CN1419104A - Object space position detector - Google Patents
Object space position detector Download PDFInfo
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- CN1419104A CN1419104A CN 02158692 CN02158692A CN1419104A CN 1419104 A CN1419104 A CN 1419104A CN 02158692 CN02158692 CN 02158692 CN 02158692 A CN02158692 A CN 02158692A CN 1419104 A CN1419104 A CN 1419104A
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Abstract
The invention discloses a kind of precise automatic-measuring equipment detecting the object's space position and attitude, consisting of the camera at the end of robot, the ultrasonic sensor and the computer, the camera and the ultrasonic sensor linked with the image-collecting card and the ultrasonic information collecting card in the computer by the data bus, and the robot linked with the computer by the control bus. The invention replaces the traditional binocular vision detection and from the single image obtains the ideal coordinate of arbitrary point in the image to get the line direction of the point and the camera center, then uses the ultrasonic sensor to measure the lime length to confirm the coordinate of this point in the camera reference frame, then further converted into the robot basic reference frame.
Description
Technical field
The present invention relates to a kind of accurate self-operated measuring unit, particularly relate to a kind of object space apparatus for detecting position and posture that carries out the object pose detection by robot, video camera, sonac, computing machine.
Background technology
Along with development of science and technology, robot has obtained application more and more widely, and for example assembling is automatically welded automatically, sprayed paint, the inspection of mechanical component etc.In these were used, the detection of testee pose was the prerequisite that realizes the testee operation.Conventional detection generally all is to utilize binocular vision to realize, but the data volume that this method need be handled is very big, the image matching algorithm in the binocular vision, and also perfect not to the utmost, error is bigger.
Summary of the invention
In order to overcome the deficiency of said method, the present invention proposes a kind of method of new inspected object pose, can only need to gather single sub-picture by video camera and the sonac that is contained in robots arm's end, processing through computing machine just can realize the detection to the testee pose.
A kind of object space apparatus for detecting position and posture of the present invention, form by the video camera that is contained in the robot end and sonac, computing machine, also relating to an object pose detection system is stored in the computing machine, video camera and sonac are installed in the end of robot arm, video camera and sonac are linked to each other with the ultrasound information capture card with image pick-up card in the computing machine by data line, and robot is linked to each other with computing machine by control bus.
Described pick-up unit, its video camera and the sonac fixing position that is arranged in parallel changes differently according to robot construction, be fixed on the end that robot picks up the object parts.
Described pick-up unit detects required information acquisition unit by single camera and single sonac constituent posture.
Described pick-up unit, the pose of object to be detected only need be gathered a sub-picture, by the direction of the point on the Image Acquisition object of camera acquisition and the video camera line of centres, is obtained the length of this line by sonac.
Described pick-up unit, a sub-picture of camera acquisition testee, and passed in the computing machine by video and data line by to treatment of picture, can obtain any 1 P on the object to the projection vector of video camera center O
Direction, measure by sonac then
Length, thereby can determine the coordinate of a P in camera coordinate system OXYZ, this coordinate can finally be transformed in the basis coordinates system of robot.Image coordinate by point is obtained its ideal coordinates, and corresponding point overlap with the line at video camera center on the point of this ideal coordinates correspondence and the line at video camera center and the object.
Described pick-up unit, sonac can adopt laser sensor.
Described pick-up unit is characterized in that: video camera and sonac also can parallel to the layout and installation at the end of bowl portion of robot.
The position of spatial point generally needs two width of cloth images, determines with the intersection point of two projection lines.The method that the present invention proposes then can add the position that ultrasonic (or laser) range finding can be determined spatial point with piece image.
Compare with binocular vision, the present invention has fundamentally avoided because caused uncertainty of images match and error.After the image coordinate of spatial point was determined, its coordinate in camera coordinate system can just can obtain by simple calculating.Binocular vision then will be carried out images match earlier, and then asks the intersection point of projection line.Obviously the present invention has significantly reduced calculated amount, has improved detection speed.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is that the direction synoptic diagram of determining projection vector produces.
Fig. 3 is a length synoptic diagram of determining projection vector.
Among the figure: 1. video camera 2. sonacs 3. testees 4. worktable 5. robots 6. computing machines, 7. data lines, 8. control buss, 9. planes of delineation
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
See also shown in Figure 1, object space apparatus for detecting position and posture of the present invention, form by the video camera that is contained in the robot end and sonac, computing machine and the object pose detection system that is stored in the computing machine, single camera and single sonac are installed in the end of robot arm, video camera and sonac are linked to each other with the ultrasound information capture card with image pick-up card in the computing machine by data line, and robot is linked to each other with computing machine by control bus.
In the present invention, testee 3 is placed on the worktable 4, gathers a sub-picture by video camera 1, this image is transferred in the computing machine 6 by video and ultrasound data line 7, and by the operation control software of storage in the computing machine 6 it is handled.For example, set 1 P on testee 3,1 P on the object will measure its coordinate in camera coordinate system OXYZ, needs to determine projection vector
Direction and length.Consider the distortion that camera lens causes, by the image coordinate P of a P
uCan obtain its ideal image coordinate (distortion that the distortion of compensation camera lens causes) P
i, because
Length known (being the camera lens focal distance f) so just can obtain
Direction in camera coordinate system,
Direction be exactly with
Direction (as shown in Figure 2).By the motion of control robot 5, make the true origin of sonac 2 move to the O point, axis with
Overlap, the measured value of sonac 2 is exactly so
Length.Like this, the coordinate of some P in video camera 1 coordinate system just can obtain, and can finally be converted into the coordinate in 5 basis coordinates system of robot.Can record the project objects center of gravity with this method is the coordinate in space in robot 5 basis coordinates, just the position coordinates of object.Be without loss of generality, can represent the attitude of object with the attitude of the major axis of project objects.The volume coordinate of this two end points can record with said process, just can further calculate the attitude of this axis in basis coordinates system of robot.The position of object and attitude are just decided fully like this.
For example, for the workpiece that is placed on the worktable, establishing its focus point is C, then can record
With the angle of each between centers of camera coordinate system be: with the X-axis angle be 68.2694 °, with the Y-axis angle be 60.4186 °, with Z axle clamp angle be 38.1027 °, record
Length be 42.2019mm, its coordinate in camera coordinate system is X=5.6250mm so, Y=20.8333mm, Z=33.2089mm, the coordinate of measured workpiece in basis coordinates system of robot is X=27.7815mm, Y=98.6157mm, Z=34.5791mm.The attitude angle of measured workpiece in robot basis coordinates system is: with the X-axis angle be 62.6605 °, with the Y-axis angle be 74.6356 °, with Z axle clamp angle be 32.0197 °.
The method that the present invention proposes can add the position that ultrasonic (or laser) range finding can be determined spatial point with piece image.
Compare with binocular vision, the present invention has fundamentally avoided because caused uncertainty of images match and error.After the image coordinate of spatial point was determined, its coordinate in camera coordinate system can just can obtain by simple calculating.Binocular vision then will be carried out images match earlier, and then asks the intersection point of projection line.Obviously the present invention has significantly reduced calculated amount, has improved detection speed.
Claims (8)
1. object space apparatus for detecting position and posture, form by robot, video camera, sonac, computing machine, it is characterized in that: also relate to an object pose detection system and be stored in the computing machine, video camera (1) and sonac (2) parallel to the layout and installation at the end of robot arm, video camera (1) and sonac (2) are linked to each other with the ultrasound information capture card with image pick-up card in the computing machine by data line, and robot (5) is linked to each other with computing machine (6) by control bus (8).
2. pick-up unit according to claim 1 is characterized in that: detect required information acquisition unit by single camera (1) and single sonac (2) constituent posture.
3. pick-up unit according to claim 1, it is characterized in that: the pose of object to be detected (3) only need be gathered a sub-picture, by the point on the Image Acquisition object of video camera (1) collection and the direction of video camera (1) line of centres, obtain the length of this line by sonac (2).
4. according to claim 1,3 described pick-up units, it is characterized in that: video camera (1) is gathered a sub-picture of testee (3), and pass in the computing machine (6) by video and data line (7), by to treatment of picture, can obtain any 1 P on the object to the projection vector of video camera (1) center O
Direction, measure by sonac (2) then
Length, thereby can determine the coordinate of a P in camera coordinate system OXYZ, this coordinate can finally be transformed in the basis coordinates system of robot.
5. pick-up unit according to claim 4 is characterized in that: the image coordinate by point is obtained its ideal coordinates, and corresponding point overlap with the line at video camera center on the point of this ideal coordinates correspondence and the line at video camera center and the object.
6. pick-up unit according to claim 1 is characterized in that: sonac (2) can adopt laser sensor.
7. pick-up unit according to claim 1 is characterized in that: video camera (1) and sonac (2) the fixing position that is arranged in parallel changes differently according to robot construction, be fixed on the end that robot picks up the object parts.
8. pick-up unit according to claim 1 is characterized in that: video camera (1) and sonac (2) also can parallel to the layout and installation at the end of bowl portion of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02158692 CN1419104A (en) | 2002-12-26 | 2002-12-26 | Object space position detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02158692 CN1419104A (en) | 2002-12-26 | 2002-12-26 | Object space position detector |
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| CN1419104A true CN1419104A (en) | 2003-05-21 |
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| CN 02158692 Pending CN1419104A (en) | 2002-12-26 | 2002-12-26 | Object space position detector |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100375939C (en) * | 2003-05-29 | 2008-03-19 | 发那科株式会社 | Robot system |
| CN102941569A (en) * | 2012-11-01 | 2013-02-27 | 李木 | Single-rail robot capable of locating and operating target object and control method thereof |
| CN104298169A (en) * | 2014-08-29 | 2015-01-21 | 暨南大学韶关研究院 | Data converting method of intelligent vision numerical control system |
| CN105750724A (en) * | 2016-04-29 | 2016-07-13 | 江苏科技大学 | Laser calibration device and calibration method for friction stir welding |
| CN105750723A (en) * | 2016-04-29 | 2016-07-13 | 江苏科技大学 | Friction stir welding tool posture and position calibration device and calibration method |
| CN107255463A (en) * | 2017-05-26 | 2017-10-17 | 珠海格力电器股份有限公司 | Positioning measurement device and positioning measurement method |
| CN108291803A (en) * | 2015-09-17 | 2018-07-17 | 瓦卢瑞克图沃斯巴西股份公司 | The automatic system and method for end for measuring and processing tubular element |
| CN110036162A (en) * | 2016-09-30 | 2019-07-19 | 新加坡-Eth研究中心 | For object to be placed system and method on the surface |
-
2002
- 2002-12-26 CN CN 02158692 patent/CN1419104A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100375939C (en) * | 2003-05-29 | 2008-03-19 | 发那科株式会社 | Robot system |
| CN102941569A (en) * | 2012-11-01 | 2013-02-27 | 李木 | Single-rail robot capable of locating and operating target object and control method thereof |
| CN104298169A (en) * | 2014-08-29 | 2015-01-21 | 暨南大学韶关研究院 | Data converting method of intelligent vision numerical control system |
| CN108291803A (en) * | 2015-09-17 | 2018-07-17 | 瓦卢瑞克图沃斯巴西股份公司 | The automatic system and method for end for measuring and processing tubular element |
| CN105750724A (en) * | 2016-04-29 | 2016-07-13 | 江苏科技大学 | Laser calibration device and calibration method for friction stir welding |
| CN105750723A (en) * | 2016-04-29 | 2016-07-13 | 江苏科技大学 | Friction stir welding tool posture and position calibration device and calibration method |
| CN110036162A (en) * | 2016-09-30 | 2019-07-19 | 新加坡-Eth研究中心 | For object to be placed system and method on the surface |
| CN110036162B (en) * | 2016-09-30 | 2021-04-02 | 新加坡-Eth研究中心 | System and method for placing an object on a surface |
| CN107255463A (en) * | 2017-05-26 | 2017-10-17 | 珠海格力电器股份有限公司 | Positioning measurement device and positioning measurement method |
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