CN1512134A - Contact object pose measurement device - Google Patents
Contact object pose measurement device Download PDFInfo
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- CN1512134A CN1512134A CNA021599203A CN02159920A CN1512134A CN 1512134 A CN1512134 A CN 1512134A CN A021599203 A CNA021599203 A CN A021599203A CN 02159920 A CN02159920 A CN 02159920A CN 1512134 A CN1512134 A CN 1512134A
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Abstract
本发明属于精密自动测量装置，特别涉及机器人臂、六维腕力传感和弹性探针来检测被测工件表面几何外形或物体的位姿。本测量装置取代了传统的双目视觉检测方法，其技术方案是：通过探针与物体表面接触点的受力信息获取物体上的点在工具坐标系中的理想坐标，进而通过机器人运动学由坐标变换求得该点在机器人基坐标系中的坐标，然后通过六维腕力传感器的信息控制机器人末端的运动，使探针与被测表面良好接触并移动，测得物体表面一系列点的位置坐标信息，从而确定物体在机器人基坐标系中的位姿或表面几何外形。也可以借助于单个摄象机观测物体表面信息，再用探针测物体表面特征点的位置信息，从而能够快速生成被测表面的几何形状或测得物体的位姿。本工件表面几何形状测量或物体位姿检测方法简单易行，计算量小，精度较高。
The invention belongs to a precision automatic measuring device, in particular to a robot arm, a six-dimensional wrist force sensor and an elastic probe to detect the surface geometry of a workpiece or the pose of an object. This measurement device replaces the traditional binocular vision detection method. Its technical solution is: to obtain the ideal coordinates of the points on the object in the tool coordinate system through the force information of the contact point between the probe and the object surface, and then through the robot kinematics by The coordinates of the point in the robot's base coordinate system are obtained by coordinate transformation, and then the movement of the end of the robot is controlled by the information of the six-dimensional wrist force sensor, so that the probe is in good contact with the measured surface and moves, and the positions of a series of points on the surface of the object are measured Coordinate information, so as to determine the pose or surface geometry of the object in the robot's base coordinate system. It is also possible to observe the surface information of the object with the help of a single camera, and then use the probe to measure the position information of the feature points on the object surface, so that the geometric shape of the measured surface can be quickly generated or the pose of the object can be measured. The method for measuring the geometric shape of the surface of the workpiece or detecting the position and posture of the object is simple and easy, with small calculation amount and high precision.
Description
Technical field
The present invention is a kind of system and its implementation of carrying out the object pose detection by robot, sextuple wrist force sensor, elastic probe, computing machine.It relates to subjects such as robotics, the mechanics of materials, computing machine.
Background technology
Robotics is widely used at industrial circle, and for example assembling is automatically welded automatically, sprayed paint, the inspection of mechanical component and measurement etc.In these were used, the measurement of complex-curved workpiece and the detection of object pose were the important prerequisites that realizes automated job.Existing measurement and detection method generally all are 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 new object pose detection or the method for measurement of curved surface.Move by the control robot arm, the elastic probe that is contained in the arm end is well contacted with measured surface, only need the information of the contact force of collection wrist force sensor, stressed according to elastic probe and be out of shape mapping relations, carry out data processing through computing machine, just can realize the measurement of surface of the work and the detection of object pose.Content comprises: the object pose detection system that (1) is made up of robot, sextuple wrist force sensor, elastic probe and computing machine.(2) proposed sextuple wrist force sensor and elastic probe combination, utilized sextuple wrist force sensor information to determine the algorithm of surface of the work geometric shape or object pose and designed corresponding process software.
The technical solution adopted for the present invention to solve the technical problems is: a kind of contact type object pose measuring apparatus, form by robot, sensor, probe, computing machine, sextuple wrist force sensor is installed in the end of robot arm, elastic probe is installed on the sextuple wrist force sensor, sextuple wrist force sensor is linked to each other with force information capture card in the computing machine by data line, and robot is linked to each other with computing machine by control bus.
Described measurement mechanism is detected or the required information acquisition unit of measurement of curved surface by a sextuple wrist force sensor and an elastic probe constituent posture.
Described measurement mechanism, the pose of inspected object or curve form only need be gathered the sextuple contact force information of wrist force sensor, obtain the position of contact in tool coordinates system on probe end and the body surface by the mapping relations of sextuple contact force and probe deformations, and then obtain the spatial positional information of check point in basis coordinates system of robot on the object by coordinate transform.
Described measurement mechanism by the position coordinates that detects the body surface series of points that obtains, obtains the pose of testee or the geometric configuration on surface.
Described measurement mechanism can obtain the testee surface information at CCD gamma camera of the parallel installation of robot wrist, and the depth information of adding the resulting unique point of probe can improve the efficient of detection.
Described measurement mechanism, probe are the three dimensional elasticity rigid materials, contact with the testee surface flexible.Well contact with measured surface and move according to the sextuple contact force information control probe of wrist force sensor by the robots arm, realize detecting automatically.
Described measurement mechanism can be measured the object surfaces shape based on curved surface.
As shown in Figure 1, sextuple wrist force sensor 1 and elastic probe 2 are fixed on the wrist and the end of robot 5 successively.The information of sextuple wrist force sensor 1 acquisition probe and testee 3 contact forces, and pass in the computing machine 6 by data line 7, by processing to force information, as shown in Figure 2, can obtain the elastic deformation of probe end, thereby can determine that 1 P on the object is a coordinate among the OXYZ in tool coordinates, this coordinate can finally be learned in the basis coordinates system that be transformed into robot by manipulator motion.For improving detection speed, generally can a cameras view be installed by means of macroscopical place or wrist, only need the positional information of the unique point of probe measurement body surface, just can obtain object in the robot basis coordinates is attitude or obtain its surperficial geometric shape.
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 be subjected to force information can determine the position of spatial point with probe contact.
Compare with binocular vision, the present invention has fundamentally avoided because caused uncertainty of images match and error.After contact stressed determined, its coordinate in tool coordinates system 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.The present invention compares more simple and practical with other measurement with detection method.
Description of drawings
Fig. 1: object pose measuring system structure diagram
Fig. 2: detect elastic probe contacts caused distortion with testee principles illustrated
Embodiment
As shown in Figure 1, sextuple wrist force sensor 1 and elastic probe 2 are fixed on the wrist and sextuple wrist force sensor 1 end of robot 5 successively.Testee 3 is placed on the worktable 4, the information of sextuple wrist force sensor 1 acquisition probe and testee 3 contact forces, and pass in the computing machine 6 by data line 7, by processing, can obtain probe at x, y to force information, z three is axial stressed, and around three moment.As shown in Figure 2, AO is the position that probe does not deform, the position after AB deforms when being the probe actual measurement.Physical characteristics according to probe, can obtain probe end prolong three elastic deformation Δ x, Δ y, Δ z, with the angle α of probe end tangent line and three coordinate axis, beta, gamma, thereby can determine that 1 P on the object is a coordinate among the OXYZ in tool coordinates, this coordinate can finally be learned in the basis coordinates system that be transformed into robot by manipulator motion.For improving detection speed, generally can a cameras view be installed by means of macroscopical place or wrist, only need the positional information of the unique point of probe measurement body surface, just can obtain object in the robot basis coordinates is attitude or obtain its surperficial geometric shape.
The invention belongs to accurate self-operated measuring unit, particularly robots arm, sextuple wrist power sensing and elastic probe detect the pose of measured workpiece surface geometry profile or object.This measurement mechanism has replaced traditional binocular vision detection method, its technical scheme is: the force information that is subjected to by probe and body surface contact point obtains the ideal coordinates of point in tool coordinates system on the object, and then try to achieve this coordinate in robot basis coordinates system by coordinate transform by the robot kinematics, the motion of information Control robot end by sextuple wrist force sensor then, probe is well contacted with measured surface and move, record the location coordinate information of body surface series of points, thereby determine pose or the surface geometry profile of object in basis coordinates system of robot.Also can be by means of single gamma camera observed objects surface information, survey the positional information of body surface unique point again with probe, thereby can generate the geometric configuration of measured surface fast or record the pose of object.This surface of the work geometric shape measuring or object pose detection method are simple, and calculated amount is little, and precision is higher.
Claims (7)
1. contact type object pose measuring apparatus, form by robot, sensor, probe, computing machine, it is characterized in that: sextuple wrist force sensor (1) is installed in the end of robot (5) arm, elastic probe (2) is installed on the sextuple wrist force sensor (1), sextuple wrist force sensor (1) is linked to each other with force information capture card in the computing machine (6) by data line (7), and robot (5) is linked to each other with computing machine (6) by control bus (8).
2. measurement mechanism according to claim 1 is characterized in that: detected or the required information acquisition unit of measurement of curved surface by a sextuple wrist force sensor (1) and an elastic probe (2) constituent posture.
3. measurement mechanism according to claim 1, it is characterized in that: the pose of inspected object or curve form only need be gathered the sextuple contact force information of wrist force sensor, obtain the position of contact in tool coordinates system on probe end and the body surface by the mapping relations of sextuple contact force and probe deformations, and then obtain the spatial positional information of check point in basis coordinates system of robot on the object by coordinate transform.
4. according to claim 1,3 described measurement mechanisms, it is characterized in that:, obtain the pose of testee or the geometric configuration on surface by the position coordinates that detects the body surface series of points that obtains.
5. measurement mechanism according to claim 1 is characterized in that: can obtain the testee surface information at CCD gamma camera of the parallel installation of robot wrist, the depth information of adding the resulting unique point of probe can improve the efficient of detection.
6. measurement mechanism according to claim 1 is characterized in that: probe is the three dimensional elasticity rigid material, contacts with the testee surface flexible.Well contact with measured surface and move according to the sextuple contact force information control probe of wrist force sensor by the robots arm, realize detecting automatically.
7. measurement mechanism according to claim 1 is characterized in that: can measure the object surfaces shape based on curved surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021599203A CN1203290C (en) | 2002-12-30 | 2002-12-30 | Contact type object position and gesture measurer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021599203A CN1203290C (en) | 2002-12-30 | 2002-12-30 | Contact type object position and gesture measurer |
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| CN1512134A true CN1512134A (en) | 2004-07-14 |
| CN1203290C CN1203290C (en) | 2005-05-25 |
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| CNB021599203A Expired - Fee Related CN1203290C (en) | 2002-12-30 | 2002-12-30 | Contact type object position and gesture measurer |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447528C (en) * | 2006-05-31 | 2008-12-31 | 中国科学院沈阳自动化研究所 | Pose measuring plane sensor |
| CN100449270C (en) * | 2007-02-08 | 2009-01-07 | 上海交通大学 | Multi-node Tree Structure Artificial Whiskers Proximity Sensing Unit |
| CN100501315C (en) * | 2006-01-06 | 2009-06-17 | 鸿富锦精密工业（深圳）有限公司 | A Surface Profile Detection Method |
| CN102338624A (en) * | 2010-07-19 | 2012-02-01 | 鸿富锦精密工业（深圳）有限公司 | System and method for testing object by using mechanical arm |
| CN103196415A (en) * | 2013-03-27 | 2013-07-10 | 大连四达高技术发展有限公司 | Digital surface normal measurement system |
| CN105651223A (en) * | 2016-03-02 | 2016-06-08 | 陈廷 | Building material height measuring instrument and measuring method |
| CN106182001A (en) * | 2016-07-27 | 2016-12-07 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
| CN107274368A (en) * | 2017-06-16 | 2017-10-20 | 大连交通大学 | Compatible vision processing system and method |
| CN108469240A (en) * | 2016-03-02 | 2018-08-31 | 赵红艳 | Length measuring instrument and measurement method based on power electricity conversion sensor |
| CN108908120A (en) * | 2018-08-07 | 2018-11-30 | 东南大学 | Robot grinding device and polishing process based on six-dimension force sensor and binocular vision |
| CN108955629A (en) * | 2018-08-03 | 2018-12-07 | 中国电子科技集团公司第三十八研究所 | A kind of antenna attitude accuracy measurement system and measurement method |
| CN109432752A (en) * | 2017-07-03 | 2019-03-08 | 罗继伟 | A kind of perimeter security appraisal procedure for ice and snow sports |
| CN109902675A (en) * | 2018-09-17 | 2019-06-18 | 华为技术有限公司 | The method and apparatus of the pose acquisition methods of object, scene reconstruction |
| CN112197676A (en) * | 2020-10-14 | 2021-01-08 | 同济大学 | Method, device, computer equipment and storage medium for acquiring object surface information |
| CN112297035A (en) * | 2020-11-24 | 2021-02-02 | 武汉大学苏州研究院 | A six-dimensional control device for B ultrasonic robot |
| CN112325775A (en) * | 2020-11-03 | 2021-02-05 | 北京卫星环境工程研究所 | Geometric measurement device and method for special-shaped curved surface of aircraft |
| TWI721895B (en) * | 2020-05-27 | 2021-03-11 | 新代科技股份有限公司 | Robot arm adjustment method and the adjustment system thereof |
| CN112936256A (en) * | 2019-11-26 | 2021-06-11 | 发那科株式会社 | Coordinate system setting system and coordinate system setting method |
| CN113195173A (en) * | 2018-12-19 | 2021-07-30 | 3M创新有限公司 | Automated surface preparation system |
| CN113701661A (en) * | 2020-05-20 | 2021-11-26 | 北京振兴计量测试研究所 | Three-dimensional shape measuring method and device |
| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
-
2002
- 2002-12-30 CN CNB021599203A patent/CN1203290C/en not_active Expired - Fee Related
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100501315C (en) * | 2006-01-06 | 2009-06-17 | 鸿富锦精密工业（深圳）有限公司 | A Surface Profile Detection Method |
| CN100447528C (en) * | 2006-05-31 | 2008-12-31 | 中国科学院沈阳自动化研究所 | Pose measuring plane sensor |
| CN100449270C (en) * | 2007-02-08 | 2009-01-07 | 上海交通大学 | Multi-node Tree Structure Artificial Whiskers Proximity Sensing Unit |
| CN102338624A (en) * | 2010-07-19 | 2012-02-01 | 鸿富锦精密工业（深圳）有限公司 | System and method for testing object by using mechanical arm |
| CN102338624B (en) * | 2010-07-19 | 2014-07-09 | 鸿富锦精密工业（深圳）有限公司 | System and method for testing object by using mechanical arm |
| CN103196415A (en) * | 2013-03-27 | 2013-07-10 | 大连四达高技术发展有限公司 | Digital surface normal measurement system |
| CN105651223A (en) * | 2016-03-02 | 2016-06-08 | 陈廷 | Building material height measuring instrument and measuring method |
| CN108469240A (en) * | 2016-03-02 | 2018-08-31 | 赵红艳 | Length measuring instrument and measurement method based on power electricity conversion sensor |
| CN108507514A (en) * | 2016-03-02 | 2018-09-07 | 张远程 | Length measuring instrument and measurement method based on power electricity conversion sensor |
| CN106182001A (en) * | 2016-07-27 | 2016-12-07 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
| CN106182001B (en) * | 2016-07-27 | 2018-11-23 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
| CN107274368A (en) * | 2017-06-16 | 2017-10-20 | 大连交通大学 | Compatible vision processing system and method |
| CN107274368B (en) * | 2017-06-16 | 2019-11-22 | 大连交通大学 | Compatible vision processing system and method |
| CN109432752A (en) * | 2017-07-03 | 2019-03-08 | 罗继伟 | A kind of perimeter security appraisal procedure for ice and snow sports |
| CN108955629B (en) * | 2018-08-03 | 2020-09-15 | 中国电子科技集团公司第三十八研究所 | An antenna attitude accuracy measurement system and measurement method |
| CN108955629A (en) * | 2018-08-03 | 2018-12-07 | 中国电子科技集团公司第三十八研究所 | A kind of antenna attitude accuracy measurement system and measurement method |
| CN108908120A (en) * | 2018-08-07 | 2018-11-30 | 东南大学 | Robot grinding device and polishing process based on six-dimension force sensor and binocular vision |
| CN109902675B (en) * | 2018-09-17 | 2021-05-04 | 华为技术有限公司 | Object pose acquisition method, scene reconstruction method and device |
| CN109902675A (en) * | 2018-09-17 | 2019-06-18 | 华为技术有限公司 | The method and apparatus of the pose acquisition methods of object, scene reconstruction |
| CN113195173A (en) * | 2018-12-19 | 2021-07-30 | 3M创新有限公司 | Automated surface preparation system |
| CN112936256A (en) * | 2019-11-26 | 2021-06-11 | 发那科株式会社 | Coordinate system setting system and coordinate system setting method |
| CN113701661A (en) * | 2020-05-20 | 2021-11-26 | 北京振兴计量测试研究所 | Three-dimensional shape measuring method and device |
| TWI721895B (en) * | 2020-05-27 | 2021-03-11 | 新代科技股份有限公司 | Robot arm adjustment method and the adjustment system thereof |
| CN112197676A (en) * | 2020-10-14 | 2021-01-08 | 同济大学 | Method, device, computer equipment and storage medium for acquiring object surface information |
| CN112197676B (en) * | 2020-10-14 | 2023-05-23 | 同济大学 | Object surface information acquisition method, device, computer equipment and storage medium |
| CN112325775A (en) * | 2020-11-03 | 2021-02-05 | 北京卫星环境工程研究所 | Geometric measurement device and method for special-shaped curved surface of aircraft |
| CN112325775B (en) * | 2020-11-03 | 2021-07-06 | 北京卫星环境工程研究所 | Geometric measurement device and method for special-shaped curved surface of aircraft |
| CN112297035A (en) * | 2020-11-24 | 2021-02-02 | 武汉大学苏州研究院 | A six-dimensional control device for B ultrasonic robot |
| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
| CN115229806B (en) * | 2022-09-21 | 2023-03-03 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
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