CN111913204B - Mechanical arm guiding method based on RTK positioning - Google Patents
Mechanical arm guiding method based on RTK positioning Download PDFInfo
- Publication number
- CN111913204B CN111913204B CN202010687342.0A CN202010687342A CN111913204B CN 111913204 B CN111913204 B CN 111913204B CN 202010687342 A CN202010687342 A CN 202010687342A CN 111913204 B CN111913204 B CN 111913204B
- Authority
- CN
- China
- Prior art keywords
- rtk
- mobile station
- mechanical arm
- coordinate system
- monitoring point
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 70
- 238000005259 measurement Methods 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 102000027426 receptor tyrosine kinases Human genes 0.000 description 1
- 108091008598 receptor tyrosine kinases Proteins 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention relates to a mechanical arm guiding method based on RTK positioning, and belongs to the field of automation. X, Y and Z coordinate positions of the target monitoring point under the mechanical arm coordinate system can be obtained by combining data of the three RTK monitoring points, and the pose (X, Y, Z, qx, qy, qz and qw) of the target point under the mechanical arm coordinate system can be obtained by combining the direction of the target point gyroscope. And solving the relation between the mechanical arm coordinate system and the geodetic coordinate according to two RTK monitoring points fixed with the mechanical arm coordinate system, and further solving the position of the operation monitoring point under the mechanical arm coordinate system. The invention has high positioning and guiding efficiency, low energy consumption and small data transmission quantity, is suitable for controlling and guiding the mechanical arm in the outdoor interference environment such as sunlight and the like, and has wide application prospect and market demand.
Description
Technical Field
The invention belongs to the field of automation, and relates to a mechanical arm guiding method based on RTK positioning.
Background
The traditional industrial robot has good working effect on a product production line, but can only work in a structured and closed environment, so that the application field of the traditional industrial robot is limited, and the strain capacity is weak. The existing mechanical arm positioning mainly depends on a vision sensor, and the machine vision technology improves the sensing and strain capacity of the robot to the environment, but when the mechanical arm works in the outdoor sunlight interference environment, the camera based on the light sensing is interfered and cannot identify the characteristics, and positioning cannot be achieved. The real-time kinematic (RTK) carrier phase difference technique is widely used in the fields of unmanned aerial vehicles, environmental mapping, and the like. RTK is a differential measurement technique that uses carrier phase observations to achieve a fast high-precision positioning function through synchronous observation of a reference station and a mobile station. The RTK system consists of 1 reference station, several mobile stations and radio communication system. When the system works, the reference station stands on the ground for continuous observation of the GPS satellite, observation data and station measurement information are sent to the mobile station in real time through the wireless transmission equipment, the mobile station receiver receives GPS satellite signals and satellite data collection, meanwhile, the wireless receiving equipment receives data from the reference station, carrier phase difference processing is carried out on 2 groups of data collected and received in the system, and three-dimensional coordinates and precision of the mobile station in the ground are calculated in real time. Existing RTKs are used for combined measurements directly with latitude and longitude calculations, do not involve converting latitude and longitude and elevation to geodetic coordinates (x, y, z), and do not use coordinate system transformations. Because the mechanical arm needs accurate pose (x, y, z, qx, qy, qz) of an operation point when in operation, the invention aims to solve the problem of determining the position and the direction between the coordinate system of the industrial robot and the earth coordinate system by using 1-3 RTK mobile stations under the condition of outdoor sunlight interference.
Disclosure of Invention
In view of the above, the present invention is directed to a robotic arm guiding method based on RTK positioning. The pose of the mechanical arm under the geodetic coordinate system can be known by combining the relation between the two RTK measuring points fixed with the mechanical arm coordinate system, the positions and directions of the working measuring points RTK and the gyroscope relative to the mechanical arm can be solved through the coordinate transformation relation, and the mechanical arm controller can guide the mechanical arm to move by obtaining the positions and directions of the target working points.
In order to achieve the above purpose, the present invention provides the following technical solutions:
In the mechanical arm system based on RTK positioning, the mechanical arm system based on RTK positioning comprises a mechanical arm bearing platform, an industrial mechanical arm, an RTK reference station and an RTK mobile station;
The RTK mobile station receives information of an RTK base station while receiving satellite observation values, carries out RTK positioning calculation to obtain longitude, latitude and elevation information of RTK high-precision positioning, and converts the longitude, latitude and elevation information into a geodetic coordinate system to obtain X, Y and Z values of the RTK mobile station in the geodetic coordinate system; the latitude phi r, the longitude lambda r and the elevation h are converted into three-dimensional information X, Y and Z under the geodetic coordinate system, and the formula is as follows:
e2＝f(2-f)
X＝(v+h)cosφrcosλr
Y＝(v+h)cosφrsinλr
Z＝v(1-e2)sinφr
wherein a is the length of an earth reference ellipsoid, and f is the flattening of a ground reference ellipsoid; a= 6378137.0 (m) under WGS-84 coordinate system, f=1.0/298.257223563;
calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system through differences DeltaX, deltaY and DeltaZ of the RTK mobile station at a first monitoring point (4) of the RTK mobile station and a second monitoring point (5) of the RTK mobile station under the ground coordinate system;
After determining the relation between the mechanical arm coordinate system and the geodetic coordinate system, finally measuring the coordinate position of the RTK mobile station under the geodetic coordinate system at a third monitoring point (6) of the RTK mobile station; because the relative positions of the RTK mobile station at the first monitoring point (4) of the RTK mobile station and the third monitoring point (6) of the RTK mobile station are measured in the geodetic coordinate system, the relative positions of the measuring point of the RTK mobile station at the first monitoring point (4) of the RTK mobile station and the coordinate origin of the mechanical arm are known, and the position of the RTK mobile station at the third monitoring point (6) of the RTK mobile station under the coordinate system of the mechanical arm is solved according to the conversion relation; and combining the gyroscope direction information of the RTK mobile station at the third monitoring point (6) of the RTK mobile station, finally acquiring the position and the direction of the RTK mobile station under the coordinate system of the mechanical arm when the RTK mobile station is at the third monitoring point (6), and controlling the mechanical arm end tool to accurately move to the position for working by acquiring the pose (x, y, z, qx, qy, qz, qw) of the target working point by the mechanical arm.
Optionally, there are three cases for implementing the pilot positioning according to the number of the RTK mobile stations:
Case one: when three mobile stations exist, the non-fixed mobile stations are only required to be placed at the working point for measurement once;
And a second case: when two mobile stations exist, the non-fixed mobile stations are required to be placed in the auxiliary point and the working point in sequence for measurement twice;
and a third case: when there is only one mobile station, it is required to place it in the initial point, the auxiliary point, and the operating point in order three times for measurement.
Optionally, the first case is specifically:
When the system works, two RTK mobile stations are fixed on a first monitoring point (4) of the RTK mobile station and a second monitoring point (5) of the RTK mobile station on a mechanical arm carrying platform (1) of the mechanical arm platform, and difference values delta X, delta Y and delta Z of the two positions are used for calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system; when the mechanical arm is guided, the RTK mobile station is placed at a third monitoring point (6) of the target working point RTK mobile station to be positioned once, and the working pose of the tool at the tail end of the mechanical arm is determined by utilizing the coordinate transformation relation.
Optionally, the second case is specifically:
When the system works, one RTK mobile station is fixed at a second monitoring point (5) of the RTK mobile station, the other RTK mobile station is placed at a first monitoring point (4) of the RTK mobile station to be positioned for the first time, and the difference value delta X, delta Y and delta Z of the two positions is used for calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system; and when the target point is determined, the RTK mobile station which is not fixed is placed at a third monitoring point (6) of the RTK mobile station of the target working point for positioning for the second time, and the working pose of the tool at the tail end of the mechanical arm is determined by utilizing the coordinate transformation relation.
Optionally, the third case is specifically:
During operation, the mobile station is placed at a first monitoring point (4) of the RTK mobile station for the first time, the RTK mobile station is placed at a second monitoring point (5) of the RTK mobile station for the second time, and differences DeltaX, deltaY and DeltaZ of the two positions are used for calculating Euler angles RX, RY and RZ of a deflection direction of a mechanical arm coordinate system relative to a ground coordinate system; and thirdly, placing the RTK mobile station to a third monitoring point (6) of the target working point RTK mobile station for positioning for the third time, and determining the working pose of the mechanical arm end tool by utilizing the coordinate transformation relation.
The invention has the beneficial effects that: the invention provides a novel mechanical arm guiding method based on RTK high-precision positioning, which overcomes the defect that the existing mechanical arm guiding method based on visual positioning cannot work in an outdoor sunlight interference environment, and the positioning precision is about 1 cm. The method has higher reliability in outdoor work, is simpler in positioning operation on the target point and easy to realize, and avoids the research of complex algorithms of the traditional machine vision technology. The invention has high positioning guiding efficiency, low energy consumption and small data transmission quantity, is suitable for controlling and guiding the mechanical arm in the outdoor interference environment such as sunlight and the like, and has wide application prospect and market demand.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a system architecture;
FIG. 2 is a schematic overall structure of the first embodiment;
FIG. 3 is a schematic overall structure of a second embodiment;
fig. 4 is a schematic overall structure of the third embodiment.
Reference numerals: the system comprises a 1-mechanical arm bearing platform, a 2-mechanical arm, a 3-RTK reference station, a first monitoring point of a 4-RTK mobile station, a second monitoring point of a 5-RTK mobile station and a third monitoring point of a 6-RTK mobile station.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
The invention discloses a mechanical arm guiding method based on RTK positioning. The system consists of a mechanical arm bearing platform, an industrial mechanical arm, an RTK reference station, an RTK mobile station and the like, and the system structure schematic diagram is shown in figure 1. The system comprises a mechanical arm bearing platform 1, a mechanical arm 2, an RTK reference station 3, an RTK mobile station first monitoring point 4, an RTK mobile station second monitoring point 5 and an RTK mobile station third monitoring point.
In order to realize the work of the RTK positioning guiding mechanical arm, the working principle of the invention is as follows: the RTK mobile station receives satellite observation values and information of an RTK base station at the same time, RTK positioning calculation is carried out, longitude and latitude and elevation information of RTK high-precision positioning is obtained, and the longitude and latitude and elevation information is converted into a geodetic coordinate system to obtain X, Y and Z values of the RTK mobile station in the geodetic coordinate system. The latitude phi r, the longitude lambda r and the elevation h are converted into three-dimensional information X, Y and Z under the geodetic coordinate system, and the formula is as follows:
e2＝f(2-f)
X＝(v+h)cosφrcosλr
Y＝(v+h)cosφrsinλr
Z＝v(1-e2)sinφr
where a is the length of the earth reference ellipsoid and f is the flattening of the ground reference ellipsoid. A= 6378137.0 (m) under WGS-84 coordinate system, f=1.0/298.257223563.
As shown in fig. 2 to 4, since the RTK mobile station is fixed with respect to the coordinate system of the robot arm at the RTK mobile station first monitoring point 4 and the RTK mobile station second monitoring point 5, the euler angles RX, RY, RZ of the coordinate system of the robot arm with respect to the direction of deflection of the earth coordinate system can be calculated by the differences Δx, Δy, Δz of the RTK mobile station at the RTK mobile station first monitoring point 4 and the RTK mobile station second monitoring point 5 in the earth coordinate system. After the relation between the mechanical arm coordinate system and the geodetic coordinate system is determined, finally, the coordinate position of the RTK mobile station under the geodetic coordinate system at the third monitoring point 6 of the RTK mobile station is measured. Because the relative positions of the RTK mobile station at the first monitoring point 4 of the RTK mobile station and the third monitoring point 6 of the RTK mobile station are in the geodetic coordinate system and are already measured, the relative positions of the measuring point of the RTK mobile station at the first monitoring point 4 of the RTK mobile station and the coordinate origin of the mechanical arm are known, and the position of the RTK mobile station at the third monitoring point 6 of the RTK mobile station under the coordinate system of the mechanical arm can be solved according to the conversion relation. And combining the gyroscope direction information of the RTK mobile station at the third monitoring point 6 of the RTK mobile station, finally acquiring the position and the direction of the RTK mobile station under the coordinate system of the mechanical arm when the RTK mobile station is at the third monitoring point 6 of the RTK mobile station, and controlling the end tool of the mechanical arm to accurately move to the position for working by acquiring the pose (x, y, z, qx, qy, qz and qw) of the target working point by the mechanical arm.
There are three situations for implementing a pilot positioning based on the number of RTK mobiles. When three mobile stations exist, the non-fixed mobile stations are only required to be placed at the working point for measurement once; when two mobile stations exist, the non-fixed mobile stations are required to be placed in the auxiliary point and the working point in sequence for measurement twice; when there is only one mobile station, it is required to place it in the initial point, the auxiliary point, and the operating point in order three times for measurement.
Example 1
This example uses three RTK mobiles. During operation, the two RTK mobile stations are fixed on the first monitoring point 4 and the second monitoring point 5 of the RTK mobile station on the mechanical arm carrying platform 1 of the mechanical arm platform, and the difference value delta X, delta Y and delta Z of the two positions is used for calculating Euler angles RX, RY and RZ of the mechanical arm coordinate system relative to the deflection direction of the ground coordinate system. When the mechanical arm is guided, the RTK mobile station is placed at the third monitoring point 6 of the target working point RTK mobile station to be positioned once, and the working pose of the tool at the tail end of the mechanical arm can be determined by utilizing the coordinate transformation relation.
Example two
This example uses two RTK mobiles. In operation, one RTK mobile station is fixed at the RTK mobile station second monitoring point 5, and the other RTK mobile station is placed at the RTK mobile station first monitoring point 4 for positioning for the first time, and the difference value delta X, delta Y and delta Z of the two positions is used for calculating Euler angles RX, RY and RZ of the deflection direction of the mechanical arm coordinate system relative to the ground coordinate system. And when the target point is determined, the RTK mobile station which is not fixed is placed at the third monitoring point 6 of the RTK mobile station of the target working point for positioning for the second time, and the working pose of the tool at the tail end of the mechanical arm can be determined by utilizing the coordinate transformation relation.
Example III
This example uses one RTK mobile station. In operation, the first step positions the mobile station at the first monitoring point 4 of the RTK mobile station for the first time, and the second step positions the RTK mobile station to the second monitoring point 5 of the RTK mobile station for the second time, and the difference value DeltaX, deltaY, deltaZ of the two positions is used for calculating Euler angles RX, RY, RZ of the deflection direction of the mechanical arm coordinate system relative to the ground coordinate system. And thirdly, placing the RTK mobile station to a third monitoring point 6 of the RTK mobile station of the target working point, positioning for the third time, and determining the working pose of the tool at the tail end of the mechanical arm by utilizing the coordinate transformation relation.
According to the invention, the X, Y and Z coordinate positions of the target monitoring point under the mechanical arm coordinate system can be obtained by combining the data of the three RTK monitoring points, and the pose (X, Y, Z, qx, qy, qz and qw) of the target point under the mechanical arm coordinate system can be obtained by combining the direction of the target point gyroscope.
The number of RTK mobiles required by the present invention can be suitably selected between 1 and 3, with only one measurement being required when there are 3 mobiles and multiple measurements being required when there are fewer than 3 mobiles.
And solving the relation between the mechanical arm coordinate system and the geodetic coordinate according to two RTK monitoring points fixed with the mechanical arm coordinate system, and further solving the position of the operation monitoring point under the mechanical arm coordinate system.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (5)
1. The mechanical arm guiding method based on RTK positioning is characterized by comprising the following steps of: in the mechanical arm system based on RTK positioning, the mechanical arm system based on RTK positioning comprises a mechanical arm bearing platform, an industrial mechanical arm, an RTK reference station and an RTK mobile station;
The RTK mobile station receives information of an RTK base station while receiving satellite observation values, carries out RTK positioning calculation to obtain longitude, latitude and elevation information of RTK high-precision positioning, and converts the longitude, latitude and elevation information into a geodetic coordinate system to obtain X, Y and Z values of the RTK mobile station in the geodetic coordinate system; the latitude phi r, the longitude lambda r and the elevation h are converted into three-dimensional information X, Y and Z under the geodetic coordinate system, and the formula is as follows:
e2＝f(2-f)
X＝(v+h)cosφrcosλr
Y＝(v+h)cosφrsinλr
Z＝v(1-e2)sinφr
wherein a is the length of an earth reference ellipsoid, and f is the flattening of a ground reference ellipsoid; a= 6378137.0 (m) under WGS-84 coordinate system, f=1.0/298.257223563;
calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system through differences DeltaX, deltaY and DeltaZ of the RTK mobile station at a first monitoring point (4) of the RTK mobile station and a second monitoring point (5) of the RTK mobile station under the ground coordinate system;
After determining the relation between the mechanical arm coordinate system and the geodetic coordinate system, finally measuring the coordinate position of the RTK mobile station under the geodetic coordinate system at a third monitoring point (6) of the RTK mobile station; because the relative positions of the RTK mobile station at the first monitoring point (4) of the RTK mobile station and the third monitoring point (6) of the RTK mobile station are measured in the geodetic coordinate system, the relative positions of the measuring point of the RTK mobile station at the first monitoring point (4) of the RTK mobile station and the coordinate origin of the mechanical arm are known, and the position of the RTK mobile station at the third monitoring point (6) of the RTK mobile station under the coordinate system of the mechanical arm is solved according to the conversion relation; and combining the gyroscope direction information of the RTK mobile station at the third monitoring point (6) of the RTK mobile station, finally acquiring the position and the direction of the RTK mobile station under the coordinate system of the mechanical arm when the RTK mobile station is at the third monitoring point (6), and controlling the mechanical arm end tool to accurately move to the position for working by acquiring the pose (x, y, z, qx, qy, qz, qw) of the target working point by the mechanical arm.
2. The method for guiding a robotic arm based on RTK positioning according to claim 1, wherein: there are three situations for implementing the pilot positioning according to the number of the RTK mobile stations:
Case one: when three mobile stations exist, the non-fixed mobile stations are only required to be placed at the working point for measurement once;
And a second case: when two mobile stations exist, the non-fixed mobile stations are required to be placed in the auxiliary point and the working point in sequence for measurement twice;
and a third case: when there is only one mobile station, it is required to place it in the initial point, the auxiliary point, and the operating point in order three times for measurement.
3. The method for guiding a robotic arm based on RTK positioning according to claim 2, wherein: the first specific case is:
When the system works, two RTK mobile stations are fixed on a first monitoring point (4) of the RTK mobile station and a second monitoring point (5) of the RTK mobile station on a mechanical arm carrying platform (1) of the mechanical arm platform, and difference values delta X, delta Y and delta Z of the two positions are used for calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system; when the mechanical arm is guided, the RTK mobile station is placed at a third monitoring point (6) of the target working point RTK mobile station to be positioned once, and the working pose of the tool at the tail end of the mechanical arm is determined by utilizing the coordinate transformation relation.
4. The method for guiding a robotic arm based on RTK positioning according to claim 2, wherein: the second case is specifically:
When the system works, one RTK mobile station is fixed at a second monitoring point (5) of the RTK mobile station, the other RTK mobile station is placed at a first monitoring point (4) of the RTK mobile station to be positioned for the first time, and the difference value delta X, delta Y and delta Z of the two positions is used for calculating Euler angles RX, RY and RZ of a mechanical arm coordinate system relative to the deflection direction of a ground coordinate system; and when the target point is determined, the RTK mobile station which is not fixed is placed at a third monitoring point (6) of the RTK mobile station of the target working point for positioning for the second time, and the working pose of the tool at the tail end of the mechanical arm is determined by utilizing the coordinate transformation relation.
5. The method for guiding a robotic arm based on RTK positioning according to claim 2, wherein: the third case is specifically:
During operation, the mobile station is placed at a first monitoring point (4) of the RTK mobile station for the first time, the RTK mobile station is placed at a second monitoring point (5) of the RTK mobile station for the second time, and differences DeltaX, deltaY and DeltaZ of the two positions are used for calculating Euler angles RX, RY and RZ of a deflection direction of a mechanical arm coordinate system relative to a ground coordinate system; and thirdly, placing the RTK mobile station to a third monitoring point (6) of the target working point RTK mobile station for positioning for the third time, and determining the working pose of the mechanical arm end tool by utilizing the coordinate transformation relation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010687342.0A CN111913204B (en) | 2020-07-16 | 2020-07-16 | Mechanical arm guiding method based on RTK positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010687342.0A CN111913204B (en) | 2020-07-16 | 2020-07-16 | Mechanical arm guiding method based on RTK positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111913204A CN111913204A (en) | 2020-11-10 |
| CN111913204B true CN111913204B (en) | 2024-05-03 |
Family
ID=73281283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010687342.0A Active CN111913204B (en) | 2020-07-16 | 2020-07-16 | Mechanical arm guiding method based on RTK positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111913204B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485530A (en) * | 2021-10-29 | 2022-05-13 | 许继时代技术有限公司 | Device and method for measuring attitude of insulating bucket arm of bucket arm vehicle based on real-time dynamic RTK |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6140957A (en) * | 1998-03-12 | 2000-10-31 | Trimble Navigation Limited | Method and apparatus for navigation guidance |
| JP2002006026A (en) * | 2000-06-27 | 2002-01-09 | Jekku:Kk | Target position guiding system and recording medium |
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| CN108972549A (en) * | 2018-07-03 | 2018-12-11 | 华南理工大学 | Industrial machinery arm Real Time Obstacle Avoiding based on Kinect depth camera plans grasping system |
| CN109557569A (en) * | 2019-01-02 | 2019-04-02 | 中冶华天南京电气工程技术有限公司 | The method with mechanical arm mobile device ontology and mechanical arm high accuracy positioning of realization |
| CN109887041A (en) * | 2019-03-05 | 2019-06-14 | 中测国检（北京）测绘仪器检测中心 | A kind of method of mechanical arm control digital camera photo centre position and posture |
| CN110428465A (en) * | 2019-07-12 | 2019-11-08 | 中国科学院自动化研究所 | View-based access control model and the mechanical arm grasping means of tactile, system, device |
| CN110939135A (en) * | 2019-11-19 | 2020-03-31 | 中交疏浚技术装备国家工程研究中心有限公司 | Positioning and orientation method and system applied to slope paving engineering machinery operation |
-
2020
- 2020-07-16 CN CN202010687342.0A patent/CN111913204B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6140957A (en) * | 1998-03-12 | 2000-10-31 | Trimble Navigation Limited | Method and apparatus for navigation guidance |
| JP2002006026A (en) * | 2000-06-27 | 2002-01-09 | Jekku:Kk | Target position guiding system and recording medium |
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| CN108972549A (en) * | 2018-07-03 | 2018-12-11 | 华南理工大学 | Industrial machinery arm Real Time Obstacle Avoiding based on Kinect depth camera plans grasping system |
| CN109557569A (en) * | 2019-01-02 | 2019-04-02 | 中冶华天南京电气工程技术有限公司 | The method with mechanical arm mobile device ontology and mechanical arm high accuracy positioning of realization |
| CN109887041A (en) * | 2019-03-05 | 2019-06-14 | 中测国检（北京）测绘仪器检测中心 | A kind of method of mechanical arm control digital camera photo centre position and posture |
| CN110428465A (en) * | 2019-07-12 | 2019-11-08 | 中国科学院自动化研究所 | View-based access control model and the mechanical arm grasping means of tactile, system, device |
| CN110939135A (en) * | 2019-11-19 | 2020-03-31 | 中交疏浚技术装备国家工程研究中心有限公司 | Positioning and orientation method and system applied to slope paving engineering machinery operation |
Non-Patent Citations (6)
| Title |
|---|
| RTK任意基准站技术的原理与应用;张萌;丁克良;;测绘通报;20121010(第S1期);第69-72页 * |
| 一种Delta机器人平移标定与动态补偿算法;陈永明;李杰;;机电技术;20200430(第02期);第30-32页 * |
| 三自由度机械臂增材制造装置及控制系统设计;韩兴国;陈海军;崔立秀;宋小辉;殷国富;;重庆理工大学学报(自然科学);20200315(第03期);第103-109页 * |
| 低成本实时动态载波相位差分GPS的定位精度研究;潘冉冉;蒋浩;张洪;方慧;冯雷;何勇;;浙江大学学报(农业与生命科学版);20180725(第04期);第38-46页 * |
| 光学导航定位多自由度机械臂辅助颅颌面骨畸形整复技术方法的建立及初步应用;桂海军;张诗雷;沈国芳;栾楠;林艳萍;徐兵;;中国口腔颌面外科杂志;20110515(第03期);第12-16页 * |
| 机器人机械臂动力学仿真研究;宛云龙;许红霞;;计算机仿真;20161215(第12期);第358-363页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111913204A (en) | 2020-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105547305B (en) | A kind of pose calculation method based on wireless location and laser map match | |
| US10801843B2 (en) | Indoor mobile robot position and posture measurement system based on photoelectric scanning and measurement method | |
| CN101957175B (en) | Three-point micro-plane-based normal detection method | |
| CN110514225A (en) | The calibrating external parameters and precise positioning method of Multi-sensor Fusion under a kind of mine | |
| CN110026993B (en) | Human body following robot based on UWB and pyroelectric infrared sensor | |
| CN109613584B (en) | UWB-based positioning and orientation method for unmanned card concentrator | |
| CN101672913A (en) | Laser three-point dynamic positioning method and system thereof | |
| CN108489382A (en) | A kind of AGV dynamic pose measuring methods based on space multi-point constraint | |
| CN110617795B (en) | Method for realizing outdoor elevation measurement by using sensor of intelligent terminal | |
| CN105301621B (en) | A kind of vehicle locating device and a kind of intelligent Driving Test system | |
| CN112967392A (en) | Large-scale park mapping and positioning method based on multi-sensor contact | |
| CN111352444A (en) | Unmanned aerial vehicle outdoor mobile platform autonomous landing method and system based on wireless navigation | |
| CN112526483A (en) | Three-dimensional laser scanning device integrating spatial positioning and orienting method thereof | |
| CN105571636A (en) | Target positioning method and measuring equipment | |
| CN203689760U (en) | Parking test detection equipment for farm machinery drivers' examinations | |
| CN111913204B (en) | Mechanical arm guiding method based on RTK positioning | |
| CN111305859A (en) | Automatic shield tunneling machine guiding system and method based on binocular vision | |
| CN115876197A (en) | Mooring lifting photoelectric imaging target positioning method | |
| CN105547282A (en) | Method and measuring apparatus for mobile positioning target | |
| CN108249307B (en) | Movement measurement and feedback control system and method for large crane | |
| CN114580452A (en) | Olfactory algorithm-based method for remotely sensing RFID electronic interface | |
| CN113945960A (en) | Unmanned aerial vehicle searching and positioning method and system | |
| CN107356902B (en) | WiFi positioning fingerprint data automatic acquisition method | |
| CN114035150A (en) | Radio frequency source direction finding device and positioning method based on unmanned aerial vehicle lift-off platform | |
| CN102452617A (en) | Method and device for positioning crane landing leg |
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 |