CN109291048B - Real-time online programming system and method for grinding and polishing industrial robot - Google Patents
Real-time online programming system and method for grinding and polishing industrial robot Download PDFInfo
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Abstract
The invention relates to a grinding and polishing industrial robot real-time online programming system and a method, which uses a linear optical vision sensor to carry out real-time three-dimensional reconstruction on a workpiece to be ground and polished and generate a corresponding grinding and polishing program of an industrial robot for the industrial robot to execute, reduces application working links and improves the grinding and polishing efficiency of the industrial robot; the grinding and polishing machine is suitable for different shapes and positions of workpieces to be ground and polished, and the automation and the intellectualization of the grinding and polishing of the workpieces are really realized.
Description
Technical Field
The invention relates to the field of grinding and polishing control of industrial robots, in particular to a real-time online programming system and method for a grinding and polishing industrial robot.
Background
At present, automation based on an industrial robot is an optimal solution for both production efficiency and adaptability. The welding and welding device is widely applied to the industrial fields of aerospace, automobiles, machining and manufacturing, electronics and electrical, food production and the like, wherein the welding (including spot welding and arc welding), painting, assembling, carrying and the like are well researched and applied for a long time and take an increasingly important position in practical application. The robot is being developed and developed at a high speed in the grinding and polishing field, and is currently applied to the aspects of organic glass material airplane windows, rifle receiver surfaces, mold grinding and polishing, aviation vessel blade grinding and polishing, bamboo and wood furniture and the like.
An industrial robot is a programmable mechanical device, and is high in programming difficulty, time-consuming and cost-consuming for industrial robot application in a certain field. Currently, in practical industrial application and research, there are three main ways for industrial robot programming: online teaching, offline programming, and robotic programming using augmented reality technology (RPAR).
The online teaching defect is increasingly highlighted, the offline programming time is greatly reduced compared with the online teaching time, but a large amount of offline generation programs and online adjustment time are still needed, and perfect application is difficult to achieve due to the difference between the offline environment and the actual environment, so that the online programming technology combining vision and force sensors is taken as a great development direction of the programming technology and is more and more emphasized by researchers. Among them, the visual sensor will be greatly developed due to the advantages of non-contact, visualization, strong adaptability, etc.
At present, the research and application of grinding and polishing of industrial robots combined with vision are less, and Chinese patent 'an industrial robot grinding system and method based on visual information' (201010603399.4) discloses an industrial robot grinding system and method based on visual information.
In view of the above, the present inventors have made extensive studies to solve the above problems of the polishing industrial robot, and as a result, have reached the present invention.
Disclosure of Invention
The invention aims to provide a grinding and polishing industrial robot real-time online programming system and method based on a linear structured light vision sensor, which improve the grinding and polishing efficiency of the industrial robot.
In order to achieve the purpose, the invention adopts the technical scheme that:
a real-time online programming system of a grinding and polishing industrial robot comprises the industrial robot, a linear structured light vision sensor, an upper computer, a grinding and polishing tool and a workpiece to be ground and polished, wherein the linear structured light vision sensor and the grinding and polishing tool are fixed at the tail end of the industrial robot, and the industrial robot and the workpiece to be ground and polished are fixed on the ground or a certain working platform; the line structured light vision sensor and the industrial robot are connected with an upper computer through Ethernet.
The line-structured light vision sensor is composed of a vision sensor and a line-structured laser generator.
The method is realized by adopting the real-time online programming system of the grinding and polishing industrial robot as claimed in claim 1, which comprises the following steps:
step S0, calibrating the line structure optical vision sensor and calibrating the grinding and polishing tool;
calibrating the grinding and polishing tool by adopting a traditional four-point calibration tool method, and acquiring a space pose homogeneous transformation matrix T of a tool tail end coordinate system in a robot tail end coordinate system;
the calibration line structured light vision sensor is concretely as follows:
step S01, calibrating a camera coordinate system and a laser plane coordinate system;
fixing the calibration plate perpendicular to the optical axis of the camera, and adjusting the parameters of the camera to enable the calibration plate to form clear images in the visual field of the camera; the industrial robot enables the camera to rotate around the optical axis of the camera, the distance from the camera to the calibration board is adjusted on the premise of keeping the imaging of the camera clear, the camera moves until the laser plane is intersected with the calibration board, a point D on the line is taken, and at the moment, the laser is closed to shoot a photo I; repeating the movement to enable the laser plane to be intersected with the calibration plate, taking a point E, and at the moment, closing the laser to shoot a second picture; repeating the movement to enable the laser plane to be intersected with the calibration plate to take a point F, and at the moment, closing the laser to take a third picture; finally, the laser is turned off, and the industrial robot moves and photographs for multiple times to enable the calibration plate to cover the visual field area;
calibrating camera internal references by using all calibration plate photos according to a traditional mode, simultaneously respectively setting calibration plate coordinate systems of a photo I, a photo II and a photo III as a camera external reference I, an external reference II and an external reference III, obtaining corresponding origin coordinates of the camera external reference I, the camera external reference II and the camera external reference III, determining a laser plane coordinate system according to the three origin coordinates, and obtaining a pose conversion relation C of the laser plane coordinate system in the camera coordinate system;
step S02, calibrating the hand-eye conversion relationship from the robot tail end to the laser plane coordinate system;
and (4) calibrating the fixed calibration plate in the step S01 by using a traditional three-point method to obtain a workpiece coordinate system B, enabling the laser coordinate system to coincide with the calibration plate coordinate system B by using the industrial robot, recording the position and posture of the tail end of the robot at the moment, and obtaining a conversion relation from the tail end coordinate system of the robot to a laser plane coordinate system R by using the industrial robot
Comprises the following steps:
step S1, performing real-time three-dimensional reconstruction on the workpiece to be polished, which comprises the following steps:
the robot clamping line structure optical vision sensor rotates around a workpiece to be ground and polished and records the pose of the tail end of the robot in a robot base coordinate system
Then, dispersing the laser line shot on the surface of the workpiece to be polished each time, converting the pose conversion relation C of the laser plane coordinate system obtained by the picture pixel point through the step S01 in the camera coordinate system to obtain the pose of the surface dispersed point in the laser plane coordinate system, recording the pose as Tc, and using the pose from the robot terminal coordinate system to the laser plane coordinate system calibrated in the step S0 asC6T, converting the pose Tc of the workpiece 5 to be polished in the laser plane coordinate system into the three-dimensional pose Tb of the workpiece 5 to be polished in the robot base coordinate system:
and S2, real-time online generation of an industrial robot program, converting the three-dimensional pose Tb of the surface of the workpiece to be polished in the robot base coordinate system obtained in the step S1 into a corresponding industrial robot program, setting the robot tool coordinate system as a polishing tool T, sending the industrial robot program to the industrial robot, and executing the program by the industrial robot.
After the scheme is adopted, the invention has the following beneficial effects:
the method comprises the steps that firstly, the surface point pose of a workpiece is obtained in real time based on a linear structured light vision sensor, a robot offline programming process and an online adjusting process are not needed, grinding and polishing automation and intellectualization of an industrial robot are further achieved, and efficiency is greatly improved;
secondly, the linear structure optical vision sensor is used for acquiring the surface point pose of the workpiece in real time, allowing the workpiece to change position and three-dimensional shape within a certain range, greatly improving the grinding and polishing adaptability, and being particularly suitable for grinding and polishing workpieces of various types and sizes;
and thirdly, the sensor is combined with an industrial robot, so that automation and intellectualization of grinding and polishing processing are realized, and meanwhile, visualization is realized on an upper computer.
Drawings
FIG. 1 is a schematic diagram of a real-time online programming system of a grinding and polishing industrial robot based on a line structured optical vision sensor according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a real-time online programming method of a grinding and polishing industrial robot based on a line structured optical vision sensor according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a line structured light vision sensor calibration according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating calibration of a hand-eye transformation relationship from a robot end coordinate system to a laser plane coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the transformation of three positions of the workpiece to be polished in the robot base system according to the embodiment of the invention.
In the figure: 1. an industrial robot; 2. a line structured light vision sensor; 21. a linear laser generator; 22. a vision sensor; 3. an upper computer; 4. grinding and polishing tools; 5. grinding and polishing the workpiece; 6. and (5) calibrating the board.
Detailed Description
The invention will be described in detail with reference to the drawings and specific examples.
As shown in figure 1, the invention discloses a real-time online programming system of a grinding and polishing industrial robot, which mainly comprises an industrial robot 1, a linear structured optical vision sensor 2, an upper computer 3, a grinding and polishing tool 4 and a workpiece 5 to be ground and polished, wherein the linear structured optical vision sensor 2 and the grinding and polishing tool 4 are fixed at the tail end of the industrial robot 1, and the industrial robot 1 and the workpiece 5 to be ground and polished are fixed on the ground or a certain working platform.
The industrial robot 1 of the embodiment shown in fig. 1 uses a hua-niu six-joint robot HSR-JR 620 ii, and of course, other types of industrial robots may also be used, the linear structured optical vision sensor 2 uses a keyence LJ-V7080 online three-dimensional detection vision system or other calibrated linear structured optical vision sensors, the industrial robot and the linear structured optical vision sensor both provide SDK secondary development interface functions, and the upper computer uses VC + + language programming and compiling.
The line structure light vision sensor 2 and the industrial robot 1 are connected with the upper computer 3 through the Ethernet, and the upper computer 3 realizes data exchange through the SDK secondary development interface function of the industrial robot 1 and the line structure light vision sensor 2, and completes functions of control, monitoring, file transmission and the like.
The line structured light vision sensor 2 consists of a vision sensor 22 and a linear laser generator 21, and before use, the internal reference and the external reference of the vision sensor 22 and the parameters of the linear laser generator 21 are calibrated. The internal reference of the vision sensor 22 comprises a camera focal length, a principal point, a distortion coefficient and the like, the external reference of the vision sensor 22 comprises a position and a posture of a camera in a world coordinate system, the structural parameters of the linear laser generator 21 comprise a position of a light plane relative to the camera, and the internal reference, the external reference of the vision sensor and the calibration of the structural parameters of the linear laser generator are all the prior art and are not repeated.
As shown in fig. 2, based on the real-time online programming system for the grinding and polishing industrial robot, the invention also discloses a real-time online programming method for the grinding and polishing industrial robot, which specifically comprises the following steps:
step S0, calibrating the line structure optical vision sensor and calibrating the grinding and polishing tool;
calibrating a grinding and polishing tool: establishing a tool tail end coordinate system, then calibrating the grinding and polishing tool 4 by adopting a traditional four-point calibration tool method, and acquiring a space pose homogeneous transformation matrix T of the tool tail end coordinate system in a robot tail end coordinate system;
the calibration line structured light vision sensor is concretely as follows:
and step S01, calibrating a camera coordinate system and a laser plane coordinate system.
As shown in fig. 3, the calibration plate 6 is fixed perpendicular to the optical axis of the camera, and parameters such as the aperture, the focal length, the exposure time and the like of the camera are adjusted, so that the calibration plate 6 can clearly image in the field of view of the camera. The industrial robot enables the camera to rotate around the optical axis of the camera, properly adjusts the distance from the camera to the calibration plate 6 on the premise of keeping the clear imaging of the camera, moves until the laser plane is intersected with the calibration plate 6, takes a point D on the intersection line, and then closes the laser to shoot a photo 1; repeating the above movement to make the laser plane intersect with the calibration plate 6, taking a point E, and at the moment, closing the laser to take a picture 2; the above movement is repeated to make the laser plane intersect with the calibration plate 6 to take point F, at which time the laser is turned off to take a picture 3. And finally, closing the laser, and carrying out multiple times of photographing by the industrial robot to enable the calibration plate to cover the visual field area.
Calibrating the camera internal reference for all the calibration plate 6 photos according to the traditional mode, respectively setting the calibration plate coordinate systems in the photos 1, 2 and 3 as the camera external reference 1, the external reference 2 and the external reference 3, obtaining the corresponding origin coordinates in the external reference 1, the external reference 2 and the external reference 3, and determining the laser plane coordinate system according to the three origin coordinates to obtain the pose conversion relation C of the laser plane coordinate system in the camera coordinate system.
And step S02, calibrating the hand-eye conversion relation from the tail end of the robot to the laser plane coordinate system.
As shown in fig. 4, the calibration board in step S01 is calibrated by using a conventional three-point method to obtain a calibration board coordinate system, which is denoted as B, the industrial robot makes the laser coordinate system coincide with the calibration board coordinate system B, and records the pose of the end of the robot at this time, which is denoted as R, and the end coordinate system of the robot is converted into a laser plane coordinate systemTransforming relationships
Is composed of
Step S1, performing real-time three-dimensional reconstruction on the workpiece to be polished, which comprises the following steps:
as shown in FIG. 5, the robot gripping line structure optical vision sensor rotates around the workpiece to be polished and records the current pose of the robot tail end in the robot base coordinate system
Then dispersing the laser line shot on the surface of the workpiece to be ground and polished each time, converting the pose conversion relation C of the laser plane coordinate system obtained by the picture pixel point through the step S01 to obtain the pose of the surface discrete point in the laser plane coordinate system as Tc, and using the pose from the industrial robot end coordinate system calibrated in the step S0 to the laser plane coordinate system as Tc
Converting the pose Tc of the workpiece 5 to be polished in the laser plane coordinate system into the three-dimensional pose Tb of the workpiece 5 to be polished in the robot base coordinate system:
and S2, real-time online generation of an industrial robot program, converting the three-dimensional pose Tb of the surface of the workpiece to be polished in the robot base coordinate system obtained in the step S1 into a corresponding industrial robot program, setting the robot tool coordinate system as a polishing tool T, sending the industrial robot program to the industrial robot, and executing the program by the industrial robot.
In conclusion, the linear-structure optical vision sensor is used for reconstructing a workpiece to be ground and polished in a three-dimensional manner in real time and generating a corresponding grinding and polishing program of the industrial robot to be executed by the industrial robot, so that the application working links are reduced, and the grinding and polishing efficiency of the industrial robot is improved; the grinding and polishing machine is suitable for different shapes and positions of workpieces to be ground and polished, and the automation and the intellectualization of the grinding and polishing of the workpieces are really realized.
The above description is only exemplary of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above exemplary embodiments according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (2)
1. The utility model provides a grind and throw industrial robot real-time online programming system which characterized in that: the grinding and polishing device comprises an industrial robot, a linear structured light vision sensor, an upper computer, a grinding and polishing tool and a workpiece to be ground and polished, wherein the linear structured light vision sensor and the grinding and polishing tool are fixed at the tail end of the industrial robot, and the industrial robot and the workpiece to be ground and polished are fixed on the ground or a certain working platform; the line structured light vision sensor and the industrial robot are connected with an upper computer through Ethernet;
the programming method of the grinding and polishing industrial robot real-time online programming system comprises the following steps:
step S0, calibrating the line structure optical vision sensor and calibrating the grinding and polishing tool;
calibrating the grinding and polishing tool by adopting a traditional four-point calibration tool method, and acquiring a space pose homogeneous transformation matrix T of a tool tail end coordinate system in a robot tail end coordinate system;
the calibration line structured light vision sensor is concretely as follows:
step S01, calibrating a camera coordinate system and a laser plane coordinate system;
fixing the calibration plate perpendicular to the optical axis of the camera, and adjusting the parameters of the camera to enable the calibration plate to form clear images in the visual field of the camera; the industrial robot enables the camera to rotate around the optical axis of the camera, adjusts the distance from the camera to the calibration board on the premise of keeping the clear imaging of the camera, moves until the laser plane is intersected with the calibration board, takes a point D on the line, and then closes the laser to take a picture 1; repeating the movement to enable the laser plane to be intersected with the calibration plate, taking a point E, and at the moment, closing the laser to shoot a picture 2; repeating the movement to enable the laser plane to be intersected with the calibration plate to take a point F, and at the moment, closing the laser to take a picture 3; finally, the laser is turned off, and the industrial robot moves and photographs for multiple times to enable the calibration plate to cover the visual field area;
calibrating camera internal references by using all calibration plate photos according to a traditional mode, simultaneously respectively setting calibration plate coordinate systems in photos 1, 2 and 3 as camera external references 1, 2 and 3, obtaining corresponding origin coordinates in the external references 1, 2 and 3, and determining a laser plane coordinate system through the three origin coordinates, namely solving a pose transformation relation C of the laser plane coordinate system in the camera coordinate system;
step S02, calibrating the hand-eye conversion relationship from the robot tail end to the laser plane coordinate system;
calibrating the calibration plate in the step S01 by using a traditional three-point method to obtain a calibration plate coordinate system marked as B, enabling the laser plane coordinate system to coincide with the calibration plate coordinate system B by the industrial robot, recording the position and posture of the tail end of the robot at the moment, and marking the position and posture as R, wherein the conversion relation from the tail end coordinate system of the robot to the laser plane coordinate system is obtained
Comprises the following steps:
step S1, performing real-time three-dimensional reconstruction on the workpiece to be polished, which comprises the following steps:
the robot clamping line structure optical vision sensor rotates around a workpiece to be ground and polished and records the pose of the tail end of the robot in a robot base coordinate system
Then, the laser lines shot on the surface of the workpiece to be polished are scattered each time to obtain scattered laser linesThe photo pixel points, namely the surface discrete points, are subjected to the pose transformation relation C of the laser plane coordinate system obtained in the step S01 in the camera coordinate system to obtain the pose of the surface discrete points in the laser plane coordinate system, and the pose is marked as Tc, and the pose from the robot end coordinate system calibrated in the step S0 to the laser plane coordinate system is used as
Converting the pose Tc of the workpiece (5) to be polished in the laser plane coordinate system into the three-dimensional pose Tb of the workpiece (5) to be polished in the robot base coordinate system, wherein the three-dimensional pose Tb is as follows:
and S2, real-time online generation of an industrial robot program, converting the three-dimensional pose Tb of the surface of the workpiece to be polished in the robot base coordinate system obtained in the step S1 into a corresponding industrial robot program, setting the robot tool coordinate system as a polishing tool T, sending the industrial robot program to the industrial robot, and executing the program by the industrial robot.
2. The real-time online programming system of the grinding and polishing industrial robot as claimed in claim 1, wherein: the line structured light vision sensor is composed of a camera and a line-shaped laser generator.
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| CN113134681A (en) * | 2020-01-16 | 2021-07-20 | 大族激光科技产业集团股份有限公司 | Process method and equipment for removing AF coating by laser |
| CN111644935A (en) * | 2020-05-15 | 2020-09-11 | 江苏兰菱机电科技有限公司 | Robot three-dimensional scanning measuring device and working method |
| CN112157409A (en) * | 2020-08-13 | 2021-01-01 | 盐城工学院 | ABB 120-based automatic assembly line program design method |
| CN112800582B (en) * | 2020-12-30 | 2022-05-24 | 华南理工大学 | Method for generating simulated laser line of structured light vision sensor |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
| CN113650022A (en) * | 2021-07-30 | 2021-11-16 | 佛山缔乐视觉科技有限公司 | Robot programming method and device and storage medium |
| CN115255806B (en) * | 2022-07-21 | 2024-03-26 | 北京化工大学 | Industrial robot billet crack repairing and grinding system and method based on 3D attitude information |
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| CN107052950B (en) * | 2017-05-25 | 2018-10-12 | 上海莫亭机器人科技有限公司 | A kind of complex-curved sanding and polishing system and method |
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