KR19980027337A - Position and attitude measuring device in 3D space and its method - Google Patents

Abstract

The present invention relates to an apparatus and method for measuring position and attitude in three-dimensional space, and in particular, a rotating disk to which a smaller number of sensors are attached and rotated than the measurement data; A driving source for driving the rotating disc and primarily moving to a desired position; And it is characterized in that it is provided with a precision positioning unit for fixing to the desired position in the second after the first movement.

Therefore, the present invention reduces the production cost and increases the price competitiveness by reducing the number of expensive laser sensors installed in the apparatus for measuring the position and attitude in the conventional three-dimensional space.

Description

Position and attitude measuring device in 3D space and its method

The present invention relates to an apparatus and method for measuring position and attitude in three-dimensional space, in particular, a plurality of measuring position data by moving a plurality of measuring points in the same plane of the object to be measured to each measuring point as one sensor The present invention relates to an apparatus and method for measuring position and attitude in three-dimensional space that can measure position and attitude in three-dimensional space by sensing.

In general, the three-dimensional position measuring device has a non-contact laser sensor corresponding to the number of measurement data, and the attachment of many laser sensors is required for more accurate measurement. However, since the laser sensor is an expensive device, it is an economical device capable of measuring the same function and data even with a small number of sensors in terms of ease of use, reliability, and economics, that is, significantly reducing the production cost by reducing the number of sensors. There is an urgent need for the development of such a device.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the method of measuring the position and attitude | position of the rectangular parallelepiped in three-dimensional space by a prior art, Comprising: It consists of three rectangular faces and one rectangular parallelepiped on spatial coordinates.

On the other hand, the coordinates of the three rectangular planes represent the sensor position of the measuring device, the first, second, third sensor attached to the xy plane of the xyz coordinate axis of the measuring device, and the first attached to the xz plane of the measuring device A fourth sensor, a fifth sensor, and a sixth sensor attached to the yz plane.

In addition, the one rectangular parallelepiped is an object to be measured in three-dimensional space, three measuring points are set on the xy plane of the rectangular parallelepiped, two measuring points are set on the xz plane, and one measuring point is set on the yz plane. It consists of a set structure.

When the rectangular parallelepiped object enters the measuring device configured as described above, the fixed six sensors (first to sixth sensors) attached to each surface are position data (z ₁ , z of six measuring points of the rectangular parallelepiped). ₂ , z ₃ , y ₃ , y ₄ , x ₅ ). And from the geometries of 6 spatial coordinates from the known position coordinates and measured data of the sensors, the center position of the cuboid and the posture of the cuboid are calculated from Equations 1 and 2, Position and posture can be measured.

[Equation 1] Center position (P _x , P _y , P _z )

,

w, u, v = length of each side of the measuring object (cuboid)

Calculation of posture (α, β, γ)

α = cos ^-1 M, β = cos- ¹ N, γ = cos- ¹ L

(Where, α = rotation angle on x axis, β = rotation angle on y axis, γ = rotation angle on z axis)

As described above, the method of measuring the central position and posture of the cuboids of Equations 1 and 2 has been found to be convenient and reliable in automation, but the six sensors installed in the apparatus for measuring the position and posture in three dimensions are measured. To measure the six data of an object, expensive non-contact sensors had to be used.

Therefore, the sensor of the conventional three-dimensional position measuring device is installed in the measuring device as many as the number of measuring points of the object to be measured, the production cost is increased due to the expensive sensor installed in the measuring device, thereby making it competitive in terms of price. There was this weakening problem.

SUMMARY OF THE INVENTION In order to solve the above problems of the prior art, an object of the present invention is to sense a plurality of measurement position data by moving a plurality of measurement points in the same plane of a measurement object as one sensor to each measurement point. A device and method for measuring position and attitude in three-dimensional space that can measure the position and attitude in the dimensional space.

In order to achieve the above object, the apparatus of the present invention includes a rotating disk to which a smaller number of sensors are attached and rotated than measured data; A driving source for driving the rotating disc and primarily moving to a desired position; And it is characterized in that it is provided with a precision positioning unit for fixing to the desired position in the second after the first movement.

In addition, the process of operating the three-dimensional position and posture measuring device according to the present invention, the first step of setting the measurement reference point of the sensor; A second step of correcting each coordinate system value at which the sensor is located and the coordinate system value at the position where the sensor is fixed after performing the first step; A third step of rotating the first sensor of the xy plane of the measuring device at a predetermined angle after performing the first and second steps to a position corresponding thereto; A fourth step of fixing each measurement position by the precision positioning unit to the position moved in the third step, and measuring a spatial coordinate value at the fixed position; A fifth step of moving the second sensor on the xz plane at a predetermined angle and moving to the corresponding positions after performing the fourth step; A sixth step of fixing the measurement position by the precision positioning unit, and measuring the spatial coordinate value at the fixed position, in the fifth step; A seventh step of measuring a predetermined position with a third sensor of the yz plane after performing the sixth step; And an eighth step of measuring the position and posture of the robot by substituting a numerical value obtained from the third step to the seventh step into a predetermined equation.

1 is a view showing a method for measuring the position and posture of a rectangular parallelepiped attached to a three-dimensional space according to the prior art.

2 is a view showing a device for measuring the position and attitude in the three-dimensional space according to an embodiment of the present invention, Figure 2a is a yz axis cross-sectional view of the measuring device, Figure 2b is a cross-sectional view of the xz axis of the measuring device.

Figure 3 is a view showing a method for measuring the position and attitude of the cuboid in the three-dimensional space with the measuring device of Figure 2 according to the present invention.

4 is a view showing correction of the measurement reference point and the sensor position of the device for measuring the position and attitude in the three-dimensional space according to the present invention, Figure 4a is a view showing the measurement reference point correction, Figure 4b is a sensor position correction The figure shown.

5 is a flowchart illustrating a process of measuring the position and attitude in the three-dimensional space according to the present invention.

Explanation of symbols on the main parts of the drawings

10: rotating disc. 20 sensor.

30: drive source. 40: Precision positioning part. 50: air cylinder.

Hereinafter, with reference to the accompanying drawings will be described in more detail the present invention.

2 is a view showing a device for measuring the position and attitude in the three-dimensional space according to an embodiment of the present invention, Figure 2a is a yz axis cross-sectional view of the measuring device, Figure 2b is a cross-sectional view of the xz axis of the measuring device. The measuring device includes a rotating disc 10, a sensor 20, a drive source 30, a precision positioning unit 40, and an air cylinder 50.

On the other hand, the rotation disc 10 is configured to be attached and rotated less than the number of sensors 20 than the measurement data, the drive source 30 also drives the rotation disc 10 and move to the desired position primarily In addition, the precision positioning unit 40 is provided with a tapered pin and a hole, and is configured to fix the desired position to the second desired position after the first movement, and the air cylinder 50 is the precision position It is comprised so that the determination part 40 may be driven.

That is, when a rectangular parallelepiped object enters the space (space coordinates) of the measuring device on the three-dimensional space, the sensor 20 attached to the rotating disc 10 is rotated to the primary position, and the 1 By moving the sensor 20 moved to the vehicle position to the secondary position by the precision positioning unit 40, it is possible to measure the position and posture in three-dimensional space by measuring several places on the same plane of the rectangular parallelepiped with one sensor. It is.

3 is a view showing a method of measuring the position and posture of a rectangular parallelepiped in a three-dimensional space by the measuring apparatus of FIG. 2 according to the present invention, and is composed of three rectangular parallelepipeds and one rectangular parallelepiped in spatial coordinates.

On the other hand, the three perpendicular planes represent the coordinates of the measuring device, the first sensor is attached to the xy plane of the xyz coordinate axis of the measuring device, the second sensor is attached to the xz plane of the measuring device, and attached to the yz plane It consists of a third sensor.

In addition, the one rectangular parallelepiped is an object to be measured in three-dimensional space, three measuring points are set on the xy plane of the rectangular parallelepiped, two measuring points are set on the xz plane, and one measuring point is set on the yz plane. It consists of a set structure.

When a rectangular parallelepiped object enters the measuring device configured as described above, the three sensors installed on the rotating disc rotate by a predetermined angle to read the position data of each of the six measuring points of the rectangular parallelepiped, and also derive from spatial geometry. Next, by calculating the central position of the rectangular parallelepiped and the posture of the rectangular parallelepiped from Equation 3 and Equation 4, the position and posture in the three-dimensional space can be measured.

[Equation 3] Measurement of the center position (Px, Py, Pz).

w, u, v = length of each side of the measuring object (cuboid).

x ₁ = x _c1 + a · cos1 ₁ , y ₁ = y _c1 + a · sin1 ₁

x ₂ = x _c1 + a · cos1 ₂ , y ₂ = y _c1 + a · sin1 ₂

_{x 3 = x c1 + a ·} cos1 3, y 3 = y c1 + a · sin1 3

= _c2 + b · x ₄ x cos1 _4, z z ₄ = _c2 + b · sin1 ₄

x ₅ = x _c2 + b · cos1 ₅ , z ₅ = z _c2 + b · sin1 ₅ )

Equation 4 Calculation of posture (α, β, γ)

α = cos ^-1 M, β = cos ^-1 N, γ = cos ^-1 L

(Where, α = rotation angle on x axis, β = rotation angle on y axis, γ = rotation angle on z axis)

4 is a view showing correction of the measurement reference point and the sensor position of the device for measuring the position and attitude in the three-dimensional space according to the present invention, Figure 4a is a view showing the measurement reference point correction, Figure 4b is a sensor position correction The figure shown.

Before using the measuring device of FIG. 3, the first measuring point of the measuring object fixed by the precision positioning unit is first rotated at a predetermined angle by the disk 10 to which the sensor 20 is attached at each measurement reference plane. The measurement of ((x ₁ , y ₁ , z ₁ ) to (x ₅ , y ₅ , z ₅ )) should be made first. That is, first, the measurement reference point (zero point) of the sensor 20 is set (FIG. 4A), and the coordinate system value of the position where each sensor is fixed is performed by performing the coordinate system value and each reference plane on which the sensor 20 is located. Correction is performed as shown in the equation (Fig. 4B).

[Equation 5] Sensor Position Correction.

X1 = Z1 / tanΦ (where Z1; measuring displacement, Φ; angle of inclination of jig)

FIG. 5 is a flowchart illustrating a process of measuring a position and a posture in a three-dimensional space according to the present invention, which will be described with reference to FIGS. 2, 3, 4, and FIG.

Before using the measuring apparatus of FIG. 3, a first step of setting a measurement reference point (zero point) of the sensor 20 is first performed as shown in FIG. 4 (S1), and after setting the reference point, the angle at which the sensor is positioned. A second step of correcting the coordinate system value and the coordinate system value at the position where the sensor is fixed is performed (S2).

In addition, after performing the first and second steps, the first sensor of the xy plane of the measuring device is rotated by the first, second, and third angles θ ₁ , θ ₂ , θ _3, respectively. Performing a third step of moving to the positions of P1 (x ₁ , y ₁ ), P2 (x ₂ , y ₂ ), and P3 (x ₃ , y ₃ ) of (S3), and further In step S4, the respective positions are fixed by the positioning unit, and the spatial coordinates are measured at the fixed positions.

After performing the fourth step, the second sensor on the xz plane is rotated at the _fourth and fifth angles θ ₄ and θ _5, respectively, to correspond to predetermined P4 points (x ₄ , z ₄ ) and P5 points. A fifth step of moving to the position of (x ₅ , z ₅ ) is performed (S5), and the measurement position is fixed to the position moved in the fifth step by the positioning unit, and the spatial coordinates at the fixed position A sixth step of measuring the value is performed (S6).

After performing the sixth step, a seventh step of measuring a predetermined P6 (y ₆ , z ₆ ) position by the third sensor of the yz plane is performed (S7), and in the third step (S3) The eighth step of measuring the position and attitude in the three-dimensional space is performed by substituting the numerical values obtained up to the seventh step S7 into the predetermined equations (Equations 3 and 4 of FIG. 3) (S8).

Therefore, as described above, as the number of expensive laser sensors installed in the apparatus for measuring the position and attitude in the three-dimensional space of the present invention is reduced, the production cost is lowered and the price competitiveness is increased.

Claims (6)

A rotating disk to which a smaller number of sensors are attached and rotated than the measurement data; A driving source for driving the rotating disc and primarily moving to a desired position; And a precision positioning unit configured to fix the first position to the desired position after the first movement. The apparatus of claim 1, wherein the position and pose measuring device in the three-dimensional space is used for measuring and testing the position and pose of the robot end effect. A first step of setting a measurement reference point of the sensor; A second step of correcting each coordinate system value at which the sensor is located and the coordinate system value at the position where the sensor is fixed after performing the first step; A third step of rotating the first sensor of the xy plane of the measuring device at a predetermined angle after performing the first and second steps to a position corresponding thereto; A fourth step of fixing each measurement position by the positioning unit to the position moved in the third step, and measuring a spatial coordinate value at the fixed position; A fifth step of rotating the second sensor of the xz plane at a predetermined angle and moving it to a position corresponding thereto after performing the fourth step; A sixth step of fixing the measurement position by the positioning unit to the position moved in the fifth step, and measuring a spatial coordinate value at the fixed position; A seventh step of measuring a predetermined position with a third sensor of the yz plane after performing the sixth step; And an eighth step of measuring a position and a posture in a three-dimensional space by substituting a numerical value obtained from the third step to the seventh step into a predetermined equation. 4. The method of claim 3, wherein the measurement of the eighth step is obtained by the following equation. [Formula] Measurement of the center position (Px, Py, Pz). w, u, v = length of each side of the measuring object (cuboid). x ₁ = x _c1 + a · cos1 ₁ , y ₁ = y _c1 + a · sin1 ₁ x ₂ = x _c1 + a · cos1 ₂ , y ₂ = y _c1 + a · sin1 _{2 x 3 = x c1 + a ·} cos1 3, y 3 = y c1 + a · sin1 3 = _c2 + b · x ₄ x cos1 _4, z z ₄ = _c2 + b · sin1 ₄ x ₅ = x _c2 + b · cos1 ₅ , z ₅ = z _c2 + b · sin1 ₅ ) 4. The method of claim 3, wherein the measurement of the eighth step is obtained by the following equation. [Formula] Posture Measurement α = cos ^-1 M, β = cos ^-1 N, γ = cos ^-1 L (Where α = rotation angle on x axis, β = rotation angle on y axis, γ = rotation angle on z axis) 4. The method of claim 3, wherein the position and pose measurement method in the three-dimensional space is used for the position and pose measurement and testing of the robot end effect.