intersection of the plane of the first set of measurement positions and the plane of the second set of measurement positions can be obtained and is marked as a12x+B12y+C12=0, simultaneous A1x+B1y+C1z+D1=0 and A3x+B3y+C3z+D3=0, the intersection line of the plane of the first set of measurement positions and the plane of the third set of measurement positions can be obtained and is marked as a13x+B13y+C13=0, simultaneous A2x+B2y+C2z+D2=0 and A3x+B3y+C3z+D3=0, the intersection line of the plane of the second set of measurement positions and the plane of the third set of measurement positions can be obtained and is marked as a23x+B23y+C23=0, simultaneous A12x+B12y+C12=0，A13x+B13y+C13=0 and A23x+B23y+C23=0, and the intersection point of the three straight lines is recorded as OU。
Thus, the straight line A can be drawn12x+B12y+C12=0 is defined as the X axis of the user coordinate system, and the angle formed by the positive direction of the X axis of the user coordinate system and the positive direction of the X axis of the robot coordinate system is required to be an acute angle, and the straight line a is defined as the X axis of the user coordinate system13x+B13y+C13=0 provision for user to sitThe mark is Y-axis, and the positive direction of the Y-axis of the user coordinate system and the positive direction of the Y-axis of the robot coordinate system form an acute angle, and the straight line A23x+B23y+C23=0 is defined as the Z-axis of the user coordinate system, and the angle formed by the positive direction of the Z-axis of the user coordinate system and the negative direction of the Z-axis of the robot coordinate system is required to be an acute angle, and the origin of the user coordinate system is OU. At this point, the user coordinate system calibration is completed.
By adopting the calibration system and the calibration method, the calibration process can be automatically carried out under the control of a computer, no human error is generated, and the calibration precision and efficiency are high; the point taking positions of the measurement points in each group of measurement positions are flexible and random, the measurement difficulty is reduced, and the measurement efficiency is improved; the computer has high calculation accuracy on the plane, fitting and coordinate system, and the calibration result is accurate and reliable; the calibration device is suitable for calibrating workpieces in any shapes, and has strong practicability.

Claims (6)

1. A calibration method of a robot user coordinate system by using an automatic calibration system is characterized in that the automatic calibration system comprises a displacement sensor (2) which is arranged on a robot (1) and used for non-contact measurement, a calibration block (4) which is arranged on a workpiece (3) of which the user coordinate system is to be established and is positioned in the measurement range of the displacement sensor, and a computer (5) which is in communication connection with the displacement sensor and the robot, wherein the surface of the calibration block at least comprises three surfaces which are vertical to each other;
the calibration method comprises the following steps:
(1) installing and arranging an automatic calibration system of a robot user coordinate system;
(2) establishing a robot coordinate system;
(3) the robot executes the measuring action, and the computer records the measuring result of the displacement sensor and the robot position and posture information corresponding to each measuring position: the robot drives the displacement sensor to move and traverse three groups of measuring positions respectively, each group of measuring positions comprises at least three non-collinear measuring positions, and when the displacement sensor is arranged at each measuring position in the three groups of measuring positions, the measuring direction is parallel to an Z, Y, X axis of a robot coordinate system respectively;
(4) and (3) fitting a plane equation of the surface of the calibration block where each group of measurement positions are located in the robot coordinate system by the computer according to the measurement result in the step (3), and then intersecting the three plane equations in pairs to obtain a linear equation of three intersecting lines of the three planes which are perpendicular to each other in space in the robot coordinate system, namely a linear equation of an edge formed by the intersection of the three mutually perpendicular surfaces of the calibration block in the robot coordinate system, so that the calibration of the user coordinate system with the origin located at the angular point of the calibration block and the three coordinate axes coincident with the edge of the calibration block is completed.
2. The calibration method as claimed in claim 1, wherein the robot is an industrial robot, a mounting flange (6) is arranged on an end actuator of the industrial robot, and the displacement sensor is connected with the mounting flange through a sensor mounting bracket (7).
3. The calibration method according to claim 2, wherein the sensor mounting bracket comprises two mounting surfaces perpendicular to each other, the cross section of the sensor mounting bracket is L-shaped, one of the mounting surfaces is connected with the mounting flange, and the other mounting surface is connected with the displacement sensor.
4. The calibration method as claimed in claim 1, wherein the calibration block is fixedly connected to the workpiece by means of magnetism, an adhesive or a mounting structure matching with the workpiece on which the user coordinate system is to be established.
5. The calibration method according to claim 1, wherein when the robot coordinate system is established in step (2), the direction of the cable socket on the robot base is defined as back, and the positive direction of the X-axis and the positive direction of the Z-axis of the robot coordinate system are determined by the right-hand rule.
6. The calibration method according to claim 1, wherein when the number of the measurement positions in each set of measurement positions is more than 3, the plane equation is fitted by using a least square method.
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