CN117359625A - Robot special-shaped motion track automatic planning method based on point cloud data guiding technology - Google Patents
Robot special-shaped motion track automatic planning method based on point cloud data guiding technology Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology comprises the following steps: the automatic planning device is started to enter a working state, and the point cloud data acquisition assembly comprises two point laser displacement sensors which are mutually and vertically arranged; setting a fixed relative distance parameter LY in a welding robot and a point cloud data acquisition assembly, enabling a traveling trolley to move forwards, and respectively and automatically scanning a workpiece and wing plates at two sides by a point laser displacement sensor in the vertical direction and a point laser displacement sensor in the horizontal direction to generate point cloud data LX and LZ in real time so as to form laser coordinates; based on real-time laser coordinates, the point cloud data controller calculates the welding pose of the welding robot through a conversion algorithm; the point cloud data controller transmits the detection data corrected by the filtering algorithm to the robot controller so as to adjust the welding pose of the welding robot in real time according to the detection data, and automatic continuous welding of workpieces is realized.
Description
Technical field:
the invention relates to an automatic planning method for a special-shaped motion track of a robot based on a point cloud data guiding technology.
The background technology is as follows:
with the rapid development of industrial intelligent manufacturing, the disadvantages of the traditional manual welding and special welding equipment are gradually reflected, and the welding robot has been widely applied; at present, the track planning of the welding robot mostly adopts manual teaching track and robot line laser locating and tracking, and the related technology is basically mature and tends to be stable.
During practical application, manual teaching track requires that the blanking, assembling and positioning precision of welding workpieces is within +/-0.5 mm, requirements on most application scenes are high and difficult to achieve, and requirements on skill level of operators are high, a welding path can be automatically planned under the condition of low workpiece precision through line laser locating and tracking modes, but the manual teaching track is high in pertinence and can only be used for welding positions with obvious characteristics and flatness, workpiece models are required to be imported, workpieces with different characteristics can be required to be achieved through matching of robot bottom development and bottom development of a laser vision sensor, detection distances are generally within 300mm, special-shaped welding tracks are difficult to detect for welding positions with large requirements, and line laser cost is relatively high.
The invention comprises the following steps:
the embodiment of the invention provides an automatic planning method for a special-shaped motion track of a robot based on a point cloud data guiding technology, which is reasonable in method and structural design, is based on operation processing of the point cloud data, can meet special-shaped track planning, is applicable to large-scale size change of a workpiece, does not need to manually teach, does not need to introduce a workpiece model to automatically adapt to different track changes, is low in overall cost, can meet the real-time performance of continuous motion of the robot, is not influenced by track changes, can realize accurate positioning of the welding robot as long as a laser can detect positions, and is simple, convenient and rapid in actual operation, so that the actual workload of workers is reduced, and the problems existing in the prior art are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology comprises the following steps:
s1, starting an automatic planning device, and entering a working state, wherein the automatic planning device comprises a point cloud data controller, a point cloud data acquisition assembly, a welding robot and a robot controller, which are fixed on a traveling trolley, and the point cloud data acquisition assembly comprises two point laser displacement sensors which are mutually and perpendicularly arranged;
s2, setting a fixed relative distance parameter LY in a welding robot and a point cloud data acquisition assembly, enabling a traveling trolley to move forwards, and enabling point laser displacement sensors in the vertical direction and the horizontal direction to automatically scan a workpiece and wing plates on two sides respectively so as to generate point cloud data LX and LZ in real time to form laser coordinates;
s3, calculating the welding pose of the welding robot by the point cloud data controller through a conversion algorithm based on real-time laser coordinates;
and S4, transmitting the detection data corrected by the filtering algorithm to the robot controller by the point cloud data controller so as to adjust the welding pose of the welding robot in real time according to the detection data, and realizing automatic continuous welding of the workpiece.
Based on real-time laser coordinates, the point cloud data controller calculates the welding pose of the welding robot through a conversion algorithm, and the method comprises the following steps:
s3.1, collecting laser coordinates LX1 and LX2 corresponding to any two points LXa and LXb on the point laser displacement sensor in the horizontal direction, and collecting laser coordinates LZ1 and LZ2 corresponding to any two points LZa and LZb on the point laser displacement sensor in the vertical direction;
s3.2, horizontally moving the tail end of the welding robot to the positions of the points LXa and LXb respectively, recording coordinate data RXb and RXb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the X direction
RX＝RXb2+((LX-LX2)*(RXb1-RXb2))/(LX1-LX2)；
S3.3, vertically moving the tail end of the welding robot to the positions of the points LZa and LZb respectively, recording coordinate data RZb1 and RZb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the Z direction
RZ＝RZb2+((LZ-LZ2)*(RZb1-RZb2))/(LZ1-LZ2)；
S3.4, synchronously recording an external expansion shaft J1 of the welding robot, introducing an actual offset distance RSY, and obtaining the welding pose of the welding robot in the Y direction
RY＝RYb-RSY+J1。
The filtering algorithm is an average filtering algorithm of an X-direction slope and a Z-direction slope, and specifically, deltaX/DeltaZ= ((R) n -R n-1 )/(R n-1 -R n-2 )+(R n-1 -R n-2 )/(R n-2 -R n-3 )+(R n-2 -R n-3 )/(R n-3 -R n-4 ))/3。
The robot controller is correspondingly connected with the welding robot and the walking trolley through the robot control cable, and the robot controller is connected with a welding assembly of the welding robot through the CAN bus.
The acquisition distance of the point laser displacement sensor can reach +/-300 mm, and the repeated measurement accuracy can reach 300um.
The point cloud data controller adopts a high-performance bus type PLC to perform data interaction with the welding robot so as to transmit information data to the welding robot to control the welding robot to perform tracking action; the point laser displacement sensor adopts a high-performance bus type PLC (programmable logic controller) to perform data interaction with the welding robot, and the high-performance bus type PLC is an industrial switch.
By adopting the structure, each functional component in the welding robot is integrated and moved through the traveling trolley, so that the welding robot can conveniently perform actual operation; transmitting information data to the welding robot through the point cloud data controller to control the welding robot to execute the tracking action; position coordinates of a workpiece in the vertical direction and the horizontal direction are detected respectively through point laser displacement sensors which are distributed vertically to each other; directly controlling the action of the welding robot through a welding robot controller; the accuracy of the detection data is further improved through an average filtering algorithm, and the method has the advantages of being low in cost, automatic and efficient.
Description of the drawings:
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is a schematic diagram of the framework of the present invention.
Fig. 3 is a schematic diagram of a laser point cloud data detection principle of the present invention.
Fig. 4 is a schematic structural view of the present invention.
In the figure, 1, a point cloud data controller, 2, a point cloud data acquisition assembly, 3, a welding robot, 4, a robot controller, 5 and a walking trolley.
The specific embodiment is as follows:
in order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings.
As shown in fig. 1-4, the robot special-shaped motion track automatic planning method based on the point cloud data guiding technology comprises the following steps:
s1, starting an automatic planning device, and entering a working state, wherein the automatic planning device comprises a point cloud data controller, a point cloud data acquisition assembly, a welding robot and a robot controller, which are fixed on a traveling trolley, and the point cloud data acquisition assembly comprises two point laser displacement sensors which are mutually and perpendicularly arranged;
s2, setting a fixed relative distance parameter LY in a welding robot and a point cloud data acquisition assembly, enabling a traveling trolley to move forwards, and enabling point laser displacement sensors in the vertical direction and the horizontal direction to automatically scan a workpiece and wing plates on two sides respectively so as to generate point cloud data LX and LZ in real time to form laser coordinates;
s3, calculating the welding pose of the welding robot by the point cloud data controller through a conversion algorithm based on real-time laser coordinates;
and S4, transmitting the detection data corrected by the filtering algorithm to the robot controller by the point cloud data controller so as to adjust the welding pose of the welding robot in real time according to the detection data, and realizing automatic continuous welding of the workpiece.
Based on real-time laser coordinates, the point cloud data controller calculates the welding pose of the welding robot through a conversion algorithm, and the method comprises the following steps:
s3.1, collecting laser coordinates LX1 and LX2 corresponding to any two points LXa and LXb on the point laser displacement sensor in the horizontal direction, and collecting laser coordinates LZ1 and LZ2 corresponding to any two points LZa and LZb on the point laser displacement sensor in the vertical direction;
s3.2, horizontally moving the tail end of the welding robot to the positions of the points LXa and LXb respectively, recording coordinate data RXb and RXb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the X direction
RX＝RXb2+((LX-LX2)*(RXb1-RXb2))/(LX1-LX2)；
S3.3, vertically moving the tail end of the welding robot to the positions of the points LZa and LZb respectively, recording coordinate data RZb1 and RZb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the Z direction
RZ＝RZb2+((LZ-LZ2)*(RZb1-RZb2))/(LZ1-LZ2)；
S3.4, synchronously recording an external expansion shaft J1 of the welding robot, introducing an actual offset distance RSY, and obtaining the welding pose of the welding robot in the Y direction
RY＝RYb-RSY+J1。
The filtering algorithm is an average filtering algorithm of an X-direction slope and a Z-direction slope, and specifically, deltaX/DeltaZ= ((R) n -R n-1 )/(R n-1 -R n-2 )+(R n-1 -R n-2 )/(R n-2 -R n-3 )+(R n-2 -R n-3 )/(R n-3 -R n-4 ))/3。
The robot controller is correspondingly connected with the welding robot and the walking trolley through the robot control cable, and the robot controller is connected with a welding assembly of the welding robot through the CAN bus.
The acquisition distance of the point laser displacement sensor can reach +/-300 mm, and the repeated measurement accuracy can reach 300um.
The point cloud data controller adopts a high-performance bus type PLC to perform data interaction with the welding robot so as to transmit information data to the welding robot to control the welding robot to perform tracking action; the point laser displacement sensor adopts a high-performance bus type PLC (programmable logic controller) to perform data interaction with the welding robot, and the high-performance bus type PLC is an industrial switch.
The working principle of the robot special-shaped motion track automatic planning method based on the point cloud data guiding technology in the embodiment of the invention is as follows: the special-shaped track planning method is characterized in that the special-shaped track planning method is based on the operation processing of the point cloud data, is suitable for large-scale size change of workpieces, does not need manual teaching, does not need to be imported into a workpiece model to automatically adapt to different track changes, is low in overall cost, communication rate and working efficiency can meet the real-time performance of continuous motion of a robot, is not influenced by track changes, accurate positioning of the welding robot can be realized as long as the laser can detect the position, the practical operation is simple and convenient and rapid, the actual workload of workers is reduced, modeling is not needed, manual teaching and one-key starting are not needed, unmanned in the welding process of the robot is realized, the working preparation time of the robots is greatly reduced, the skill level requirement of the operators is reduced, the adopted point cloud laser scanning equipment is reduced by 80% -90% compared with the hardware cost of the line laser scanning equipment, the cost of the whole machine equipment can be copied in batches at one time, and the market applicability is greatly improved.
In the whole scheme, the method mainly comprises the following steps of: the automatic planning device is started and enters a working state, and comprises a point cloud data controller, a point cloud data acquisition assembly, a welding robot and a robot controller which are fixed on a traveling trolley, wherein the point cloud data acquisition assembly comprises two point laser displacement sensors which are mutually and perpendicularly arranged; setting a fixed relative distance parameter LY in a welding robot and a point cloud data acquisition assembly, enabling a traveling trolley to move forwards, and respectively and automatically scanning a workpiece and wing plates at two sides by a point laser displacement sensor in the vertical direction and a point laser displacement sensor in the horizontal direction to generate point cloud data LX and LZ in real time so as to form laser coordinates; based on real-time laser coordinates, the point cloud data controller calculates the welding pose of the welding robot through a conversion algorithm; the point cloud data controller transmits the detection data corrected by the filtering algorithm to the robot controller so as to adjust the welding pose of the welding robot in real time according to the detection data, and automatic continuous welding of workpieces is realized.
Specifically, based on real-time laser coordinates, the point cloud data controller calculates the welding pose of the welding robot through a conversion algorithm, and the method comprises the following steps:
s3.1, collecting laser coordinates LX1 and LX2 corresponding to any two points LXa and LXb on the point laser displacement sensor in the horizontal direction, and collecting laser coordinates LZ1 and LZ2 corresponding to any two points LZa and LZb on the point laser displacement sensor in the vertical direction;
s3.2, horizontally moving the tail end of the welding robot to the positions of the points LXa and LXb respectively, recording coordinate data RXb and RXb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the X direction
RX＝RXb2+((LX-LX2)*(RXb1-RXb2))/(LX1-LX2)；
S3.3, vertically moving the tail end of the welding robot to the positions of the points LZa and LZb respectively, recording coordinate data RZb1 and RZb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the Z direction
RZ＝RZb2+((LZ-LZ2)*(RZb1-RZb2))/(LZ1-LZ2)；
S3.4, synchronously recording an external expansion shaft J1 of the welding robot, and introducing an actual offset distance RSY to obtain a welding position RY=RYb-RSY+J1 of the welding robot in the Y direction.
Through the algorithm steps, the welding pose which needs to be adjusted by the welding robot can be rapidly and accurately calculated so as to carry out continuous automatic welding of the workpiece.
In order to further improve the accuracy of the data, the data can also be corrected by an average filtering algorithm of the slopes of the X direction and the Z direction, the delta X/delta Z under the condition of normal detection should be slowly changed data, if the data exceeds a threshold value, the data is considered to be abnormal, and the current abnormal data is taken as the previous point cloud data by taking the X direction as an exampleTrend of change setting, namely RX N ＝RX N-1 +(RX N-1 -RX N-2 ) Setting the current detection data as RZ when abnormality occurs in the Z-direction data in the same way N ＝RZ N-1 +(RZ N-1 -RZ N-2 ) The method comprises the steps of carrying out a first treatment on the surface of the By analyzing background data generated by laser point cloud scanning, calculating and analyzing data differences between a weld joint and a weld joint, accurately identifying the coordinates of the start point and the end point of the weld joint according to the differences, and realizing high-precision automatic identification of the start point and the end point of the weld joint, thereby realizing unattended automatic welding operation.
For an automatic planning device, the automatic planning device mainly comprises a point cloud data controller 1, a point cloud data acquisition component 2, a welding robot 3, a robot controller 4 and a travelling trolley 5; the point cloud data controller 1 performs data interaction with the welding robot 3 by adopting a high-performance bus type PLC (programmable logic controller) so as to transmit information data to the welding robot 3 to control the welding robot 3 to execute a tracking action; the point cloud data acquisition assembly 2 is used for acquiring data in real time, the point cloud data acquisition assembly 2 comprises two point laser displacement sensors, the point laser displacement sensors perform data interaction with the welding robot 3 by adopting a high-performance bus type PLC, and the two point laser displacement sensors are distributed vertically to detect position coordinates of a workpiece in the vertical direction and the horizontal direction respectively; the walking trolley 5 is controlled by the robot controller 4 to drive the robot to move back and forth, and the point cloud data controller 1, the point cloud data acquisition assembly 2, the welding robot 3 and the robot controller 4 are all fixed on the walking trolley 5, wherein the point cloud data acquisition assembly 2 is arranged at the front end of the welding robot 3 so as to form a fixed distance value between the point cloud data acquisition assembly 2 and the welding robot 3; the robot controller 4 performs data interaction with the welding robot 3 by adopting a high-performance bus type PLC.
In order to realize automatic control and linkage, the robot controller corresponds respectively with welding robot and walking platform truck through robot control cable and links to each other, the robot controller passes through the welding subassembly of CAN bus and welding robot and links to each other to guarantee the comprehensive accurate control of welding robot, promote welding robot's work efficiency, reduce operating error and undulant.
In summary, the method for automatically planning the special-shaped motion track of the robot based on the point cloud data guiding technology in the embodiment of the invention is based on the operation processing of the point cloud data, can meet the special-shaped track planning, is applicable to the large-scale dimensional change of a workpiece, does not need to manually teach or import a workpiece model to automatically adapt to different track changes, has lower overall cost, ensures that the communication rate and the working efficiency can meet the real-time performance of continuous motion of the robot, is not influenced by the track changes, can realize the accurate positioning of the welding robot as long as the laser can detect the position, is simple and convenient and quick in actual operation, thereby reducing the actual workload of staff, does not need modeling, does not need manual teaching, one-key starting and unmanned in the welding process of the robot, greatly reduces the working preparation time of the robot, reduces the skill level requirement of the operator, reduces the hardware cost of the adopted point cloud laser scanning equipment by 80% -90% compared with the line laser scanning equipment, and reduces the cost of the whole machine equipment and can be copied in batch, so that the market applicability is greatly improved.
The above embodiments are not to be taken as limiting the scope of the invention, and any alternatives or modifications to the embodiments of the invention will be apparent to those skilled in the art and fall within the scope of the invention.
The present invention is not described in detail in the present application, and is well known to those skilled in the art.
Claims (6)
1. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology is characterized by comprising the following steps of:
s1, starting an automatic planning device, and entering a working state, wherein the automatic planning device comprises a point cloud data controller, a point cloud data acquisition assembly, a welding robot and a robot controller, which are fixed on a traveling trolley, and the point cloud data acquisition assembly comprises two point laser displacement sensors which are mutually and perpendicularly arranged;
s2, setting a fixed relative distance parameter LY in a welding robot and a point cloud data acquisition assembly, enabling a traveling trolley to move forwards, and enabling point laser displacement sensors in the vertical direction and the horizontal direction to automatically scan a workpiece and wing plates on two sides respectively so as to generate point cloud data LX and LZ in real time to form laser coordinates;
s3, calculating the welding pose of the welding robot by the point cloud data controller through a conversion algorithm based on real-time laser coordinates;
and S4, transmitting the detection data corrected by the filtering algorithm to the robot controller by the point cloud data controller so as to adjust the welding pose of the welding robot in real time according to the detection data, and realizing automatic continuous welding of the workpiece.
2. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology according to claim 1, wherein the method for calculating the welding pose of the welding robot by the point cloud data controller through a conversion algorithm based on real-time laser coordinates comprises the following steps:
s3.1, collecting laser coordinates LX1 and LX2 corresponding to any two points LXa and LXb on the point laser displacement sensor in the horizontal direction, and collecting laser coordinates LZ1 and LZ2 corresponding to any two points LZa and LZb on the point laser displacement sensor in the vertical direction;
s3.2, horizontally moving the tail end of the welding robot to the positions of the points LXa and LXb respectively, recording coordinate data RXb and RXb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the X direction
RX＝RXb2+((LX-LX2)*(RXb1-RXb2))/(LX1-LX2)；
S3.3, vertically moving the tail end of the welding robot to the positions of the points LZa and LZb respectively, recording coordinate data RZb1 and RZb2 of the welding robot in the X direction, and simultaneously recording coordinate data RYb of the welding robot in the Y direction to obtain the welding pose of the welding robot in the Z direction
RZ＝RZb2+((LZ-LZ2)*(RZb1-RZb2))/(LZ1-LZ2)；
S3.4, synchronously recording an external expansion shaft J1 of the welding robot, introducing an actual offset distance RSY, and obtaining the welding pose of the welding robot in the Y direction
RY＝RYb-RSY+J1。
3. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology according to claim 1 is characterized in that: the filtering algorithm is an average filtering algorithm of an X-direction slope and a Z-direction slope, and specifically, deltaX/DeltaZ= ((R) n -R n-1 )/(R n-1 -R n-2 )+(R n-1 -R n-2 )/(R n-2 -R n-3 )+(R n-2 -R n-3 )/(R n-3 -R n-4 ))/3。
4. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology according to claim 1 is characterized in that: the robot controller is correspondingly connected with the welding robot and the walking trolley through the robot control cable, and the robot controller is connected with a welding assembly of the welding robot through the CAN bus.
5. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology according to claim 1 is characterized in that: the acquisition distance of the point laser displacement sensor can reach +/-300 mm, and the repeated measurement accuracy can reach 300um.
6. The method for automatically planning the special-shaped motion trail of the robot based on the point cloud data guiding technology according to claim 1 is characterized in that: the point cloud data controller adopts a high-performance bus type PLC to perform data interaction with the welding robot so as to transmit information data to the welding robot to control the welding robot to perform tracking action; the point laser displacement sensor adopts a high-performance bus type PLC (programmable logic controller) to perform data interaction with the welding robot, and the high-performance bus type PLC is an industrial switch.
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| CN118066987A (en) * | 2024-04-19 | 2024-05-24 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic temperature-sensitive paint film thickness measurement electrical control system and electrical control method |
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| CN118066987A (en) * | 2024-04-19 | 2024-05-24 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic temperature-sensitive paint film thickness measurement electrical control system and electrical control method |
| CN118066987B (en) * | 2024-04-19 | 2024-06-28 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic temperature-sensitive paint film thickness measurement electrical control system and electrical control method |
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