CN210819622U - Large-scale space high-precision online calibration system of mobile operation robot - Google Patents

Abstract

The utility model relates to a remove online calibration system of operation robot large-scale space high accuracy, it includes measurement subsystem and calibration compensation subsystem. The measurement subsystem comprises a multi-view angle measurement device with a view field covering the working space of the mobile operation robot, at least one group of local measurement devices and a vehicle-mounted laser micrometer device arranged on the mobile platform, and the calibration compensation subsystem comprises a mobile operation robot controller, a communication module connected with the measurement subsystem and a calibration workstation. The multi-view measuring device comprises an infrared camera, an image acquisition workstation connected with the infrared camera and a reflective target ball associated with the mobile platform. Each local measurement device includes a CCD camera and a plurality of laser ranging sensors. Compared with the calibration and calibration of the traditional mobile robot, the scheme of the utility model has the advantages of full automation, large space and on-line calibration; meanwhile, the operation flexibility is improved, the cost is reduced, and the practical value of the mobile operation robot system is effectively improved.

Description

Large-scale space high-precision online calibration system of mobile operation robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a remove online calibration system of operation robot large-scale space high accuracy.

Background

The machining and measurement of large and complex structural members, such as aerospace structural members, high-speed rail car body structural members and the like, generally have the requirements of high precision and high surface quality, and always depend on large machining equipment such as a gantry machine tool, a large milling machine and the like, and the size of a part to be machined is large, so that the size of the machining equipment is large. Therefore, this not only causes the input cost of the processing equipment to be very high, but also, if the characteristics of the processed parts are changed or the size is increased, the original equipment may not meet new requirements, the equipment input risk is high, and meanwhile, the flexible requirements in actual application cannot be met.

Therefore, facing the processing of large-scale and complex structural members, the mobile operation robot system formed by combining the industrial robot and the mobile robot is a feasible scheme, has higher dexterity and great working space, and can effectively improve the working efficiency through the cooperative operation of the multi-mobile operation robot system.

However, a key problem encountered by mobile robotic manipulation systems is the large-scale high-precision positioning. The current solutions measure the robot end directly or indirectly, and ensure the absolute accuracy of the robot end in a large-scale working space by means of robot motion control, and these are all accomplished by means of expensive devices such as iGPS and laser trackers. Furthermore, this requires that the tip of the manipulator arm of the mobile manipulator robot must be tracked and measured in real time. Therefore, when the number of mobile operation machines increases or the number of complicated processing environments causes a blockage, the number of iGPS or laser trackers must be increased, which not only causes a great increase in cost, but also greatly reduces the flexibility of application. At present, although a small amount of such applications appear in the aerospace manufacturing and measurement field, the high price and low flexibility of the applications greatly limit the popularization and application of the applications.

In summary, the calibration of the traditional fixed industrial robot is often implemented in a small indoor space, the measurement range of the used precision measurement instrument is generally below several meters, and high-precision measurement can be realized by combining a precision mechanical structure and an optical principle; the conventional mobile operation robot has a large range of free working space, but is limited to centimeter-level positioning accuracy. Therefore, a large-space high-precision online calibration system for the mobile operation robot is needed, so that the precision is ensured without tracking and measuring the terminal pose of the robot in real time. The calibration system meeting the requirements can greatly improve the flexibility, reduce the cost and effectively improve the practical value of the mobile operation robot system.

SUMMERY OF THE UTILITY MODEL

The utility model provides a be suitable for the online calibration scheme of mobile robot high accuracy in large scale space to solve above-mentioned technical problem.

The technical scheme of the utility model be a remove operation robot's online calibration system, it includes measurement subsystem and calibration compensation subsystem. The measurement subsystem comprises a multi-view angle measurement device with a view field covering the working space of the mobile operation robot, at least one group of local measurement devices and a vehicle-mounted laser micrometer device arranged on the mobile platform, and the calibration compensation subsystem comprises a mobile operation robot controller, a communication module connected with the measurement subsystem and a calibration workstation. The multi-view measuring device comprises an infrared camera, an image acquisition workstation connected with the infrared camera and a reflective target ball associated with the mobile platform. Each local measuring device comprises a CCD camera and a plurality of laser ranging sensors.

According to some aspects of the present invention, an array of infrared cameras at different viewing angles is disposed above the working space of the mobile robot; the image acquisition workstation is in communication connection with each infrared camera; and a plurality of reflective target balls are arranged at the corners of the moving platform.

According to some aspects of the present invention, the plurality of laser ranging sensors are spatially distributed in a triangular manner around the CCD camera under the support of the jig; the shooting direction of the CCD camera faces to the motion area of the mobile operation robot.

According to some aspects of the utility model, local measuring equipment's outside auxiliary assembly still include equilateral triangle target, support anchor clamps and linear motion device, wherein the equilateral triangle target is installed at the arm end of removing operation robot, and local measuring equipment passes through support anchor clamps are fixed to linear motion device's motion bench for linear motion device can drive this local measuring equipment and carry out the controlled linear motion of distance.

According to some aspects of the present invention, the linear motion device comprises a linear motor, a guide rail for guiding the linear motion of the motion stage, a grating sensor, and a motion driver connected to the linear motor and the grating sensor.

According to some aspects of the present invention, the vehicle-mounted laser micrometer apparatus comprises a dual-axis outer diameter micrometer fixedly mounted on the movable platform by means of a mounting support; the working part of the double-shaft outer diameter micrometer is in a plate shape, and a laser measuring area is reserved in the middle of the working part and used for detecting the outer diameter of a rod-column-shaped object inserted into the laser measuring area, so that a measuring basis is provided for the pose calibration of an end effector of an operating arm with rod-column characteristics.

According to some aspects of the utility model, the arm end is equipped with the equilateral triangle piece as the target, sets up the target ball respectively on the summit of the triangle piece on these limits to put at the central point of the triangle piece on these limits and set up visual detection mark.

According to some aspects of the present invention, the mobile robot controller includes an industrial motion controller, a memory, and a motion control program of the mobile robot.

According to some aspects of the present invention, the calibration workstation is connected to the mobile operation robot controller through the communication module, controls the mechanical arm to move to the measurement pose, receives the mechanical arm in-place information and collects the angle data of each joint of the mechanical arm, and is also connected to each electrical device of the measurement subsystem through the communication module to receive the measurement subsystem data and control the measurement subsystem; and a mechanical arm kinematic error model is stored in the calibration workstation, nominal geometric parameters are obtained from the mechanical arm controller, the mechanical arm body base coordinate parameters, the geometric parameters and the end effector offset parameters at the operation position are respectively calibrated based on the real values obtained by the measurement subsystem, and a new motion track is generated and compensated for the motion controller.

According to some aspects of the utility model, laser rangefinder sensor carry out calibration in advance by off-line calibration equipment, this off-line calibration equipment includes laser tracker to and with laser tracker be associated and set up at terminal one or more target ball of robotic arm, connect the member and the supplementary measuring device Tmac of laser tracker of this target ball.

The utility model has the advantages that:

compared with the calibration of the traditional fixed and mobile robots, the on-line calibration scheme of global coarse precision and local high precision provided by the utility model has the advantages of full automation, large space and on-line calibration; furthermore, according to the utility model discloses a demarcation scheme still improves the flexibility of operation, and simultaneously also reduce cost has effectively promoted the practical value of mobile operation robot system.

Drawings

FIG. 1 is a schematic diagram of a global vision measurement subsystem and an online calibration system.

Fig. 2 is a schematic view of a mobile partial visual guide apparatus based on a guide rail.

Fig. 3 is a schematic diagram of the vehicle-mounted double-axis laser micrometric measurement of the mobile operation robot.

Fig. 4 is a schematic diagram of an example global reference mesh point.

FIG. 5 is an enlarged detail view of the end target of FIG. 4.

FIG. 6 is a flow chart of an online calibration system implementation.

FIG. 7 is a calibration compensation flow diagram for the calibration workstation.

FIG. 8 is a diagram of the relationship between the components of the online calibration system and the calibration implementation process.

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the description of the upper, lower, left, right, etc. used in the present invention is only relative to the mutual positional relationship of the components of the present invention in the drawings. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

In addition, the utility model discloses the "big size degree space" that says refers to the space that compares several times compared with the size of traditional fixed or portable robot self, generally speaking, can understand the space of at least 10 meters × 10 meters × 10 meters, but in various practical application occasions, "big size degree space" can be considered and be restricted according to factors such as processing part, robot motion range are synthesized.

Referring to fig. 1 to 3, a calibration system according to the present invention includes a set of measurement subsystems and a set of calibration compensation subsystems.

The measurement subsystem is used to make visual measurements of the moving platform 110 coordinate system, the robot arm end 113 pose, and the pose offset of the robot arm end effector 114.

The measurement subsystem includes: spatially distributed multi-view measuring devices, local measuring devices 120, and on-board laser micro-measuring devices.

The multi-view measuring apparatus includes: an infrared camera 116, an image acquisition workstation 130 connected to the infrared camera 116, and a retro-reflective target ball associated with the mobile handling robot 109.

The infrared cameras 116 are arranged in the space above the mobile operation robot 109, a plurality of infrared cameras 116 can be fixedly arranged in a distributed mode through supports and cross beams made of steel, aluminum and the like, and the measuring visual fields of the infrared cameras 116 can cover a large-scale space, such as a space with at least 10 meters × 10 meters and × 10 meters.

The image acquisition workstation 130 establishes communication connection with each camera, controls the cameras to synchronously acquire image information of the mobile platform 110, performs feature point extraction and multi-camera data fusion on the image, and obtains positioning information of the mobile platform 110 to be sent to the calibration workstation 127.

The reflective target balls are arranged at four corners of the robot moving platform 110, so that the camera can conveniently position the moving platform 110 in space.

The local measuring device 120 and its external accessory devices may be disposed in the working area of the robot arm 111 of the mobile handling robot 109.

The external attachment includes a linear motion device having a high-precision linear motion characteristic. The linear motion device comprises a linear motor, a guide rail, a grating sensor, a driver and the like.

The local measuring apparatus 120 is fixed to a moving stage of the linear motion device by the support jig 102 so that the linear motion device can drive the local measuring apparatus 120 to perform fine linear motion with a distance controlled.

The local measurement device 120 comprises a plurality of (preferably 9) laser range sensors 121 and a CCD camera 122. The CCD camera 122 is used to guide the robot arm tip 113 target into the measurable area of the laser range sensor 121 and is therefore mounted in a central location of the jig. The plurality of laser ranging sensors 121 may be divided into 3 groups, and spatially triangularly distributed (e.g., spaced 120 ° apart) around the CCD camera 122 on the jig. Each group of laser can determine the spatial position of the center of a target ball in the target at the tail end 113 of the mechanical arm, and is used for further calculating the position and the posture information of the center point of the equilateral target;

the equilateral triangle target 123 is attached to the arm tip 113 of the mobile robot 109. A high-precision reflective target ball is respectively arranged at the top point of the triangular target 123, and a visual detection mark 128 is pasted at the center position of the triangular block. The reflective target ball may be a ceramic target ball with a smooth surface, or a polished target ball made of other metal materials.

The vehicle laser micrometer apparatus includes a mounting support and a dual-axis outer diameter micrometer 125, which is mounted and fixed on the mobile platform 110 of the robot. The working parts of the double-shaft outer diameter micrometer are in a plate shape, and a laser measuring area is reserved in the middle of the working parts and used for detecting the outer diameter of a rod-column-shaped object inserted into the laser measuring area, so that a measuring basis is provided for pose calibration of an end effector of an operating arm with rod-column characteristics.

The calibration compensation subsystem includes: a mobile operating robot controller 129, a communication module and a calibration workstation 127.

The mobile robot controller 129 is used for controlling the motion of the body of the robot arm 111 and the mobile platform 110, and nominal motion parameters of the robot arm 111 are stored in the controller. The mobile robot controller 129 includes an industrial motion controller (e.g., PLC, motion control card), a driver of the mobile robot 109, and the like.

The communication module is used for communication among the controller, the field bus, the switch and various devices, and can comprise a gateway, a switch, a data repeater with various protocols, a wireless network card and the like.

Calibration workstation 127: the communication module is connected to a mobile operation robot controller 129 to control the mechanical arm 111 and the mobile platform 110 to move to a measurement pose, receive the in-place information of the mechanical arm 111 and acquire angle data of each joint of the mechanical arm 111; various electrical devices (including the image acquisition workstation 130) connected to the measurement subsystem by the communication module, receive measurement subsystem data and can control the measurement subsystem; by establishing a kinematic error model of the mechanical arm 111, calculating a kinematic geometric nominal parameter of the mechanical arm 111 from a mechanical structure of the mechanical arm 111, respectively calibrating a basic coordinate parameter, a geometric parameter and an end effector bias parameter of the mechanical arm 111 body at a working position based on a real value obtained by the measuring subsystem, generating a new motion track and compensating the controller.

Some embodiments of the calibration operation flow of the calibration system according to the present invention are described below with reference to fig. 6 to 8 through 5 main steps. As shown in fig. 8, step S1 relates to the construction of each hardware platform of the above calibration system and the off-line calibration of the corresponding distance measuring sensor. Steps S2 to S5 relate to the gradual advance of the online calibration system from the low-precision calibration at the 110 cm scale of the mobile platform to the high-precision calibration at the 111 micron scale of the robot arm, and also to the micron-scale high-precision calibration of the tool at the end 113 of the robot arm. In some application scenarios, according to the utility model discloses an online calibration system each sensing equipment only need be once off-line calibration, then can repeat the flow of step S2 to S5 in real time in the course of mobile operation robot 109' S working, updates the position data and the calibration instrument of robot on line. Step S2 is mainly implemented by the infrared camera 116 of the multi-view measuring device and the vehicle-mounted reflective target ball on the mobile robot 109; the guiding step S3.1 in the step S3 is performed by the CCD camera 122 of the local measuring apparatus 120 and the visual detection mark 128 provided at the robot arm end 113, and the subsequent measuring step S3.2 is performed by the laser ranging sensor 121 of the local measuring apparatus 120 and the target mounted at the robot arm end 113; step S4 may be executed by an external computing device, or may be directly or indirectly executed by the motion controller of the mobile operation robot 109; step S5 is mainly performed by moving the two-axis micrometer sensor on the platform mounted on the robot 109.

The individual steps are described below by means of detailed examples.

Step S1

A large-scale space global reference network is built to solve the problem of error accumulation caused by multiple interconversion of a measuring equipment reference coordinate system in a large-space and large-size industrial robot manufacturing field. The distribution of the mesh points of the global reference network is related to the measurement distance and the measurement precision of the sensors in the space, the space shielding and other factors.

The method comprises the steps of directly or indirectly measuring the pose information of a sensor in a space at a reference network point by using non-contact type, large-range and high-convenience standard measuring equipment such as a laser tracker 101, moving the laser tracker 101 to the next reference network point for the sensor equipment outside the measurable space, measuring the pose information of a sensor at a part of the previous network point at the reference network point, and calculating the transformation information of the network point relative to the previous network point. In order to reduce accumulated errors among the dots, the method of spreading the central dot to the periphery is adopted for construction, and finally the method of splicing is used for establishing the pose information of the sensor in the space relative to the unified world coordinate system.

In one example, as in fig. 4 and 5, the instrument is constructed with a laser tracker 101 (e.g., a product of Leica corporation) as a reference point while calibrating the pose of a certain laser range sensor 121 and a certain infrared camera 116 in the reference point. A support clamp 102 is arranged at the tail end 113 of the mechanical arm, and the clamp is provided with: (1) a micro-diameter (e.g., 1mm) high precision ceramic target ball 124 for reflecting the laser of the laser range finding sensor 121; (2) the laser tracker auxiliary measuring device Tmac 104 can directly feed back 6-DOF position and posture information; (3) a set of retroreflective target balls 105 for recognition by an infrared camera 116. The reflective target balls are connected by high-precision rods 106.

Controlling the mechanical arm 111 to move to the first position 107, so that the ceramic target ball 124 is aligned with the laser line of the laser ranging sensor 121, and the position and the attitude of the ceramic target ball 124 are captured and converted into through the laser tracker 101; the robot arm 111 is controlled to move to the second position 108, so that the ceramic target ball 124 is aligned with the laser line of the laser ranging sensor 121, and the position of the ceramic target ball 124 can be obtained. The direction of the laser incident on the laser ranging sensor 121 can be obtained by the poses of the two points of the ceramic target ball 124, and the distance information can be measured by the laser ranging sensor 121 itself, so that the pose information of the laser ranging sensor 121 at the reference point is finally obtained. Similarly, the infrared camera 116 can obtain the pose of itself with respect to the reference point by measuring the reflective target ball group 105 twice.

Step S2

In order to reduce the probability of space obstacle blocking, as shown in fig. 1, an infrared camera 116 vision measurement subsystem is installed by using a bracket 115 consisting of supports such as steel, aluminum and the like and a beam. The reflective target balls 117 are installed at four corners of the mobile platform 110, and when the mobile operation robot 109 and the mobile platform 110 move to a measurable range of the infrared camera 116, the infrared camera 116 recognizes the reflective target balls 117 and further determines the spatial position of the mobile platform 110 according to the geometric distribution calculation of the reflective target balls.

As a result of the multiple infrared cameras 116 being deployed in space. The mobile platform 110 may be captured simultaneously by multiple infrared cameras 116, using redundant positioning data generated by multiple cameras and optimized with a data fusion algorithm.

Then, since the mechanical arm base 112 and the mobile platform 110 are rigidly connected through the vehicle body, the conversion relationship between them can be determined by off-line calibration at the time of factory shipment; the pose information of the robot arm base 112 with respect to the world coordinate system can thus be acquired under the condition that the pose information of the moving platform 110 is obtained by the above measurement. However, the accuracy of the visual measurement in a large space is limited, and the positioning of the robot base 112 is only a preliminary positioning, which provides a reference for controlling the robot tip 113 to move to a local high-accuracy measurement area in the world coordinate system in the next step.

Step S3

As shown in fig. 2, an equilateral triangular block 123 is precisely machined, three high-precision ceramic target balls 124 are respectively mounted at the vertexes of the triangular block 123, and a visual detection mark 128 (for example, a mark point mark) is attached to the center position of the triangular block 123, and the triangular block 123 is mounted as a target on a flange of the robot arm end 113 (or mounted on the end flange via an extension rod). A local measuring device 120 consisting of 9 laser range finding sensors 121 and a CCD camera 122 (e.g., a CCD guide camera) is mounted on the support fixture 102 movable with the precision linear guide 118. In order to correspond to the target 123 of the equilateral triangle block, the 9 laser ranging sensors 121 are divided into 3 groups, each group occupying one corner of the space triangle, and the CCD camera 122 is installed at the center of the space triangle.

In the local high-precision local measurement area to which the target 123 of the end 113 of the robot arm moves, the visual detection mark 128 attached to the target 123 enters the visual field range of the guide CCD camera 122, and the visual detection mark 128 guides the end 113 of the robot arm to a certain pose, at which 3 laser beams of each group of laser ranging sensors 121 can hit the corresponding target ball 124 in the equilateral triangle target 123. At this time, the robot arm 111 is suspended, and the calibration workstation 127 records the ranging data of the respective laser ranging sensors 121 through the communication module on the one hand, and captures the joint values of the robot arm 111 through the mobile operation robot controller 129 on the other hand. According to trilateration, each set of lasers can determine the spatial position of the center of one target sphere 124, and through geometric calculations, the position and attitude information of the center point of the equilateral triangle block 123 can be calculated. The CCD camera 122 is used for tracking and marking the pose, the pose of the tail end 113 of the mechanical arm is changed for many times and the measurement result is recorded on the premise that 3 groups of lasers can hit respective target balls, and the deviation of the coordinate system of the mechanical arm base 112 relative to the world coordinate system and the kinematic geometrical parameter error are obtained through the calibration algorithm of the calibration workstation 127.

In order to ensure that at least one local measuring device 120 is arranged beside each working point to perform high-precision measurement on the end 113 of the mechanical arm and save the deployment number of the local measuring devices 120, the sectional type high-precision moving guide rail 118 is used for bearing the motion of the local measuring devices 120 to be within the operable range of the mechanical arm 111 in consideration of the free movement of the moving operation arm in a large-space working range. In order to improve the quality of the parameter calibration of the robot arm 111, at least two local measurement devices 120 are ensured, and a certain spatial distance is kept between the two local measurement devices 120, the pose of the robot arm 111 is changed enough to "excite" as many kinematic parameters to be calibrated as possible in the mathematical operation process.

Step S4

Generally, to ensure the efficiency and accuracy of robot programming, the work tasks and positioning programs of the robot must be planned and generated by an off-line programming system that programs the robot by specifying the absolute pose of the end effector center point (TCP) in a world coordinate system. The parameters of the base coordinate system and the geometric parameters of the robot 111 at the work site are calibrated based on the steps S2-S3, respectively, and the calibration of the end effector bias parameters is performed after the calibration and compensation of the geometric parameters of the robot 111, i.e., the body of the robot 111 is required to be accurate to perform the calibration of the end effector bias parameters.

As not every robot arm 111, fig. 7, allows direct modification of the kinematic parameter file, the robot arm 111 is more compensated for by modifying the end effector pose. The robot arm 111 base coordinate system is compensated into the pose of the robot arm end effector 114 after off-line programming, the compensated pose is subjected to kinematic inverse solution by using real geometric parameters to obtain each joint value, and then kinematic forward solution is performed on each joint value by using nominal geometric parameters (or geometric parameters calibrated last time) to obtain a new pose value of the end effector. Compensation for end effector bias is also to compensate for the pose values of the end effector.

Through communication between the calibration workstation 127 and the mobile robotic manipulator controller 129, the controller instructions are modified to accomplish compensation in accordance with the pose values of the new end effector.

Step S5

Referring to fig. 3, a vehicle-mounted biaxial laser micrometer 125 is built on the mobile platform 110, and if the end effector 114 has a cone-shaped or rod-shaped geometric feature after the geometric parameters of the robot 111 are calibrated. The end effector 114 of the control mechanical arm is vertically inserted into the central plane of the biaxial laser micrometer 125, the position point of the biaxial laser micrometer 125 where the light receiving elements crossing two directions are blocked is recorded, and the position is used as the reference position for the offset of the end effector 114, and the offset of the pose of the end effector 114 at the reference position is zero. After the end effector 114 of the robot arm operates for a period of time, it is detected whether the relationship between the end effector 114 and the robot arm end 113 changes, and the end effector 114 is moved to be inserted into the central plane according to the originally set motion command, at this time, the offset of the end effector 114 will be represented as the change of the position point of the laser micrometer 125 where the light receiving element is shielded, and at this time, the end effector 114 needs to be calibrated.

The end effector 114 with the offset is inserted into the center detection surface of the biaxial laser micrometer 125 in different postures a plurality of times, the waiting calibration workstation 127 records the position points where the light receiving elements in the two directions are blocked when the end effector is inserted into the center surface every time and captures the joint angle of the robot arm 111 at that time, and the offset value of the relationship of the end effector 114 with respect to the robot arm end 113 is calculated.

The foregoing is merely a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, as long as the technical effects of the present invention are achieved by the same means, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present disclosure should be included within the scope of the present disclosure. All belong to the protection scope of the utility model. The technical solution and/or the embodiments of the invention may be subject to various modifications and variations within the scope of the invention.

List of reference signs

101 laser tracker

102 support clamp

103 micro-diameter high-precision ceramic target ball

104 auxiliary measuring device Tmac of laser tracker

105 reflecting target ball set

106 rod piece

107 first position

108 second position

109 mobile operation robot

110 mobile platform

111 robot arm

112 robot arm base

113 end of arm

114 end effector of a robotic arm

115 support

116 Infrared camera

117 infrared reflecting target ball

118 linear motion guide rail

119 support clamp

120 local measuring equipment

121 laser ranging sensor

122 CCD camera

123 equilateral triangle target

124 ceramic target ball

125 biaxial laser micrometer

126 mechanical arm control cabinet

127 calibration workstation

128 visual detection mark

129 mobile operation robot controller

130 image acquisition workstation.

Claims (9)

1. A large-scale space high-precision online calibration system of a mobile operation robot (109) comprises a measurement subsystem and a calibration compensation subsystem, wherein the mobile operation robot (109) comprises a mobile platform (110) and a mechanical arm (111),

characterized in that the measurement subsystem comprises a multi-view measurement device with a field of view covering the working space of the mobile robot (109), at least one group of local measurement devices (120) and a vehicle-mounted laser micrometer device arranged on the mobile platform (110), the calibration compensation subsystem comprises a mobile robot controller (129), a communication module connected with the measurement subsystem and a calibration workstation (127), wherein:

the multi-view measuring device comprises an infrared camera (116), an image acquisition workstation (130) connected with the infrared camera (116) and a reflective target ball associated with the mobile platform (110);

each of said local measuring devices (120) comprises a CCD camera (122) and a plurality of laser ranging sensors (121).

2. The online calibration system of claim 1, wherein:

arranging an array of infrared cameras (116) of different viewing angles above a workspace of the mobile handling robot (109);

the image acquisition workstation (130) is in communication connection with each infrared camera (116);

a plurality of the reflective target balls are arranged at the corners of the mobile platform (110).

3. The online calibration system of claim 1, wherein:

a plurality of laser ranging sensors (121) are spatially and triangularly distributed around the CCD camera (122) under the support of the clamp;

the shooting direction of the CCD camera (122) faces the motion area of the mobile operation robot (109).

4. The on-line calibration system as claimed in claim 1 or 3, wherein the external accessory device of the local measurement device (120) further comprises an equilateral triangular target (123), a supporting fixture (102) and a linear motion device, wherein the equilateral triangular target (123) is mounted at the end (113) of the mechanical arm of the mobile robot (109), and the local measurement device (120) is fixed on the motion stage of the linear motion device through the supporting fixture (102), so that the linear motion device can drive the local measurement device (120) to perform distance-controlled linear motion.

5. The on-line calibration system as recited in claim 4, wherein the linear motion device comprises a linear motor, a guide rail for guiding the linear motion of the motion stage, a grating sensor, and a motion driver connected to the linear motor and the grating sensor.

6. The online calibration system of claim 1, wherein:

the vehicle-mounted laser micrometer device comprises a double-shaft outer diameter micrometer (125) fixedly mounted on the movable platform (110) through a mounting support;

the working part of the double-shaft outer diameter micrometer (125) is in a plate shape, and a laser measuring area is reserved in the middle of the working part and used for detecting the outer diameter of a rod-column-shaped object inserted into the laser measuring area, so that a measuring basis is provided for the pose calibration of an end effector of an operating arm with rod-column characteristics.

7. The online calibration system according to claim 1 or 6, wherein:

the end (113) of the mechanical arm is provided with an equilateral triangle block as a target, the top points of the equilateral triangle blocks are respectively provided with target balls, and the center position of the equilateral triangle block is provided with a visual detection mark (128).

8. The online calibration system of claim 1, wherein:

the mobile operation robot controller (129) comprises an industrial motion controller, a memory and a motion control program of the mobile operation robot (109);

the calibration workstation (127) is connected to the mobile operating robot controller (129) via a communication module.

9. An on-line calibration system as claimed in claim 1, wherein the laser range finding sensor (121) is pre-calibrated by an off-line calibration apparatus comprising a laser tracker (101), one or more target balls associated with the laser tracker (101) and arranged at the end (113) of the robot arm, a rod (106) connected to the target ball and a laser tracker auxiliary measuring device Tmac (104).

Images