CN116294987B - Coordinate conversion method and system in automatic measurement polishing system with double robots - Google Patents
Coordinate conversion method and system in automatic measurement polishing system with double robots Download PDFInfo
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- 238000005498 polishing Methods 0.000 title claims abstract description 170
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
- B24B49/045—Specially adapted gauging instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The application discloses a coordinate conversion method and a system in a double-robot automatic measurement polishing system, wherein the method comprises the following steps: the measuring robot scans at least three target characteristic points which are not collinear by using a structured light scanner, and determines the conversion relation between a target coordinate system and a measuring coordinate system of the structured light scanner; the tail end of the polishing robot is additionally provided with a probe, the probe touches the at least three target characteristic points which are not collinear, and the conversion relation between a target coordinate system and a base coordinate system of the polishing robot is determined; obtaining a conversion relation between a grinding head tool coordinate system and a grinding robot tail end coordinate system based on four-point calibration; and obtaining a conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission. The conversion relation between the measuring coordinate system of the scanner and the base mark of the polishing robot is directly established through the target coordinate system, so that the calibration precision is improved, and the calibration operation is simplified.
Description
Technical Field
The application belongs to the technical field of robot polishing measurement, and particularly relates to a coordinate conversion method and system in a double-robot automatic measurement polishing system.
Background
Large complex components such as wind tunnels, ships, high-speed rails, wind power blades and the like are large in size, difficult to move, poor in accessibility of molded surfaces to be processed and high in processing requirement, however, the surfaces of the large complex components are processed by mainly adopting a manual processing mode at the present stage, and the problems of high labor intensity, low efficiency, unstable processing quality, poor working environment and the like exist. Therefore, the need to employ three-dimensional measurement techniques and robotic automated polishing has become an ideal solution for current industry to realize upgrades. The three-dimensional measurement technology has the advantages of high detection speed, good flexibility, large measuring range and the like, the data profile measured by the three-dimensional measurement technology is digitally compared with the standard model profile, the defect area is identified, a proper polishing path and polishing parameters of the defect area are generated, the workpiece is automatically polished, the rapid online measurement of a large-scale member, the intelligent polishing processing of a robot integrating polishing path planning and accurate processing is realized, the polishing quality and efficiency are improved, and the consistency of the surface processing quality of the workpiece is ensured.
In order to improve the accuracy and efficiency of the allowance analysis and polishing of the workpiece during the automated processing, a rapid and high-accuracy coordinate conversion method is urgently needed to realize the conversion from the workpiece measurement coordinate system acquired by the automated measurement system to the coordinate system of the automatic polishing system.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the application provides a coordinate conversion method and a system in a double-robot automatic measurement polishing system, wherein the conversion relation between a scanner measurement coordinate system and a polishing robot base mark is directly established through a target coordinate system, a hand-eye calibration model of a measurement robot is not required to be established, the conversion relation between the scanner measurement coordinate system and the measurement robot base mark is calibrated, the hand-eye calibration error of the measurement robot is reduced, the calibration precision is improved, and the calibration operation is simplified.
To achieve the above object, according to an aspect of the present application, there is provided a coordinate conversion method in a dual robot automatic measurement polishing system, comprising:
the measuring robot scans at least three non-collinear target feature points by using a structure light scanner, extracts coordinates of the target feature points, establishes a target coordinate system, and determines a conversion relation between the target coordinate system and a measurement coordinate system of the structure light scanner;
the probe is additionally arranged at the tail end of the polishing robot, the probe touches the at least three non-collinear target characteristic points to obtain coordinates of the target characteristic points under a base standard system of the polishing robot, and a conversion relation between the target coordinate system and the base standard system of the polishing robot is determined;
obtaining a conversion relation between a grinding head tool coordinate system and a grinding robot tail end coordinate system based on four-point calibration;
and obtaining a conversion matrix between the end coordinate system of the polishing robot and the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission.
Further, the extracting the coordinates of the target feature points, and establishing a target coordinate system, includes:
optionally taking one point A as the origin of a target coordinate system, and taking the direction from the origin to any point B of the other two points as an x axis to obtain an x axis unit vector alpha;
note that the remaining point is C, then the vectorAnd vector->The cross product is normalized to obtain a vector of a plane where the vertical point A, B, C is located, and the vector is recorded as a y-axis unit vector beta;
and (3) recording a unit vector gamma obtained by cross multiplying the x-axis unit vector alpha and the y-axis unit vector beta as a z-axis unit vector, and obtaining the target coordinate system.
Further, the structured light scanner may be any one of a planar structured light scanner, a monocular line structured light, a binocular line structured light, a monocular planar structured light scanner, a binocular planar structured light scanner, and a multi-planar structured light scanner.
Further, the target characteristic points can be selected from triangular pyramid, rectangular pyramid, pentagonal pyramid, any pyramid, cone, standard sphere or any characteristic point of a target with characteristic points.
Further, the determining the conversion relation between the target coordinate system and the measurement coordinate system of the structured light scanner includes:
determining a rotation matrix of the target coordinate system relative to a structured light scanner measurement coordinate system according to coordinates of the at least three non-collinear target feature points in the measurement coordinate system:
wherein,the three coordinate axis directions of the target coordinate system relative to the x, y and z of the measuring coordinate system of the structure light scanner are respectively;
according to the coordinates of the origin of the target coordinate system, determining the vector of the origin of the measurement coordinate system pointing to the origin of the target coordinate system, namely the translation matrix of the target coordinate system relative to the measurement coordinate system of the structured light scanner
Determining a conversion relation between a target coordinate system and a measurement coordinate system according to the rotation matrix and the translation matrix:
further, the conversion relationship between the target coordinate system and the polishing robot base coordinate system is as follows:
wherein,the rotation matrix is a rotation matrix of a target coordinate system relative to a base coordinate system of the polishing robot; />Is a translation matrix of the target coordinate system relative to the base coordinate system of the grinding robot.
Further, the obtaining the conversion relation between the grinding head tool coordinate system and the grinding robot tail end coordinate system based on the four-point calibration includes:
the polishing robot clamps the polishing head, a laser displacement sensor is placed near the polishing robot, the gesture of the polishing robot is adjusted, four polishing robot gestures are obtained, so that the center of a circular polishing disc of the polishing head coincides with a light spot emitted by the laser displacement sensor, the distance between the center of the polishing disc and the laser displacement sensor is the same, and the conversion relation from a tool coordinate system of the polishing head to a terminal coordinate system of the polishing robot is obtained based on a four-point calibration principle
Further, the method for obtaining the conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission comprises the following steps:
according to the conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robotAnd the conversion relation of the grinding head tool coordinate system to the grinding robot end coordinate system +.>Obtaining the conversion relation between the grinding head tool coordinate system and the grinding robot base coordinate system>
Obtaining the structural light scanning through the conversion relation between the target coordinate system and the measurement coordinate system of the structural light scanner and the conversion relation between the target coordinate system and the base standard system of the polishing robotConversion relation between measuring coordinate system of scanner and base standard system of polishing robot
According to the conversion relation from the grinding head tool coordinate system to the grinding robot base coordinate systemAnd the conversion relation between the measuring coordinate system of the structured light scanner and the base coordinate system of the grinding robot +.>Obtaining a conversion relation between the structured light scanner measurement coordinate system and the polisher robot tool coordinate system +.>
Further, the structured light scanner measures a conversion relationship between a coordinate system and a grinder robot tool coordinate systemThe method comprises the following steps:
wherein,the system comprises a conversion matrix from a polishing robot tail end coordinate system to a polishing robot base coordinate system;the method comprises the steps of converting a grinding head tool coordinate system into a grinding robot tail end coordinate system; />The conversion relation between the target coordinate system and the polishing robot base mark is adopted; />Is a target seatThe coordinate system is measured by the standard system and the structured light scanner.
According to a second aspect of the present application, there is provided a coordinate conversion system in a dual robot automated measurement polishing system, comprising:
the first main module is used for scanning at least three non-collinear target feature points by the structural light scanner for the measuring robot, extracting coordinates of the target feature points, establishing a target coordinate system, and determining a conversion relation between the target coordinate system and a measurement coordinate system of the structural light scanner;
the second main module is used for additionally arranging probes at the tail end of the polishing robot, touching the at least three non-collinear target characteristic points by the probes to obtain coordinates of the target characteristic points under a base standard system of the polishing robot, and determining a conversion relation between the target coordinate system and the base standard system of the polishing robot;
the third main module is used for obtaining a conversion relation between a grinding head tool coordinate system and a grinding robot tail end coordinate system based on four-point calibration;
and the fourth main module is used for obtaining a conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission.
In general, the above technical solutions conceived by the present application, compared with the prior art, enable the following beneficial effects to be obtained:
1. according to the method, the conversion relation between the measuring coordinate system of the scanner and the base mark of the polishing robot is directly established through the target coordinate system, the hand-eye calibration model of the measuring robot is not required to be established, the conversion relation between the measuring coordinate system of the scanner and the base mark of the measuring robot is calibrated, the hand-eye calibration error of the measuring robot is reduced, the calibration precision is improved, and the calibration operation is simplified.
2. The method disclosed by the application uses three small targets which are flexible, convenient to process, simple and easy to use to construct a target coordinate system, has no constraint on the relative position relationship between the targets, does not need to resort to high-precision complex targets, and is suitable for complex industrial field application.
3. According to the method, the laser displacement sensor is introduced to replace the calibration needle, the tool coordinate system is calibrated through the four-point calibration principle, the calibration difficulty of the tool coordinate system is reduced, and the calibration efficiency is improved.
4. The method is simple to operate and high in efficiency, for the multi-robot collaborative measurement polishing system, the relative pose of any two robots can be changed frequently, and the calibration is frequent.
Drawings
FIG. 1 is a schematic diagram of a coordinate conversion device in a dual robot automated measurement polishing system according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a coordinate transformation method in a dual robot automated measurement polishing system according to the present application;
FIG. 3 is a schematic diagram of calibration of the conversion relationship between the structured light measurement coordinate system and the tool coordinate system of the polisher robot according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating the calibration of the conversion of a tool coordinate system of a grinding head to a robot end coordinate system according to an embodiment of the present application;
fig. 5 is a schematic diagram of a coordinate transformation system in a dual robot automatic measurement polishing system according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. In addition, the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
In the description of the present application, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 2, the application provides a coordinate conversion method in a double-robot automatic measurement polishing system, a target coordinate system is built through at least three non-collinear points, a conversion relation between a scanner measurement coordinate system and a polishing robot base standard is built through the target coordinate system, the relative position relation between the targets is not constrained, a high-precision complex target is not needed, the method is suitable for complex industrial field application, the calibration precision is improved, and the calibration operation is simplified. The application relates to a coordinate conversion method in a double-robot automatic measurement polishing system, which comprises the following steps S100-S400.
S100, scanning at least three non-collinear target feature points by using a structural light scanner for the measuring robot, extracting coordinates of the target feature points, establishing a target coordinate system, and determining a conversion relation between the target coordinate system and a measurement coordinate system of the structural light scanner.
The structure light scanner mainly plays a role in scanning and measuring, and can be any one of a surface structure light scanner, a monocular line structure light scanner, a binocular line structure light scanner and a monocular surface structure light scanner.
According to the application, at least three non-collinear target characteristic points are selected as a calibrated intermediate medium, a target coordinate system is established, and the target characteristic points can be selected from three-pyramid, rectangular pyramid, pentagonal pyramid, any pyramid, cone, standard sphere or any characteristic point of a target with characteristic points. Three flexible and convenient to process, simple and easy to use target feature points are used as targets to construct a target coordinate system, the relative position relation between the targets is not constrained, the high-precision complex targets are not needed, and the method is suitable for complex industrial field application.
Specifically, in step S100, the measuring robot scans at least three non-collinear target feature points with the structured light scanner, extracts coordinates of the target feature points, and establishes a target coordinate system including S101 to S103.
S101, optionally taking one point A as the origin of a target coordinate system, and taking the direction from the origin to any point B of the other two points as the x axis to obtain an x axis unit vector alpha;
selecting the point A as the origin of a target coordinate system and vectorThe direction is the x-axis direction, then:
s102, recording the remaining point as C, and then vectorAnd vector->The cross product is normalized to obtain a vector of a plane where the vertical point A, B, C is located, and the vector is recorded as a y-axis unit vector beta;
the selected y-axis unit vector is a pass vectorAnd vector->And (3) cross product, and normalizing to obtain the product:
s103, recording a unit vector gamma obtained by cross multiplying the x-axis unit vector alpha and the y-axis unit vector beta as a z-axis unit vector, and obtaining the target coordinate system.
The z-axis direction is determined by the right hand rule, the unit vector is obtained by α and β cross multiplication, i.e.:
γ＝α×β
and determining an x-axis unit vector alpha, a y-axis unit vector beta and a z-axis unit vector gamma through A, B, C to obtain the target coordinate system.
In one embodiment of the application, the structured light scanner scans four or more points, a plane is determined by three non-collinear points, and a spatial coordinate system is established by combining one or more points, namely a target coordinate system.
Specifically, in step S100, a conversion relationship between the target coordinate system and the measurement coordinate system of the structured light scanner is determined, including S104 to S106.
S104, determining a rotation matrix of the target coordinate system relative to a measuring coordinate system of the structured light scanner according to the coordinates of the at least three non-collinear target feature points in the measuring coordinate system:
wherein,the three coordinate axis directions of the target coordinate system relative to the x, y and z of the measuring coordinate system of the structure light scanner are respectively;
when the measuring robot clamps the surface structure optical scanner, three target feature points are scanned and measured, the coordinates of the target feature points are extracted by features, the coordinate values of the target feature points under the surface structure optical scanner measuring coordinate system camera are obtained, and three unit orthogonal vectors of the target coordinate system are calculated The rotation matrix of the target coordinate system relative to the surface structure light scanner measurement coordinate system:
s105, determining the vector of the origin of the measurement coordinate system pointing to the origin of the target coordinate system according to the coordinates of the origin of the target coordinate system, namely the translation matrix of the target coordinate system relative to the measurement coordinate system of the surface structure optical scanner
S106, determining a conversion relation between a target coordinate system and a measurement coordinate system according to the rotation matrix and the translation matrix:
the step S100 and the step S200 may be performed simultaneously or separately, for example, after the step S200 is performed first, the step S100 may be performed again, or the step S100 and the step S200 may be performed simultaneously, which only needs to ensure that the positions of the at least three non-collinear target feature points are not changed.
S200, adding probes at the tail end of the grinding robot, touching the at least three non-collinear target feature points by the probes to obtain coordinates of the target feature points under a base standard system of the grinding robot, and determining a conversion relation between the target coordinate system and the base standard system of the grinding robot;
the polishing robot touches the at least three non-collinear target feature points by using probes, so that the coordinates of the three target feature points A, B, C in the base standard system of the polishing robot can be obtained, and the coordinates of three orthogonal unit vectors of the target coordinate system in the base standard system of the polishing robot can be obtained Rotation matrix of target coordinate system relative to surface structure light scanner measurement coordinate system>Translation matrix->The determination method of (2) and the translation matrix in step S100>The acquisition method is the same; determining a conversion relation between a target coordinate system target and a base standard system base1 of the polishing robot according to the obtained rotation matrix and translation matrix:
wherein,the rotation matrix is a rotation matrix of a target coordinate system relative to a base coordinate system of the polishing robot; />Is a translation matrix of the target coordinate system relative to the base coordinate system of the grinding robot.
In one embodiment of the application, if the target feature point is a regularly shaped interior point such as the center of a standard sphere, the sanding robot fits the interior point with a probe touching a plurality of points on the regularly shaped surface such as the standard sphere.
Step 100, step 200 and step 300 are not consecutive, can be performed synchronously without interference, step 300 may be performed in tandem, or step 100 or step 200 may be performed in tandem.
S300, obtaining a conversion relation between a grinding head tool coordinate system and a grinding robot tail end coordinate system based on four-point calibration;
the polishing robot tail end clamping polishing head automatically polishes according to the generated track, in order to accurately control the track precision of the robot and realize the polishing effect with high precision, the coordinate system where the polishing head tool is located is required to be calibrated, and the motion position and the motion gesture of the polishing head are accurately acquired.
To obtain the posture transformation of the tool coordinate system relative to the end coordinate system of the grinding robotThe application uses the laser displacement sensor to calibrate the coordinate system of the grinding head tool based on the four-point calibration principle.
The laser displacement sensor can accurately measure the position, displacement and other changes of the measured object in a non-contact manner, visible red laser is emitted to the surface of the measured object through the lens, a laser point reflected by the object is received, and the distance between the sensor and the measured object at the laser point position can be calculated through the laser triangulation principle.
Specifically, as shown in fig. 4, a polishing robot clamps the polishing head, a laser displacement sensor is placed near the polishing robot, the posture of the polishing robot is adjusted to obtain four polishing robot postures so that the center of a circular polishing disc of the polishing head coincides with a light spot emitted by the laser displacement sensor and the distance between the center of the polishing disc and the laser displacement sensor is the same (the distance is measured by the laser displacement sensor), and the conversion relation from the tool coordinate system of the polishing head to the terminal coordinate system of the polishing robot is obtained based on the four-point calibration principle
When the four robot postures are adjusted, the larger posture difference can enable the conversion relation from the grinding head tool coordinate system to the grinding robot tail end coordinate system to be obtained based on the four-point calibration principleMore accurate, the four-point calibration principle is directly obtained by the prior art, and is not the core of the application, and is not described herein.
According to the application, the laser displacement sensor is used for replacing the calibration needle to calibrate the tool coordinate system, so that the calibration precision is more stable, the precision is higher, the dependence on the visual measurement precision and the experience of an operator is reduced, and the operation is simpler.
After the above steps S100, 200 and 300 are completed, step S400 is performed.
S400, obtaining a conversion matrix from a polishing robot end coordinate system to a polishing robot base coordinate system according to a robot forward kinematics principle, and obtaining a conversion relation between a surface structure light scanner measurement coordinate system and a polishing head tool coordinate system through matrix transmission.
Specifically, step S400 includes steps S401 to S402.
S401, converting a matrix from a polishing robot tail end coordinate system to a polishing robot base coordinate systemAnd the conversion relation of the grinding head tool coordinate system to the grinding robot end coordinate system +.>Obtaining the conversion relation between the grinding head tool coordinate system and the grinding robot base coordinate system>
S402, obtaining measurement of the structure light scanner through conversion relation between a target coordinate system and a measurement coordinate system of the structure light scanner and conversion relation between the target coordinate system and a base standard system of the polishing robotConversion relation between coordinate system and polishing robot base standard system
As shown in fig. 3, through at least three non-collinear target feature points of the present application, a conversion relationship between a target coordinate system and a measurement coordinate system of a structured light scanner and a conversion relationship between the target coordinate system and a base standard system of a polishing robot can be obtained, and the target coordinate system is used as an intermediate coordinate system, so as to obtain a conversion relationship between the measurement coordinate system of the structured light scanner and the base standard system of the polishing robot
S403, according to the conversion relation from the grinding head tool coordinate system to the grinding robot base coordinate systemAnd the conversion relation between the measuring coordinate system of the structured light scanner and the base coordinate system of the grinding robot +.>Obtaining a conversion relation between the structured light scanner measurement coordinate system and the polisher robot tool coordinate system +.>
The conversion relation between the structured light scanner measurement coordinate system and the polisher robot tool coordinate systemThe method comprises the following steps:
wherein,the system comprises a conversion matrix from a polishing robot tail end coordinate system to a polishing robot base coordinate system;the method comprises the steps of converting a grinding head tool coordinate system into a grinding robot tail end coordinate system; />The conversion relation between the target coordinate system and the polishing robot base mark is adopted; />The conversion relationship between the coordinate system is measured for the target coordinate system and the structured light scanner.
The implementation basis of the embodiments of the present application is realized by a device with a central processing unit function to perform programmed processing. Therefore, in engineering practice, the technical solutions and the functions of the embodiments of the present application can be packaged into various modules. Based on this actual situation, on the basis of the above embodiments, an embodiment of the present application provides a coordinate conversion system in a dual robot automatic measurement polishing system for executing a coordinate conversion method in a dual robot automatic measurement polishing system in the above method embodiment. As shown in fig. 5, includes:
the first main module is used for scanning at least three non-collinear target feature points by the structural light scanner for the measuring robot, extracting coordinates of the target feature points, establishing a target coordinate system, and determining a conversion relation between the target coordinate system and a measurement coordinate system of the structural light scanner;
the second main module is used for additionally arranging probes at the tail end of the polishing robot, touching the at least three non-collinear target characteristic points by the probes to obtain coordinates of the target characteristic points under a base standard system of the polishing robot, and determining a conversion relation between the target coordinate system and the base standard system of the polishing robot;
the third main module is used for obtaining a conversion relation between a grinding head tool coordinate system and a grinding robot tail end coordinate system based on four-point calibration;
and the fourth main module is used for obtaining a conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission.
It should be noted that, the device in the device embodiment provided by the present application may be used to implement the method in the above method embodiment, and may also be used to implement the method in other method embodiments provided by the present application, where the difference is merely that the corresponding functional module is provided, and the principle is basically the same as that of the above device embodiment provided by the present application, so long as a person skilled in the art refers to a specific technical solution in the above device embodiment based on the above device embodiment, and obtains a corresponding technical means by combining technical features, and a technical solution formed by these technical means, and on the premise that the technical solution is ensured to have practicability, the device in the above device embodiment may be modified, so as to obtain a corresponding device embodiment, and be used to implement the method in other method embodiment.
One embodiment of the system of the present application is shown in fig. 1, and includes: the device comprises a control system module, a three-dimensional measurement module, a polishing module, a guide rail module and a dust collection device module.
The control system module comprises an industrial personal computer and a system control cabinet, is connected with each module and is used for controlling the three-dimensional measuring module and the polishing module;
the three-dimensional measuring module comprises a measuring robot, a measuring robot control cabinet and a surface structure light scanner; the measuring robot is connected with and controlled by a measuring robot control cabinet, and the measuring robot control cabinet is in communication connection with the system control cabinet; the surface structure light scanner is arranged at the tail end of the measuring robot;
the polishing module comprises a polishing robot, a polishing robot control cabinet and a polishing head; the polishing robot is connected with and controlled by a polishing robot control cabinet, and the polishing robot control cabinet is in communication connection with the system control cabinet; the polishing head is arranged at the tail end of the polishing robot; the tail end of a mechanical arm of the polishing robot is additionally provided with a probe;
the guide rail module is connected with the measuring robot and the polishing robot and is used for bearing and driving the measuring robot and the polishing robot to move so as to expand the measuring and polishing range;
the working end of the dust collection device module wraps the tail end of the flexible polishing head and is used for absorbing dust generated in the polishing process of the flexible polishing head.
The above embodiment is only one specific embodiment of the system of the present application, and the specific adjustment may be performed according to each module of the system of the present application when the system is specifically implemented.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the application and is not intended to limit the application, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (9)
1. A coordinate conversion method in a dual robot automated measurement polishing system, comprising:
the measuring robot scans at least three non-collinear target feature points by using a structure light scanner, extracts coordinates of the target feature points, establishes a target coordinate system, and determines a conversion relation between the target coordinate system and a measurement coordinate system of the structure light scanner;
the probe is additionally arranged at the tail end of the polishing robot, the probe touches the at least three non-collinear target characteristic points to obtain coordinates of the target characteristic points under a base standard system of the polishing robot, and a conversion relation between the target coordinate system and the base standard system of the polishing robot is determined;
the polishing robot clamps the polishing head, a laser displacement sensor is placed near the polishing head, the gesture of the polishing robot is adjusted, four polishing robot gestures are obtained, so that the center of a circular polishing disc of the polishing head coincides with a light spot emitted by the laser displacement sensor, the distance between the center of the polishing disc and the laser displacement sensor is the same, and a conversion relation between a tool coordinate system of the polishing head and a terminal coordinate system of the polishing robot is obtained based on four-point calibration; the laser displacement sensor can accurately measure the position, displacement and other changes of the measured object in a non-contact manner, visible red laser is emitted to the surface of the measured object through the lens, a laser point reflected by the object is received, and the distance between the sensor and the measured object at the laser point position is calculated through a laser triangulation principle;
and obtaining a conversion matrix between the end coordinate system of the polishing robot and the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission.
2. The method for converting coordinates in a dual robot automatic measurement polishing system according to claim 1, wherein the extracting target feature point coordinates and establishing a target coordinate system comprises:
optionally taking one point A as the origin of a target coordinate system, and taking the direction from the origin to any point B of the other two points as an x axis to obtain an x axis unit vector alpha;
note that the remaining point is C, then the vectorAnd vector->The cross product is normalized to obtain a vector of a plane where the vertical point A, B, C is located, and the vector is recorded as a y-axis unit vector beta;
and (3) recording a unit vector gamma obtained by cross multiplying the x-axis unit vector alpha and the y-axis unit vector beta as a z-axis unit vector, and obtaining the target coordinate system.
3. The method for converting coordinates in a dual robot automated measurement polishing system according to claim 1, wherein the structured light scanner is any one of a surface structured light scanner, a monocular line structured light, a binocular line structured light, a monocular surface structured light scanner, a binocular surface structured light scanner, and a multi-ocular surface structured light scanner.
4. The coordinate transformation method in the automatic measurement polishing system with double robots according to claim 1, wherein the target feature points are selected from triangular pyramid, rectangular pyramid, pentagonal pyramid, vertex of any pyramid or cone, sphere center of standard sphere or feature points of any targets with feature points.
5. The method for converting coordinates in a dual robot automatic measurement polishing system according to claim 2, wherein determining a conversion relation between a target coordinate system and a measurement coordinate system of a structured light scanner comprises:
determining a rotation matrix of the target coordinate system relative to a structured light scanner measurement coordinate system according to coordinates of the at least three non-collinear target feature points in the measurement coordinate system:
wherein,the three coordinate axis directions of the target coordinate system relative to the x, y and z of the measuring coordinate system of the structure light scanner are respectively;
according to the coordinates of the origin of the target coordinate system, determining the vector of the origin of the measurement coordinate system pointing to the origin of the target coordinate system, namely the translation matrix of the target coordinate system relative to the measurement coordinate system of the structured light scanner
Determining a conversion relation between a target coordinate system and a measurement coordinate system according to the rotation matrix and the translation matrix:
6. the method for converting coordinates in a dual robot automatic measurement polishing system according to any one of claims 1 to 5, wherein the conversion relationship between the target coordinate system and the polishing robot base coordinate system is:
wherein,the rotation matrix is a rotation matrix of a target coordinate system relative to a base coordinate system of the polishing robot; />Is a translation matrix of the target coordinate system relative to the base coordinate system of the grinding robot.
7. The method for transforming coordinates in a dual robot automatic measurement polishing system according to claim 6, wherein the transforming matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot is obtained according to the principle of forward kinematics of the robot, and the transforming relationship between the surface structure light scanner measurement coordinate system and the tool coordinate system of the polishing head is obtained through matrix transmission, comprising:
according to the conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robotAnd the conversion relation of the grinding head tool coordinate system to the grinding robot end coordinate system +.>Obtaining the conversion relation between the grinding head tool coordinate system and the grinding robot base coordinate system>
By sitting on the targetThe conversion relation between the measuring coordinate system of the structure light scanner and the grinding robot base standard system is obtained by the conversion relation between the standard system and the measuring coordinate system of the structure light scanner and the conversion relation between the target coordinate system and the grinding robot base standard system
According to the conversion relation from the grinding head tool coordinate system to the grinding robot base coordinate systemAnd the conversion relation between the measuring coordinate system of the structured light scanner and the base coordinate system of the grinding robot +.>Obtaining a conversion relation between the structured light scanner measurement coordinate system and the polisher robot tool coordinate system +.>
8. The method for converting coordinates in a dual robot automated measurement polishing system as set forth in claim 7, wherein said structured light scanner measures a conversion relationship between a coordinate system and a tool coordinate system of a polisher robotThe method comprises the following steps:
wherein,the system comprises a conversion matrix from a polishing robot tail end coordinate system to a polishing robot base coordinate system;the method comprises the steps of converting a grinding head tool coordinate system into a grinding robot tail end coordinate system; />The conversion relation between the target coordinate system and the polishing robot base mark is adopted; />The conversion relationship between the coordinate system is measured for the target coordinate system and the structured light scanner.
9. A coordinate conversion system in a dual robot automated measurement polishing system, comprising:
the first main module is used for scanning at least three non-collinear target feature points by the structural light scanner for the measuring robot, extracting coordinates of the target feature points, establishing a target coordinate system, and determining a conversion relation between the target coordinate system and a measurement coordinate system of the structural light scanner;
the second main module is used for additionally arranging probes at the tail end of the polishing robot, touching the at least three non-collinear target characteristic points by the probes to obtain coordinates of the target characteristic points under a base standard system of the polishing robot, and determining a conversion relation between the target coordinate system and the base standard system of the polishing robot;
the third main module is used for adjusting the gesture of the polishing robot to obtain four gestures of the polishing robot so that the center of the circular polishing disc of the polishing head coincides with a light spot emitted by the laser displacement sensor, the distance between the center of the polishing disc and the laser displacement sensor is the same, and a conversion relation between a coordinate system of a tool of the polishing head and a coordinate system of the tail end of the polishing robot is obtained based on four-point calibration; the laser displacement sensor can accurately measure the position, displacement and other changes of the measured object in a non-contact manner, visible red laser is emitted to the surface of the measured object through the lens, a laser point reflected by the object is received, and the distance between the sensor and the measured object at the laser point position is calculated through a laser triangulation principle;
and the fourth main module is used for obtaining a conversion matrix from the end coordinate system of the polishing robot to the base coordinate system of the polishing robot according to the forward kinematics principle of the robot, and obtaining the conversion relation between the surface structure light scanner measurement coordinate system and the polishing head tool coordinate system through matrix transmission.
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