CN111428334A - Robot station planning method in laser radar measurement - Google Patents

Robot station planning method in laser radar measurement Download PDF

Info

Publication number
CN111428334A
CN111428334A CN202010054454.2A CN202010054454A CN111428334A CN 111428334 A CN111428334 A CN 111428334A CN 202010054454 A CN202010054454 A CN 202010054454A CN 111428334 A CN111428334 A CN 111428334A
Authority
CN
China
Prior art keywords
measurement
point
laser radar
reachable
industrial robot
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.)
Granted
Application number
CN202010054454.2A
Other languages
Chinese (zh)
Other versions
CN111428334B (en
Inventor
万能
王展
常智勇
张凤仙
宋屹桐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN202010054454.2A priority Critical patent/CN111428334B/en
Publication of CN111428334A publication Critical patent/CN111428334A/en
Application granted granted Critical
Publication of CN111428334B publication Critical patent/CN111428334B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a robot station position planning method in laser radar measurement, which is used for solving the technical problem that the measurement station position is more in the existing measurement viewpoint planning method in laser radar measurement. The technical scheme includes that firstly, a CAD simulation model is built, a coordinate system is built, then a view-point reachable cone model is built, discrete processing is conducted on the view-point reachable cone model according to the measurement precision requirement, a small ball set is screened by utilizing laser radar measurement constraint and industrial robot arm reachable space range constraint, small balls meeting constraint conditions are reserved, an intersection area containing the most kinds of small balls is taken, and the core of the intersection area is used as a laser radar measurement station site. The invention uses the discrete ball to carry out measurement reachable domain calculation, and determines the radius of the off-ball according to the measurement precision, so that the measurement speed is adaptive to the measurement precision. Aiming at different measurement accuracies, the algorithm keeps higher calculation efficiency, and the total number of the laser radar measurement station sites is reduced by 20-30%.

Description

Robot station planning method in laser radar measurement
Technical Field
The invention relates to a method for planning a measuring viewpoint in laser radar measurement, in particular to a method for planning a robot station in laser radar measurement.
Background
The automatic three-dimensional measurement of the laser radar is realized by adjusting the pose of the laser radar by a multi-degree-of-freedom robot and measuring parts from a plurality of measurement viewpoints so as to obtain accurate measurement data. The generation process of the measurement viewpoint affects the overall efficiency and accuracy of the detection.
The document "CN 109163674A a method for planning viewpoint of sensor measurement in three-dimensional automated measurement of surface structured light" proposes a method for planning viewpoint of measurement based on surface structured light measurement. By blocking the complex part, a large number of detected points are assigned to a single volume. A plurality of similar detected points are detected using one measurement viewpoint, thereby improving detection efficiency. However, for a complex assembly body, the spatial structure of the assembly body is more complex, and more measurement viewpoints are needed. The detection task is also several times that of complex parts. The method cannot meet the detection requirement of a complex assembly body.
There have been many studies on the automatic planning technology of the measuring viewpoint at home and abroad. The more advanced method is to analyze the interrelation among various constraints in the detection task and generate a measurement viewpoint which meets the limit condition based on the interrelation. For the detection of complex assemblies, this method is computationally intensive and time consuming. A process of clustering optimization for a large number of measured viewpoints is lacking.
In summary, in the measurement process of the existing complex assembly body, the problems of low algorithm efficiency, redundant measurement points and the like exist.
Disclosure of Invention
The invention provides a robot station position planning method in laser radar measurement, aiming at overcoming the defect that the measurement station position is more in the existing measurement viewpoint planning method in laser radar measurement. The method comprises the steps of firstly constructing a CAD simulation model and a coordinate system, then constructing a view-point reachable cone model, performing discrete processing on the view-point reachable cone model according to the measurement precision requirement, screening a small ball set by using laser radar measurement constraint and industrial robot arm reachable space range constraint, reserving small balls meeting constraint conditions, taking an intersecting area containing the most kinds of small balls, and taking the centroid of the intersecting area as a laser radar measuring station locus. And removing the discrete balls corresponding to the measuring points which can be measured from the measuring station position from the discrete ball set corresponding to all the measuring points. The above process continues for the remaining measurement points until lidar measurement station sites corresponding to all measurement points are generated. The invention uses the discrete ball to carry out measurement reachable domain calculation, and determines the radius of the off-ball according to the measurement precision, so that the measurement speed is adaptive to the measurement precision. The algorithm can keep higher calculation efficiency aiming at different measurement accuracies. The flexibility of the method of the invention is higher than that of the background art method. And performing geometric intersection calculation on the measurement reachable domain, so that the detection task is completed by using the laser radar measurement station sites with the least quantity, and the total number of the laser radar measurement station sites is reduced by 20-30%.
The technical scheme adopted by the invention for solving the technical problems is as follows: a robot station planning method in laser radar measurement is characterized by comprising the following steps:
(a) and (4) constructing a CAD simulation model and establishing a coordinate system. And assembling the known laser radar, the robot arm model and the part model on the detection platform by adopting three-dimensional modeling software. Establishing a detection world coordinate system SwOptionally, a point on the detection platform is taken as SwUsing three orthogonal moving directions of the three-dimensional moving platform as SwThe directions of the X, Y, Z axes of (1). Using the central point O of the robot arm basebEstablishing a motion coordinate system S for a base pointbDirection of three coordinate axes and SwThe three coordinate axes are in the same direction. The coordinates and surface normal of all measurement points are noted.
(b) And constructing a view-point reachable cone model. And extracting the coordinates and the surface unit normal vector of each measuring point from the measured model. According to each measuring point Pw,iCoordinate (x) ofw,i,yw,i,zw,i) And surface unit normal vector
Figure BDA0002372323420000021
i 1,2, m, m is the total number of measurement points. With Pw,i(xw,i,yw,i,zw,i) The vertex of the cone can be reached for the viewpoint,
Figure BDA0002372323420000022
making an apex angle theta for the axiskThe viewpoint of can be reached as a cone. The view point can be taken to reach the zeta of a bus on a conei,0，ζi,0Has a direction vector of
Figure BDA0002372323420000023
Will ζi,0Rotated through an angle about an axis
Figure BDA0002372323420000024
Another bus zeta of the obtained station position on the accessible conei,l，
Figure BDA0002372323420000025
ζi,lThe direction vector of (a) is expressed as:
Figure BDA0002372323420000026
where I is the 3 × 3 identity matrix,
Figure BDA0002372323420000027
and representing the viewpoint reachable cone model by a plurality of discrete buses.
(c) And carrying out discrete processing on the view point reachable cone model according to the measurement precision requirement. Radius of sphere
Figure BDA0002372323420000031
The height h of each layer is 2 × rqThe composite material is divided into J layers in total,
Figure BDA0002372323420000032
radius of circle of j-th layer
Figure BDA0002372323420000033
Then the circles are separated into circular rings, and the distance d between adjacent circular rings is 2 × rqThe composite material is divided into K layers in total,
Figure BDA0002372323420000034
the ring of the kth layer of the jth layer of the circular table is recorded as ringj,kThe radius of the circle is expressed as
Figure BDA0002372323420000035
Calculating circumference of a ring
Figure BDA0002372323420000036
By means of annular ringsj,kA circumference C ofc,j,kDivided by the diameter d of the pelletq＝2·rqThe result is rounded down to obtain the ringj,kNumber of discrete beads L. discrete beads are designated as qj,k,l. Calculating to obtain a small ball qj,k,lCenter coordinates (x) ofj,k,l,yj,k,l,zj,k,l)。
From the measuring point Pw,iThe established view reachable cone is represented by a set of discrete spheres, and is recorded as:
Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+} (4)
(d) lidar measurement constraint definition. According to each measuring point Pw,iCharacteristic type and measurement accuracy requirement, laser radar station point Mw,iAnd the measuring point Pw,iThe distance constraint, the angle constraint and the interference constraint are satisfied.
Distance constraint laser radar station Mw,iAnd the measuring point Pw,iDistance L therebetweeniMeet the requirement of effective range, i.e. Lmin＜Li＜LmaxTherein Lmin，LmaxRespectively the minimum and maximum distances allowed, while meeting the requirements of measurement accuracy.
Angle constraint:from the measuring point Pw,iPointing laser radar station Mw,iVector of (2)
Figure BDA0002372323420000037
And the measuring point Pw,iIs the normal vector of
Figure BDA0002372323420000038
Included angle thetaiMeet the requirement of effective range, i.e. thetamin＜θi＜θmax. Wherein theta ismin，θmaxAre the minimum and maximum angles allowed to meet the measurement accuracy requirements. Determined by the feature type of the detected object.
The measurement constraint boundaries are represented by discrete generatrix vectors, where the cone vertex angle θk＝2θiL according to distance constraintsmin，LmaxAt bus ζi,0Upper cut line segment mui,0Line segment mui,0End point of is
Figure RE-GDA0002529188090000039
And
Figure RE-GDA00025291880900000310
PA,w,iPB,w,inormal vector of surface unit
Figure RE-GDA00025291880900000311
The measurement constraint boundary of the lidar is obtained for a 360 ° rotation of the shaft.
(e) And the reachable space range of the arm of the industrial robot is restricted and defined. Establishing a connecting rod coordinate system by a classical D-H method and using a connecting rod coordinate system RiRelative to the link coordinate system Ri-1Coordinate transformation matrix of
Figure BDA00023723234200000312
Figure BDA00023723234200000313
Equation for obtaining working space formed by front three joints of industrial robot
Figure BDA00023723234200000314
Figure BDA0002372323420000041
Wherein
Figure BDA0002372323420000042
cθi＝cos(θi)，sθi＝sin(θi)，cαi＝cos(αi)，
sαi＝sin(αi)
The working reachable area of the robot arm is determined by the working areas of the first three joints. According to structural parameters theta of industrial robotiSatisfy the requirement of
Figure BDA0002372323420000043
For joint variable theta2、θ3By using the principle of limit combination, the product theta can be obtained10 hour industrial robot wrist joint end point
Figure BDA0002372323420000044
Working space boundary in robot coordinate system, and working space is obtained according to working space boundary
Figure BDA0002372323420000045
Z coordinates of key points, these key points being θ1The Z coordinate of the point where the Z coordinate of the inner and outer boundaries of the working space is maximum and minimum and the point where the boundary expression changes is recorded as Z when the Z coordinate is 01,Z2......,Z7. Then, the end points of the wrist joints are obtained
Figure BDA0002372323420000046
Distance D to the z-axis of the robot coordinate systemiAnd in correspondence with
Figure BDA0002372323420000047
Z coordinate of (3) a workspace W0(Pw) From the inner and outer boundaries to the z-axis of the robot coordinate systemDistance between two adjacent plates
Figure BDA0002372323420000048
And
Figure BDA0002372323420000049
if there is
Figure BDA00023723234200000410
In the standing, the description
Figure BDA00023723234200000411
In a working space
Figure BDA00023723234200000412
Inside.
Figure BDA00023723234200000413
The parameter equations are respectively as follows:
Figure BDA00023723234200000414
in the formula (I), the compound is shown in the specification,
c1＝cos(θ1),c2＝cos(θ2),c3＝cos(θ3)；
s1＝sin(θ1),s2＝sin(θ2),s3＝sin(θ3)；
s23＝sin(θ2+θ3)；
c23＝cos(θ2+θ3)；
d4is the joint offset distance of the industrial robot connecting rod 4; theta1Is the joint corner of the industrial robot connecting rod 1; theta2Is the joint corner of the industrial robot connecting rod 2;
θ3is the joint corner of the industrial robot connecting rod 3; a is1Is the length of the industrial robot link 1; a is2Is the length of the industrial robot link 2;
a3is the length of the connecting rod 3 of the industrial robotDegree; equation for robot arm motion space boundary
Figure BDA0002372323420000051
Figure BDA0002372323420000052
And (4) showing.
(f) Collecting small balls S by using laser radar measurement constraint and industrial robot arm reachable space range constraint in (d) and (e)i＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+And (4) screening. The pellets satisfying the constraint condition are retained. To Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+Get the measurement reachable domain S by screeningi'。
(h) Measuring reachable domain S of each measuring pointi' intersection. Taking the intersection region T containing the most ballsiBy intersecting the region TiThe core is used as a laser radar measuring station point Qw,i. Will be measured from station site Qw,iMeasurable measuring point Pw,iAnd removing the corresponding discrete balls from the discrete ball set corresponding to all the measuring points. Continuing the above process for the rest of the measurement points until all the measurement points P are generatedw,iCorresponding laser radar survey station point Qw,i。
The invention has the beneficial effects that: the method comprises the steps of firstly establishing a CAD simulation model and a coordinate system, then establishing a view point reachable cone model, carrying out discrete processing on the view point reachable cone model according to the measurement precision requirement, screening a small ball set by utilizing laser radar measurement constraint and industrial robot arm reachable space range constraint, reserving small balls meeting the constraint condition, taking an intersecting area containing the most kinds of the small balls, and taking the core of the intersecting area as a laser radar measuring station site. And removing the discrete balls corresponding to the measuring points which can be measured from the measuring station position from the discrete ball set corresponding to all the measuring points. The above process continues for the remaining measurement points until lidar measurement station sites corresponding to all measurement points are generated. The invention uses the discrete ball to carry out measurement reachable domain calculation, and determines the radius of the discrete ball according to the measurement precision, so that the measurement speed is adaptive to the measurement precision. The algorithm can keep higher calculation efficiency aiming at different measurement precisions. The algorithm of the invention has higher flexibility than the algorithm used at present. And performing geometric intersection calculation on the measurement reachable domain, so that the detection task is completed by using the laser radar measuring station sites with the least quantity, and the total number of the laser radar measuring station sites is reduced by 20-30%.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a flow chart of a robot station planning method in laser radar measurement according to the present invention.
Fig. 2 is a lidar measurement constraint definition in the method of the present invention.
FIG. 3 is a discretization model of the measured accessible cone in the method of the invention.
FIG. 4 illustrates the range of motion constraints for the robot arm in the method of the present invention.
FIG. 5 is a schematic diagram of the measurement reachable domain intersection in the method of the present invention.
Detailed Description
Reference is made to fig. 1-5. The robot station planning method in the laser radar measurement comprises the following specific steps:
step 1, establishing a CAD simulation model and establishing a coordinate system.
Known lidar, robotic arm models and part models were assembled on an inspection platform using UG software. Establishing a detection world coordinate system SwOptionally, a point on the detection platform is taken as SwUsing three orthogonal moving directions of the three-dimensional moving platform as SwThe directions of the X, Y, Z axes of (1). Using the central point O of the robot arm basebEstablishing a motion coordinate system S for a base pointbDirection of three coordinate axes and SwThe three coordinate axes are in the same direction. The coordinates and surface normal of all the measured points are marked.
And 2, constructing a view point reachable cone model.
According to each measuring point Pw,iCoordinate (x) ofw,i,yw,i,zwi,) And surface unit normal vector
Figure BDA0002372323420000061
Figure BDA0002372323420000062
And m is the total number of the measuring points. With Pw,i(xw,i,yw,i,zw,i) The vertex of the cone can be reached for the viewpoint,
Figure BDA0002372323420000063
making an apex angle theta for the axiskThe viewpoint of can be reached as a cone. The view point can be taken to reach the zeta of a bus on a conei,0，ζi,0Has a direction vector of
Figure BDA0002372323420000064
Wherein
Figure BDA0002372323420000065
Will ζi,0Rotated through an angle about an axis
Figure BDA00023723234200000610
Another bus zeta of the obtained station position on the accessible conei,l，
Figure BDA0002372323420000066
ζi,lCan be expressed as
Figure BDA0002372323420000067
Where I is the 3 × 3 identity matrix,
Figure BDA0002372323420000068
and representing the viewpoint reachable cone model by a plurality of discrete buses.
And 3, discrete processing of the view point reachable cone model.
According to the measurement accuracy requirement to the eyeAnd (4) carrying out discrete processing on the point reachable cone model. The view reachable cone is represented by a discrete sphere. Radius of sphere
Figure BDA0002372323420000069
The height h of each layer is 2 × rqThe composite material is divided into J layers in total,
Figure BDA0002372323420000071
radius of circle of j-th layer
Figure BDA0002372323420000072
Then the circles are separated into circular rings, and the distance d between adjacent circular rings is 2 × rqThe composite material is divided into K layers in total,
Figure BDA0002372323420000073
the ring of the kth layer of the jth layer of the circular platform is marked as ringj,kThe radius of the circle is expressed as
Figure BDA0002372323420000074
Calculating circumference of a ring
Figure BDA0002372323420000075
By means of annular ringsj,kA circumference C ofc,j,kDivided by the diameter d of the pelletq＝2·rqThe result is rounded downwards to obtain the ringj,kNumber of discrete beads L. discrete beads are designated as qj,k,l. Calculating to obtain a small ball qj,k,lCircle center coordinate (x)j,k,l,yj,k,l,zj,k,l)。
From the measuring point Pw,iThe established view point reachable cone is represented by a set of discrete small balls, which is marked as Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+}。
And 4, defining the measurement constraint of the laser radar.
According to each measuring point Pw,iCharacteristic type and measurement accuracy requirement, laser radar station point Mw,iAnd the measuring point Pw,iSatisfy the distance of aboutBeam, angle constraints, interference constraints.
Distance constraint laser radar station Mw,iAnd the measuring point Pw,iDistance L therebetweeniMeet the requirement of effective range, i.e. Lmin＜Li＜LmaxTherein Lmin，LmaxRespectively the minimum and maximum distances allowed, while meeting the requirements of measurement accuracy.
Angle constraint: from the measuring point Pw,iPointing laser radar station Mw,iVector of (2)
Figure BDA0002372323420000076
And the measuring point Pw,iIs the normal vector of
Figure BDA0002372323420000077
Included angle thetaiMeet the requirement of effective range, i.e. thetamin＜θi＜θmax. Wherein theta ismin，θmaxAre the minimum and maximum angles allowed to meet the measurement accuracy requirements. Determined by the feature type of the detected object.
Will ζi,0Rotated through an angle about an axis
Figure RE-GDA0002529188090000065
Another bus zeta of the obtained station position on the accessible conei,l，
Figure RE-GDA0002529188090000066
l＝0,1,...L-1，ζi,lCan be expressed as
Figure RE-GDA0002529188090000067
Where I is the 3 × 3 identity matrix,
and 5, defining the reachable space range constraint of the arm of the industrial robot.
Establishing a connecting rod coordinate system by a classical D-H method and using a connecting rod coordinate system RiRelative to the link coordinate system Ri-1Coordinate transformation matrix of
Figure BDA00023723234200000711
Equation for obtaining working space formed by front three joints of industrial robot
Figure BDA0002372323420000081
Wherein
Figure BDA0002372323420000082
cθi＝cos(θi)，sθi＝sin(θi)，cαi＝cos(αi)，
sαi＝sin(αi)
The working reachable area of the robot arm is determined by the working areas of the first three joints. According to structural parameters theta of industrial robotiSatisfy the requirement of
Figure BDA0002372323420000083
For joint variable theta2、θ3By using the principle of limit combination, the product theta can be obtained10 hour industrial robot wrist joint end point
Figure BDA0002372323420000084
Working space boundary in robot coordinate system, and working space is obtained according to working space boundary
Figure BDA0002372323420000085
Z coordinates of key points, these key points being θ1The Z coordinate of the point where the Z coordinate of the inner and outer boundaries of the working space is maximum and minimum and the point where the boundary expression changes is recorded as Z when the Z coordinate is 01,Z2......,Z7. Then, the end points of the wrist joints are obtained
Figure BDA0002372323420000086
Distance D to the z-axis of the robot coordinate systemiAnd in correspondence with
Figure BDA0002372323420000087
Z coordinate of (3) a workspace W0(Pw) Distance between the inner and outer boundaries and the z-axis of the robot coordinate system
Figure BDA0002372323420000088
And
Figure BDA0002372323420000089
if there is
Figure BDA00023723234200000810
In the standing, the description
Figure BDA00023723234200000811
In a working space
Figure BDA00023723234200000812
Inside.
Figure BDA00023723234200000813
The parameter equations are respectively as follows:
Figure BDA00023723234200000814
Figure BDA00023723234200000815
Figure BDA00023723234200000816
in the formula:
c1＝cos(θ1),c2＝cos(θ2),c3＝cos(θ3)；
s1＝sin(θ1),s2＝sin(θ2),s3＝sin(θ3)；
s23＝sin(θ2+θ3)；
c23＝cos(θ2+θ3)；
d4is the joint offset distance of the industrial robot connecting rod 4; theta1Is the joint corner of the industrial robot connecting rod 1; theta2Is the joint corner of the industrial robot connecting rod 2; theta3Is the joint corner of the industrial robot connecting rod 3; a is1Is the length of the industrial robot link 1; a is2Is the length of the industrial robot link 2; a is3Is the length of the industrial robot link 3;
equation for robot arm motion space boundary
Figure BDA0002372323420000091
And (4) showing.
And 6, screening the small balls meeting the conditions according to the constraints to generate a measurement reachable domain.
Collecting the small balls S by using the laser radar measurement constraint and the industrial robot arm reachable space range constraint in the steps 4 and 5i＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L]And N + } screening. The pellets that meet the constraints are retained. To Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L]N + } screening to obtain measurement reachable domain Si'。
And 7, intersecting the measurement reachable domains and calculating to obtain the measurement station site.
Measuring reachable domain S of each measuring pointi' intersection. Taking the intersection region T containing the most ballsiBy intersecting the region TiThe core is used as a laser radar measuring station point Qw,i. Will be measured from station site Qw,iMeasurable measuring point Pw,iAnd removing the corresponding discrete balls from the discrete ball set corresponding to all the measuring points. The above process continues for the remaining measurement points until all measurement points P are generatedw,iCorresponding laser radar survey station point Qw,i。

Claims (1)

1. A robot station planning method in laser radar measurement is characterized by comprising the following steps:
(a) establishing a CAD simulation model and establishing a coordinate system; adopting three-dimensional modeling software to assemble the known laser radar, robot arm model and part model in the inspectionMeasuring on a platform; establishing a detection world coordinate system SwOptionally, a point on the detection platform is taken as SwUsing three orthogonal moving directions of the three-dimensional moving platform as SwThe directions of the X, Y, Z axes of (a); using the central point O of the robot arm basebEstablishing a motion coordinate system S for a base pointbDirection of three coordinate axes and SwThe directions of the three coordinate axes are the same; marking coordinates and surface normal of all measuring points;
(b) constructing a view-point reachable cone model; extracting the coordinates and surface unit normal vector of each measuring point from the measured model; according to each measuring point Pw,iCoordinate (x) ofw,i,yw,i,zw,i) And surface unit normal vector
Figure FDA0002372323410000011
Figure FDA0002372323410000012
m is the total number of the measuring points; with Pw,i(xw,i,yw,i,zw,i) The vertex of the cone can be reached for the viewpoint,
Figure FDA0002372323410000013
making an apex angle theta for the axiskThe viewpoint of can reach a cone; the view point can be taken to reach the zeta of the upper bus of the conei,0，ζi,0Has a direction vector of
Figure FDA0002372323410000014
Wherein
Figure FDA0002372323410000015
Will ζi,0Rotated through an angle about an axis
Figure FDA0002372323410000016
Another bus zeta of the obtained station position on the accessible conei,l，
Figure FDA0002372323410000017
l＝0,1,...L-1，ζi,lThe direction vector of (a) is expressed as:
Figure FDA0002372323410000018
where I is the 3 × 3 identity matrix,
Figure FDA0002372323410000019
representing a viewpoint reachable cone model by a plurality of discrete buses;
(c) performing discrete processing on the view point reachable cone model according to the measurement precision requirement; radius of sphere
Figure FDA00023723234100000110
C represents the precision requirement of the measurement characteristic, the station position can be separated in a conical layering way, and the height h of each layer is 2 × rqThe composite material is divided into J layers in total,
Figure FDA00023723234100000111
radius of circle of j-th layer
Figure FDA00023723234100000112
Then the circles are separated into circular rings, and the distance d between adjacent circular rings is 2 × rqThe composite material is divided into K layers in total,
Figure FDA0002372323410000021
the ring of the kth layer of the jth layer of the circular table is recorded as ringj,kThe radius of the circle is expressed as
Figure FDA0002372323410000022
Calculating circumference of a ring
Figure FDA0002372323410000023
By means of annular ringsj,kA circumference C ofc,j,kDivided by the diameter d of the pelletq＝2·rqThe result is rounded down to obtain the ringj,kThe number of the discrete pellets is L and the discrete pellets are denoted as qj,k,l(ii) a Calculating to obtain a small ball qj,k,lCenter coordinates (x) ofj,k,l,yj,k,l,zj,k,l)；
From the measuring point Pw,iThe established view reachable cone is represented by a set of discrete spheres, and is recorded as:
Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+} (4)
(d) laser radar measurement constraint definition; according to each measuring point Pw,iCharacteristic type and measurement accuracy requirement, laser radar station point Mw,iAnd the measuring point Pw,iSatisfying distance constraints, angle constraints and interference constraints;
distance constraint laser radar station Mw,iAnd the measuring point Pw,iDistance L therebetweeniMeet the requirement of effective range, i.e. Lmin＜Li＜LmaxWherein Lmin，LmaxThe minimum and maximum distances allowed under the requirement of meeting the measurement precision;
angle constraint: from the measuring point Pw,iPointing laser radar station Mw,iVector of (2)
Figure FDA0002372323410000024
And the measuring point Pw,iIs the normal vector of
Figure FDA0002372323410000025
Included angle thetaiMeet the requirement of effective range, i.e. thetamin＜θi＜θmax(ii) a Wherein theta ismin，θmaxIs the minimum and maximum angle allowed to meet the measurement accuracy requirement; determining by the characteristic type of the detection object;
the measurement constraint boundaries are represented by discrete generatrix vectors, where the cone vertex angle θk＝2θiL being constrained according to distancemin，LmaxAt bus ζi,0Upper sectionGet the line segment mui,0Line segment mui,0End point of is
Figure FDA0002372323410000026
And
Figure FDA0002372323410000027
PA,w,iPB,w,inormal vector of surface unit
Figure FDA0002372323410000028
Rotating the shaft for 360 degrees to obtain a measurement constraint boundary of the laser radar;
(e) the reachable space range of the arm of the industrial robot is restricted and defined; establishing a connecting rod coordinate system by a classical D-H method and using a connecting rod coordinate system RiRelative to the link coordinate system Ri-1Coordinate transformation matrix of
Figure FDA0002372323410000029
Figure FDA00023723234100000210
Obtaining an equation W of a working space formed by the first three joints of the industrial roboti(Pi b){W0(Pi b)、W1(Pi b)、W2(Pi b) Therein of
Figure FDA00023723234100000211
cθi＝cos(θi)，sθi＝sin(θi)，cαi＝cos(αi)，sαi＝sin(αi)
The working reachable area of the robot arm is determined by the working areas of the first three joints; according to structural parameters theta of industrial robotiSatisfies thetai min＜θi＜θi maxFor joint variable θ2、θ3By using the principle of limit combination, the method can obtainTo when theta10 hour industrial robot wrist joint end point Pi bWorking space boundary in robot coordinate system, and working space W is obtained according to working space boundary0(Pi b) Z coordinates of key points, these key points being θ1When the Z coordinate of the point with the maximum and minimum Z coordinates of the inner and outer boundaries of the working space and the point where the boundary expression changes is 0, the Z coordinate is recorded as Z1,Z2......,Z7(ii) a Then, the end point P of the wrist joint is obtainedi bDistance D to the z-axis of the robot coordinate systemiAnd in correspondence with Pi wZ coordinate of (3) a workspace W0(Pw) Distance between the inner and outer boundaries and the z-axis of the robot coordinate system
Figure FDA0002372323410000031
And
Figure FDA0002372323410000032
if there is
Figure FDA0002372323410000033
If true, then P is indicatedi bIn the working space W0(Pi b) An inner portion; w0(Pi b)，W1(Pi b)W2(Pi b) The parameter equations are respectively as follows:
Figure FDA0002372323410000034
in the formula (I), the compound is shown in the specification,
c1＝cos(θ1),c2＝cos(θ2),c3＝cos(θ3)；
s1＝sin(θ1),s2＝sin(θ2),s3＝sin(θ3)；
s23＝sin(θ2+θ3)；
c23＝cos(θ2+θ3)；
d4is the joint offset distance of the industrial robot connecting rod 4; theta1Is the joint corner of the industrial robot connecting rod 1; theta2Is the joint corner of the industrial robot connecting rod 2;
θ3is the joint corner of the industrial robot connecting rod 3; a is1Is the length of the industrial robot link 1; a is2Is the length of the industrial robot link 2;
a3is the length of the industrial robot link 3; equation W for robot arm motion space boundaryi(Pi b){W0(Pi b)、W1(Pi b)、W2(Pi b) Represents;
(f) collecting small balls S by using laser radar measurement constraint and industrial robot arm reachable space range constraint in (d) and (e)i＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+Screening; reserving the small balls meeting the constraint condition; to Si＝{qj,k,l|j∈[1,J],k∈[1,K],l∈[1,L],N+Screening to obtain a measured reachable domain S'i；
(h) Measuring reachable domain S 'of each measuring point'iIntersection is carried out; taking the intersection region T containing the most ballsiBy intersecting the region TiThe core is used as a laser radar measuring station point Qw,i(ii) a Will be measured from station site Qw,iMeasurable measuring point Pw,iRemoving the corresponding discrete small balls from the discrete small ball set corresponding to all the measuring points; the above process continues for the remaining measurement points until all measurement points P are generatedw,iCorresponding laser radar survey station point Qw,i。
CN202010054454.2A 2020-01-17 2020-01-17 Robot station planning method in laser radar measurement Active CN111428334B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010054454.2A CN111428334B (en) 2020-01-17 2020-01-17 Robot station planning method in laser radar measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010054454.2A CN111428334B (en) 2020-01-17 2020-01-17 Robot station planning method in laser radar measurement

Publications (2)

Publication Number Publication Date
CN111428334A true CN111428334A (en) 2020-07-17
CN111428334B CN111428334B (en) 2022-05-06

Family

ID=71547594

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010054454.2A Active CN111428334B (en) 2020-01-17 2020-01-17 Robot station planning method in laser radar measurement

Country Status (1)

Country Link
CN (1) CN111428334B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112258445A (en) * 2020-08-21 2021-01-22 西北工业大学 Method for solving mistaken and neglected mounting detection viewpoints of aircraft engine
CN113239580A (en) * 2020-12-21 2021-08-10 南京航空航天大学 Laser radar measuring station position planning method for large structural member profile detection
CN114047762A (en) * 2021-11-15 2022-02-15 西安工业大学 Laser radar space measurement path planning method and system based on ant colony algorithm

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140132761A1 (en) * 2012-11-14 2014-05-15 Massachusetts Institute Of Technology Laser Speckle Photography for Surface Tampering Detection
CN104268933A (en) * 2014-09-11 2015-01-07 大连理工大学 Scanning imaging method for three-dimensional environment in vehicle-mounted two-dimensional laser movement
CN104331542A (en) * 2014-08-12 2015-02-04 清华大学 Painting robot position planning method for large-scale free-form surface
US20150371391A1 (en) * 2013-03-15 2015-12-24 Seiko Epson Corporation 2D/3D Localization and Pose Estimation of Harness Cables Using A Configurable Structure Representation for Robot Operations
US20160063706A1 (en) * 2013-03-13 2016-03-03 Electronic Scripting Products, Inc. Reduced Homography based on Structural Redundancy of Conditioned Motion
CN106897501A (en) * 2017-01-23 2017-06-27 西北工业大学 The positioning and optimizing method based on blade parts deformation towards in adaptive machining
CN106959080A (en) * 2017-04-10 2017-07-18 上海交通大学 A kind of large complicated carved components three-dimensional pattern optical measuring system and method
CN109990701A (en) * 2019-03-04 2019-07-09 华中科技大学 A kind of large complicated carved three-dimensional appearance robot traverse measurement system and method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140132761A1 (en) * 2012-11-14 2014-05-15 Massachusetts Institute Of Technology Laser Speckle Photography for Surface Tampering Detection
US20160063706A1 (en) * 2013-03-13 2016-03-03 Electronic Scripting Products, Inc. Reduced Homography based on Structural Redundancy of Conditioned Motion
US20150371391A1 (en) * 2013-03-15 2015-12-24 Seiko Epson Corporation 2D/3D Localization and Pose Estimation of Harness Cables Using A Configurable Structure Representation for Robot Operations
CN104331542A (en) * 2014-08-12 2015-02-04 清华大学 Painting robot position planning method for large-scale free-form surface
CN104268933A (en) * 2014-09-11 2015-01-07 大连理工大学 Scanning imaging method for three-dimensional environment in vehicle-mounted two-dimensional laser movement
CN106897501A (en) * 2017-01-23 2017-06-27 西北工业大学 The positioning and optimizing method based on blade parts deformation towards in adaptive machining
CN106959080A (en) * 2017-04-10 2017-07-18 上海交通大学 A kind of large complicated carved components three-dimensional pattern optical measuring system and method
CN109990701A (en) * 2019-03-04 2019-07-09 华中科技大学 A kind of large complicated carved three-dimensional appearance robot traverse measurement system and method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PERERA ASANKA G 等: "Human Pose and Path Estimation from Aerial Video Using Dynamic Classifier Selection", 《COGNITIVE COMPUTATION》 *
高晓兵 等: "工业机器人工作空间约束下激光雷达站位规划", 《西安工业大学学报》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112258445A (en) * 2020-08-21 2021-01-22 西北工业大学 Method for solving mistaken and neglected mounting detection viewpoints of aircraft engine
CN112258445B (en) * 2020-08-21 2022-08-02 西北工业大学 Method for solving mistaken and neglected mounting detection viewpoints of aircraft engine
CN113239580A (en) * 2020-12-21 2021-08-10 南京航空航天大学 Laser radar measuring station position planning method for large structural member profile detection
CN114047762A (en) * 2021-11-15 2022-02-15 西安工业大学 Laser radar space measurement path planning method and system based on ant colony algorithm

Also Published As

Publication number Publication date
CN111428334B (en) 2022-05-06

Similar Documents

Publication Publication Date Title
CN111428334B (en) Robot station planning method in laser radar measurement
Ding et al. Process planning for 8-axis robotized laser-based direct metal deposition system: A case on building revolved part
CN110653805B (en) Task constraint path planning method for seven-degree-of-freedom redundant manipulator in Cartesian space
CN106737671B (en) The anthropomorphic motion planning method of the bilayer of seven degrees of freedom copy man mechanical arm
CN100435055C (en) Method for planning smooth and non-interference tool route of 5-axis numerical control machining
Fang et al. Robot path planning optimization for welding complex joints
CN108908331B (en) Obstacle avoidance method and system for super-redundant flexible robot and computer storage medium
Gong et al. Analytical inverse kinematics and self-motion application for 7-DOF redundant manipulator
CN105469404B (en) A kind of rotary body approximating method and device based on three dimensional point cloud
CN109876968B (en) Automatic path planning method for steel structure robot spraying
CN107995885A (en) A kind of coordinate system scaling method, system and device
CN107336230B (en) Industrial robot collision prediction method based on projection and distance judgment
CN108286949A (en) A kind of packaged type three dimensional detection robot system
CN107972034B (en) Complex workpiece trajectory planning simulation system based on ROS platform
CN110500969B (en) High-gradient complex curved surface in-situ measurement planning method
Alhijaily et al. Teams of robots in additive manufacturing: a review
CN106568365B (en) A kind of detection of sphere hole system complex position degree error and assessment method
CN108481324B (en) Inverse solution engineering of eight-axis multifunctional mechanical arm and collision detection algorithm thereof
CN108213757A (en) A kind of collision checking method for welding robot
Shen et al. An image-based algorithm for generating smooth and interference-free five-axis sweep scanning path
CN113696184B (en) Method for constructing visual motion capability map for flexibility of serial mechanical arm
CN105270702B (en) The spherical crown surface bottom foamed plastics uniform thickness processing unit (plant) and method of a kind of large diameter thin wall casing
Xu et al. A new welding path planning method based on point cloud and deep learning
CN112372631B (en) Rapid collision detection method and device for robot machining of large complex component
CN117584121A (en) Welding robot path planning method based on point cloud scene understanding

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
GR01 Patent grant
GR01 Patent grant