CN114373015A - Method for carrying out 321 positioning based on redundant information - Google Patents
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Abstract
The invention discloses a 321 positioning method based on redundant information, which comprises the steps of firstly obtaining necessary components and redundant components on a standard workpiece and storing the necessary components and the redundant components in a standard component set; acquiring a corresponding component on the actually measured workpiece, and storing the component into an actually measured component set; setting corresponding weight coefficients for each necessary component and each redundant component; constructing an objective function, and substituting the standard component set, the measured component set, the weight coefficient and each initial value into the objective function; solving the rotational and translational components by using an optimization method; recording the transformation matrix meeting the conditions as a final transformation relation to obtain the pose change of the actual workpiece relative to the standard workpiece, and completing the positioning of the actual measurement workpiece; the method can obtain more reasonable and accurate conversion matrix; and further, the stability and the accuracy of the visual guidance process are guaranteed.
Description
Technical Field
The invention relates to the field of visual positioning, in particular to a method for carrying out 321 positioning based on redundant information.
Background
The 321 system establishing method is a common system establishing method in the measurement field, and the 3' means that a plane can be established at 3 points which are not on the same straight line, and the direction of a coordinate axis is determined by the normal vector of the plane; "2" means that two points define a straight line, the straight line is perpendicular to the plane normal vector, and a second axial direction is established; "1" refers to a point that determines the location of the origin of the coordinate system. In practical application, the system establishing method is adopted to select measuring points on the workpiece and monitor the deviation condition of the workpiece in the directions of three coordinate axes of XYZ; in order to obtain the position offset between the actual workpiece and the ideal workpiece (zero-position workpiece), and perform offset comparison, the conversion relationship between the actual workpiece coordinate system and the standard workpiece coordinate system needs to be correctly solved, that is: positioning a workpiece 321; generally, positioning by utilizing 321 six coordinate components is an ideal positioning mode, but in the practical application process, for a complex workpiece, in order to realize effective positioning of the workpiece and guarantee the stability of workpiece positioning, a more than 3-2-1 rule selection mode is adopted when a measuring point is selected; at the moment, redundant information exists in the coordinate components of the selected measuring points, when the conversion relation between the standard workpiece and the actual workpiece is solved by using the existing method, the influence of the redundant components on the conversion of the coordinate system is not considered, the calculated conversion relation is unreasonable, and the positioning precision of the workpiece is influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a method for performing 321 positioning based on redundant information, which can solve a transformation relation meeting conditions aiming at a system establishing mode with the redundant information, obtain a more reasonable and accurate transformation matrix, obtain the pose change of an actually measured workpiece relative to a standard workpiece, and complete the positioning of the actually measured workpiece.
The technical scheme of the invention is as follows:
a321 positioning method based on redundant information selects a plurality of measuring points on a standard workpiece in advance, wherein the method comprises the following steps: the coordinate components of the three measuring points are used for monitoring the direction of a first coordinate axis, the coordinate components of the two measuring points are used for monitoring the direction of a second coordinate axis, and the coordinate component of one measuring point is used for monitoring the direction of a third coordinate axis; recording each coordinate component as a necessary component;
except the necessary components, other coordinate components used for monitoring the coordinate axis direction are marked as redundant components;
acquiring a necessary component and a redundant component on a standard workpiece, and storing the necessary component and the redundant component in a standard component set;
and then positioning the actually measured workpiece by utilizing the following steps:
1) detecting the space coordinates of each measuring point at the same position on the actually measured workpiece, acquiring corresponding necessary components and redundant components, and storing the necessary components and the redundant components into an actually measured component set; the model of the actually measured workpiece is the same as that of the standard workpiece;
setting corresponding weight coefficient w for each necessary component and redundant componentiI is 1, 2 … … n, n represents the total number of essential and redundant components;
setting the initial values of the weight coefficients to be equal;
2) setting a translation component t1，t2，t3Rotating the initial values of the components alpha, beta and gamma to form an initial conversion matrix;
using initial conversion matrix to each component s in standard component setiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi；
3) Constructing an objective function Q:
each component s in the standard component setiAnd each component d in the measured component setiWeight coefficient wiAnd the Jacobian matrix J obtained in the step 2)iA translational component t1，t2，t3The initial values of the rotation components alpha, beta and gamma are substituted into the target function Q; where RT represents the integration of the individual components into a 4 x 4 matrix;
solving the roto-translational component (t) using an optimization method1,t2,t3,α,β,γ)；
In the optimization iteration process, the current rotation and translation component is superposed once through the initial rotation and translation componentThe obtained rotation and translation components are obtained, and the Jacobian matrix J is updated by using the current rotation and translation componentsi；
Updating the initial rotation and translation component to be the current rotation and translation component in real time, and preparing for the next iteration process;
4) forming a conversion matrix by utilizing the solved rotation and translation components, and solving the deviation of each corresponding coordinate component in the standard component set and the measured component set; counting the standard deviation of all the deviations, and if the standard deviation is smaller than a threshold value, directly performing the step 5);
otherwise, adjust wiMedium local weight coefficient using adjusted wiReturning each initial value in the step 2) to the step 3), and performing optimization calculation again;
when the number of times of returning to the step 3) reaches a preset value I, skipping is not performed, a conversion matrix with the minimum corresponding standard deviation is found out from all solved conversion matrices, and the conversion matrix is input to the step 5);
5) and recording the solved transformation matrix as a final transformation relation to obtain the pose change of the actual workpiece relative to the standard workpiece, and completing the positioning of the actual measurement workpiece.
Further, in step 4), w is adjustediThe method for determining the local weight coefficient comprises the following steps:
selecting one coordinate axis direction from the coordinate axis directions monitored by the redundant components, and recording the coordinate axis direction as a direction A;
recording the weight coefficients corresponding to the necessary components and the redundant components for monitoring the direction A as local weight coefficients to be adjusted;
increasing/decreasing each local weight coefficient according to a preset step length, keeping other weight coefficients unchanged, and updating wi；
Judging whether the adjusted times of the local weight coefficient exceed a preset time II, if not, continuing to adjust the local weight coefficient according to a preset step length;
if yes, restoring each local weight coefficient to an initial value, and executing the step IV;
selecting coordinate axis directions except the direction A from the monitored coordinate axis directions of the redundant components, recording as a new direction A, and then skipping to execute the step II.
Further, when the weight coefficient to be adjusted is increased according to a preset step length, the preset step length is 5-10; step three, presetting the number of times II to be 10-20;
step two, when the weight coefficient to be adjusted is reduced according to a preset step length, the preset step length is 0.1-0.2; and step three, presetting the number II of times to be 9.
Further, in step 4), the preset value I is equal to a preset number of times II × the number of directions of the coordinate axes monitored by the redundant component.
Further, each component s in the standard component set is subjected to initial transformation matrixiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi
Wherein the content of the first and second substances,
further, the threshold value in the step 4) is 0.05-0.1 mm.
Further, the measuring points are holes, edge points, face points or pin points which are artificially pre-selected.
Preferably, the spatial coordinates of the measurement points are acquired by a visual detection sensor or a three-coordinate system, and the necessary component and the redundant component are acquired by the spatial coordinates of the measurement points.
Further, step 1) sets the initial value of the weight coefficient to be 1; step 2) setting a translation component t1，t2，t3And the initial values of the rotational components α, β, γ are all 0.
The existing method does not consider the influence of redundant components on the coordinate system conversion, and the calculated conversion relation is not accurate, so that the position deviation of the assembled workpiece in a certain coordinate axis direction is overlarge, and even the assembly is failed; according to the method, the weight coefficient is set, the weight coefficient in the direction of the redundant information monitoring coordinate axis is adjusted, the optimal solving mode is utilized, the more reasonable and accurate conversion relation is solved circularly and iteratively, the conversion relation is fed back to the robot, and the robot can be accurately guided to complete the grabbing and assembling of the actual workpiece; the stability and the measurement accuracy of the whole vision guidance system are guaranteed.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and the detailed description.
A321 positioning method based on redundant information is characterized in that a plurality of measuring points are pre-selected on a standard workpiece, and the measuring points are pre-selected holes, edge points, surface points or pin points. Among them are: the coordinate components of the three measuring points are used for monitoring the direction of a first coordinate axis, the coordinate components of the two measuring points are used for monitoring the direction of a second coordinate axis, and the coordinate component of one measuring point is used for monitoring the direction of a third coordinate axis; recording each coordinate component as a necessary component;
except necessary components, other coordinate components used for monitoring the direction of the coordinate axis are marked as redundant components;
the first coordinate axis, the second coordinate axis and the third coordinate axis are mutually vertical (a space Cartesian rectangular coordinate system);
as shown in fig. 1, firstly, acquiring a necessary component and a redundant component on a standard workpiece, and storing the necessary component and the redundant component in a standard component set;
and then positioning the actually measured workpiece by utilizing the following steps:
1) detecting the space coordinates of each measuring point at the same position on the actually measured workpiece, acquiring corresponding necessary components and redundant components, and storing the necessary components and the redundant components into an actually measured component set; the model of the actually measured workpiece is the same as that of the standard workpiece;
setting corresponding weight coefficient w for each necessary component and redundant componentiI is 1, 2 … … n, n represents the total number of essential and redundant components;
in this embodiment, the spatial coordinates corresponding to each measurement point are obtained by using the visual detection sensor, and the necessary component and the redundant component are obtained according to the spatial coordinates of the measurement points.
Setting the initial values of the weight coefficients to be 1;
2) setting a translation component t1，t2，t3The initial values of the rotation components alpha, beta and gamma are all 0, and an initial conversion matrix is formed; the initial value may be set to other values as long as the respective initial values are the same.
Using initial conversion matrix to each component s in standard component setiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi；
Specifically, each component s in the standard component set is subjected to initial transformation matrixiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi
Wherein the content of the first and second substances,
3) constructing an objective function Q:
each component s in the standard component setiAnd each component d in the measured component setiWeight coefficient wiAnd the Jacobian matrix J obtained in the step 2)iA translational component t1，t2，t3The initial values of the rotation components alpha, beta and gamma are substituted into the target function Q; where RT represents the integration of the individual components into a 4 x 4 matrix;
solving the roto-translational component (t) using an optimization method1,t2,t3α, β, γ); in the optimization iteration process, the current rotation and translation component is obtained by superposing the rotation and translation component obtained in the last time on the initial rotation and translation component, and the Jacobian matrix J is updated by utilizing the current rotation and translation componenti；
Updating the initial rotational-translational component to be the current rotational-translational component in real time, and preparing for the next iteration process;
4) forming a conversion matrix by utilizing the solved rotation and translation components, and solving the deviation of each corresponding coordinate component in the standard component set and the measured component set; counting the standard deviation of all the deviations, and if the standard deviation is smaller than a threshold value, directly performing the step 5);
otherwise, adjust wiMedium local weight coefficient using adjusted wiReturning each initial value in the step 2) to the step 3), and performing optimization calculation again;
when the number of times of returning to the step 3) reaches a preset value I, skipping is not performed, a conversion matrix with the minimum corresponding standard deviation is found out from all solved conversion matrices, and the conversion matrix is input to the step 5);
wherein the threshold value is 0.05-0.1 mm.
5) And recording the solved transformation matrix as a final transformation relation to obtain the pose change of the actual workpiece relative to the standard workpiece, and completing the positioning of the actual measurement workpiece.
Specifically, in step 4), w is adjustediThe method for determining the local weight coefficient comprises the following steps:
selecting one coordinate axis direction from the coordinate axis directions monitored by the redundant components, and recording the coordinate axis direction as a direction A;
recording the weight coefficients corresponding to the necessary components and the redundant components for monitoring the direction A as local weight coefficients to be adjusted;
increasing/decreasing each local weight coefficient according to a preset step length, keeping other weight coefficients unchanged, and updating wi；
Judging whether the adjusted times of the local weight coefficient exceed a preset time II, if not, continuing to adjust the local weight coefficient according to a preset step length;
if yes, restoring each local weight coefficient to an initial value 1, and executing a step IV;
selecting coordinate axis directions except the direction A from the monitored coordinate axis directions of the redundant components, recording as a new direction A, and then skipping to execute the step II.
If the monitoring coordinate axis directions of the redundant components are 3, selecting one coordinate axis direction to adjust the weight coefficient, and if the conversion relation of the condition is not met all the time, switching another monitoring coordinate axis direction and continuously adjusting the weight; and if the weight of the 3 coordinate axis directions is adjusted and the conversion relation which meets the condition is not met, taking the conversion relation with the minimum corresponding standard deviation as the final conversion relation.
When the specific implementation is carried out, the step two is that when the weight coefficient to be adjusted is increased according to the preset step length, the preset step length is 5-10; step three, presetting the number of times II to be 10-20;
step two, when the weight coefficient to be adjusted is reduced according to a preset step length, the preset step length is 0.1-0.2; and step three, presetting the number II of times to be 9.
In step 4), the preset value I is equal to a preset number of times II × the number of directions of the coordinate axes monitored by the redundant components.
Taking the robot to guide the assembly of the automobile door as an example, selecting a measuring point on the automobile door, and solving the conversion relation between a standard automobile door coordinate system and an actually measured automobile door coordinate system to be assembled by adopting a redundant system building mode; feeding back the calculated conversion relation to the robot, adjusting the guiding pose by the robot according to the actually measured rotation and translation components of the vehicle door, and finishing the assembly of the vehicle door, so that the assembled vehicle door has uniform assembly errors in the directions of three coordinate axes of XYZ; if the weight coefficient is not adjusted, the robot is guided by adopting the conversion relation solved by the existing method, then the following conditions occur: the assembled car door has the problems that the assembly deviation is large in a certain coordinate axis direction, the assembly position is inaccurate and the requirements are not met; the method guarantees accuracy and stability of the assembly result.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (9)
1. A method for 321 positioning based on redundant information is characterized in that a plurality of measuring points are selected in advance on a standard workpiece, wherein the method comprises the following steps: the coordinate components of the three measuring points are used for monitoring the direction of a first coordinate axis, the coordinate components of the two measuring points are used for monitoring the direction of a second coordinate axis, and the coordinate component of one measuring point is used for monitoring the direction of a third coordinate axis; recording each coordinate component as a necessary component;
except the necessary components, other coordinate components used for monitoring the coordinate axis direction are marked as redundant components;
acquiring a necessary component and a redundant component on a standard workpiece, and storing the necessary component and the redundant component in a standard component set;
and then positioning the actually measured workpiece by utilizing the following steps:
1) detecting the space coordinates of each measuring point at the same position on the actually measured workpiece, acquiring corresponding necessary components and redundant components, and storing the necessary components and the redundant components into an actually measured component set; the model of the actually measured workpiece is the same as that of the standard workpiece;
setting corresponding weight coefficient w for each necessary component and redundant componentiI is 1, 2 … … n, n represents the total number of essential and redundant components;
setting the initial values of the weight coefficients to be equal;
2) setting a translation component t1，t2，t3Rotating the initial values of the components alpha, beta and gamma to form an initial conversion matrix;
using initial conversion matrix to each component s in standard component setiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi；
3) Constructing an objective function Q:
each component s in the standard component setiAnd each component d in the measured component setiWeight coefficient wiAnd the Jacobian matrix J obtained in the step 2)iA translational component t1，t2，t3The initial values of the rotation components alpha, beta and gamma are substituted into the target function Q;
solving for the roto-translational component (t) by means of an optimization method1,t2,t3,α,β,γ)；
4) Forming a conversion matrix by utilizing the solved rotation and translation components, and solving the deviation of each corresponding coordinate component in the standard component set and the measured component set; counting the standard deviation of all the deviations, and if the standard deviation is smaller than a threshold value, directly performing the step 5);
otherwise, adjust wiMedium local weight coefficient using adjusted wiReturning each initial value in the step 2) to the step 3), and performing optimization calculation again;
when the number of times of returning to the step 3) reaches a preset value I, skipping is not performed, a conversion matrix with the minimum corresponding standard deviation is found out from all solved conversion matrices, and the conversion matrix is input to the step 5);
5) and recording the solved transformation matrix as a final transformation relation to obtain the pose change of the actual workpiece relative to the standard workpiece, and completing the positioning of the actual measurement workpiece.
2. A method 321 for location determination based on redundant information according to claim 1, wherein: in step 4), w is adjustediThe method for determining the local weight coefficient comprises the following steps:
selecting one coordinate axis direction from the coordinate axis directions monitored by the redundant components, and recording the coordinate axis direction as a direction A;
recording the weight coefficients corresponding to the necessary components and the redundant components for monitoring the direction A as local weight coefficients to be adjusted;
increasing/decreasing each local weight coefficient according to a preset step length, keeping other weight coefficients unchanged, and updating wi；
Judging whether the adjusted times of the local weight coefficient exceed a preset time II, if not, continuing to adjust the local weight coefficient according to a preset step length;
if yes, restoring each local weight coefficient to an initial value, and executing the step IV;
selecting coordinate axis directions except the direction A from the monitored coordinate axis directions of the redundant components, recording as a new direction A, and then skipping to execute the step II.
3. The method for performing 321 positioning based on redundant information of claim 2, wherein:
secondly, when the weight coefficient to be adjusted is increased according to a preset step length, the preset step length is 5-10; step three, presetting the number of times II to be 10-20;
step two, when the weight coefficient to be adjusted is reduced according to a preset step length, the preset step length is 0.1-0.2; and step three, presetting the number II of times to be 9.
4. A method 321 for location determination based on redundant information according to claim 3, wherein: and 4), setting the preset value I as a preset number II multiplied by the number of the monitored coordinate axis directions of the redundant components.
5. A method 321 for location determination based on redundant information according to claim 3, wherein: using initial conversion matrix to each component s in standard component setiConverting to obtain each conversion component ziCalculating respective conversion components ziRelative to t1,t2,t3Jacobian matrix J of, α, β, γi
Wherein the content of the first and second substances,
6. a method 321 for location determination based on redundant information according to claim 1, wherein: the threshold value in the step 4) is 0.05-0.1 mm.
7. A method 321 for location determination based on redundant information according to claim 1, wherein: the measuring points are holes, edge points, surface points or pin points which are artificially pre-selected.
8. A method 321 for location determination based on redundant information according to claim 1, wherein: and acquiring the space coordinates of the measuring points by using a visual detection sensor or a three-coordinate system, and acquiring necessary components and redundant components by using the space coordinates of each measuring point.
9. A method 321 for location determination based on redundant information according to claim 1, wherein: step 1) setting the initial values of the weight coefficients to be 1; step 2) setting a translation component t1，t2，t3And the initial values of the rotational components α, β, γ are all 0.
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