CN214954095U

CN214954095U - Accurate positioning device for laser of single line laser combination point

Info

Publication number: CN214954095U
Application number: CN202120916843.1U
Authority: CN
Inventors: 孟浩; 张建; 左其友; 胡雨辰
Original assignee: Shanghai Dajie Robot Technology Co ltd
Current assignee: Shanghai Dajie Robot Technology Co ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-11-30
Anticipated expiration: 2031-04-29

Abstract

The utility model provides an accurate positioning device of single line laser binding point laser, including single line laser radar, rotatory steering wheel, support, some laser sensor, arm and calibration board, rotatory steering wheel locate on the support, single line laser radar locate rotatory steering wheel on, some laser locate the arm end, the calibration board be used for the position relation to mark. The utility model discloses a device adopts the non-contact measurement method of single line laser radar, rotatory steering wheel and some laser, can obtain the three-dimensional coordinate of target object profile in on a large scale, reaches the purpose of accurate planning arm motion. In the positioning device of the utility model, each module can be independently controlled; in the motion process of the mechanical arm, only the steering engine needs to be controlled to rotate and read single-line laser radar and point laser data, the operation process is simple, and the implementation is easy.

Description

Accurate positioning device for laser of single line laser combination point

Technical Field

The utility model relates to a device of accurate target point three-dimensional coordinate of looking for in arm motion technical field.

Background

At present, in the process of planning a large-scale motion path of a mechanical arm, the three-dimensional coordinates of a far target point need to be known. The three-dimensional coordinates can be obtained through the multi-view camera, but the influence of external environment light on the camera is large, and the error of the three-dimensional coordinate point obtained when the distance is long is large. The three-dimensional coordinate can be obtained by scanning the target through the line structure light or the surface structure light sensor, but the line laser has a smaller visual field range and has poorer precision when the distance is longer. The target can be scanned by the multi-line laser radar to obtain the three-dimensional coordinate, but the cost of the multi-line laser radar is higher. The depth information of a single point can be obtained by point laser, but the three-dimensional coordinates of a target point are difficult to obtain, and the visual field range is small. Therefore, low-cost high-precision position positioning which can be widely applied to the market is still a technical difficulty.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can let the arm accurately track the device of target object profile often, the precision can reach the millimeter level.

In order to achieve the purpose, the utility model adopts the following technical proposal:

an apparatus for accurately positioning a laser of a single line laser junction, comprising: the laser calibration device comprises a single line laser radar, a rotary steering engine, a support, a point laser sensor, a mechanical arm and a calibration plate, wherein the rotary steering engine is arranged on the support, the single line laser radar is arranged on the rotary steering engine, point laser is arranged at the tail end of the mechanical arm, and the calibration plate is used for calibrating the position relation.

Furthermore, the single-line laser radar preferably has a scanning range of 0.05m to 10m and a scanning angle of-120 degrees to 120 degrees.

Furthermore, the rotary steering engine can rotate by 360 degrees, and the angular resolution is 0.25 degrees.

Furthermore, the measuring range of the point laser sensor is 0.1m-0.8 m.

Furthermore, the bracket is arranged above the target object when in use.

Further, the end of the robotic arm may be used to load various application tool heads.

The utility model has the advantages that:

1. the utility model provides an accurate positioning device of single line laser binding point laser adopts the non-contact measurement method of single line laser radar, rotatory steering wheel and some laser, can obtain the three-dimensional coordinate of target object profile in on a large scale, reaches the purpose of planning the arm motion.

2. The utility model discloses an accurate positioning device of single line laser binding point laser adopts single line laser radar to carry out the coarse location of target object, and the method that point laser carried out the accurate location easily obtains the accurate three-dimensional coordinate of target object, and the precision can reach the millimeter rank.

3. The utility model provides an accurate positioning device of single line laser binding point laser, every module all can independent control. In the motion process of the mechanical arm, only the steering engine needs to be controlled to rotate and read single-line laser radar and point laser data, and the control process is simple and easy to realize.

Embodiments of the present invention are illustrated in the following figures:

drawings

FIG. 1 is a schematic view of an embodiment of a device for accurately positioning a laser of a single line laser junction point.

FIG. 2 is a schematic diagram of calibration of the positional relationship between a single line laser radar and a steering engine system and a mechanical arm.

FIG. 3 is a schematic diagram of calibration of the positional relationship between the point laser sensor and the robot arm.

FIG. 4 is a schematic diagram of calibration of the positional relationship between the single line laser radar and the rotary steering engine.

Fig. 5 is a flowchart illustrating the operation of the single line laser combined with the point laser precise positioning device to position the target object 6 according to the embodiment.

Description of reference numerals:

1 single line laser radar, 2 rotary steering engines, 3 supports, 4-point laser sensor and 5 mechanical arms

6 target object, 7 calibration plate

Detailed Description

The specific embodiments described herein are merely illustrative of the principles of this patent and are not intended to limit the scope of the disclosure. It should be noted that, for convenience of description, only some structures related to the technical solution of the present disclosure are shown in the drawings, not all structures.

Before discussing exemplary embodiments in greater detail, it should be noted that the structures of the device components and/or the modules themselves mentioned in the embodiments, if not specified in detail, are those that can be understood or commercially available to those skilled in the art in light of the present disclosure.

As shown in fig. 1-4, the present embodiment provides a device for accurately positioning a laser of a single laser bonding point, including: the laser calibration device comprises a single-line laser radar 1, a rotary steering engine 2, a support 3, a point laser sensor 4, a mechanical arm 5 and a calibration plate 7, wherein the rotary steering engine 2 is arranged on the support 3, the single-line laser radar 1 is arranged on the rotary steering engine 2, the point laser 4 is arranged at the tail end of the mechanical arm 5, and the calibration plate 7 is used for calibrating the position relation.

The single-line laser radar preferably has a scanning range of 0.05-10 m and a scanning angle of-120 °

-120 ° single line lidar.

The rotary steering engine 2 can rotate 360 degrees. A rotary steering engine with an angular resolution of 0.25 ° is preferred.

The point laser sensor preferably selects point laser with the measuring range of 0.1m-0.8 m.

The bracket is arranged above the target object when in use. When the tail end of the mechanical arm 1 is used, various application tool heads are loaded and replaced according to requirements.

With the wood block 6 as a target object, as shown in fig. 1, the precise positioning device of the single-line laser combined point laser provided by this embodiment is applied to guide the mechanical arm to perform path planning. The single-line laser radar is matched with the steering engine to measure the outline information of the long-distance target object wood block 6, and the point laser sensor measures the accurate position information of the target object wood block 6, so that the mechanical arm is guided to perform accurate path planning.

Referring to fig. 5, the operation steps are as follows:

s1, calibrating the position relation between the single-line laser radar 1 and the rotary steering engine 2;

s2, calibrating the position relation between the single-line laser radar and the steering engine system and the mechanical arm 5;

s3, calibrating the position relation between the point laser sensor 4 and the mechanical arm 5;

s4, rotating the steering engine 2 to drive the single-line laser radar 1 to scan the wood block 6 to obtain the contour point cloud of the wood block 6;

s5, processing the contour point cloud of the wood block 6 to obtain the coordinate P of 8 corner points of the wood block 6 under the coordinate system of the mechanical arm 5₁～P₈；

S6-based on P₁～P₈The mechanical arm 5 drives the point laser 4 to move to a certain plane of the wood block 6;

s7, the point laser 4 measures three or more non-collinear points on the plane and converts the three or more non-collinear points into a point P under the coordinate system of the mechanical arm 5_b1～P_bn；

S8 pair P_b1～P_bnPerforming plane fitting to obtain a plane equation of Ax + By + Cz + D as 0;

s9, repeating the steps (7) and (8) until plane equations of all planes on the wood block 6 are obtained;

s10, calculating the intersection points among all planes to obtain the accurate three-dimensional coordinates of all corner points of the wood block 6;

and S11, the mechanical arm 5 obtains the position of the wood block 6 under the coordinate system of the mechanical arm 5 according to the three-dimensional coordinates of the corner point of the wood block 6, and plans the walking path to be completed.

The above description is provided for the purpose of illustration, but the invention is not limited to the embodiments described, and those skilled in the art can make various equivalent combinations or substitutions without departing from the spirit of the invention, and these equivalent combinations or substitutions are included in the scope of the claims of the present application.

Claims

1. The utility model provides a single line laser binding point laser's accurate positioning device which characterized in that: the device comprises a single-line laser radar (1), a rotary steering engine (2), a support (3), a point laser sensor (4), a mechanical arm (5) and a calibration plate (7), wherein the rotary steering engine (2) is arranged on the support (3), the single-line laser radar (1) is arranged on the rotary steering engine (2), the point laser sensor (4) is arranged at the tail end of the mechanical arm (5), and the calibration plate (7) is used for calibrating the position relation.

2. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the scanning range of the single-line laser radar is 0.05m-10m, and the scanning angle is-120 degrees.

3. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the rotary steering engine (2) can rotate for 360 degrees.

4. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 3, wherein: the angular resolution of the rotary steering engine (2) is 0.25 degrees.

5. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the measuring range of the point laser sensor is 0.1m-0.8 m.

6. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the bracket is arranged above the target object when in use.

7. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the tail end of the mechanical arm (5) loads various application tool heads deliberately when in use.

8. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 1, wherein: the scanning range of the single-line laser radar is 0.05m-10m, and the scanning angle is-120 degrees; the rotary steering engine (2) can rotate for 360 degrees, and the angular resolution is 0.25 degrees; the measuring range of the point laser sensor is 0.1m-0.8 m.

9. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 8, wherein: the bracket is arranged above the target object when in use.

10. The apparatus for fine positioning of a single line laser bonding point laser as claimed in claim 8, wherein: the tail end of the mechanical arm (5) loads various application tool heads deliberately when in use.