CN110421288A - A kind of method and apparatus to objects' contour positioning of welding robot - Google Patents
A kind of method and apparatus to objects' contour positioning of welding robot Download PDFInfo
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- CN110421288A CN110421288A CN201910750584.7A CN201910750584A CN110421288A CN 110421288 A CN110421288 A CN 110421288A CN 201910750584 A CN201910750584 A CN 201910750584A CN 110421288 A CN110421288 A CN 110421288A
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- 238000003466 welding Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000001186 cumulative effect Effects 0.000 claims description 6
- 230000000740 bleeding effect Effects 0.000 claims description 5
- 238000013480 data collection Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 238000004590 computer program Methods 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Gyroscopes (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
A kind of device and method to objects' contour positioning of welding robot characterized by comprising structured light sensor, gyroscope, software systems.The structured light sensor is the sensor that depth information can be obtained to assigned direction emitting structural light.The gyroscope is the device to obtain the motion related informations such as apparatus of the present invention current axial and or acceleration.The software systems are responsible for being modeled according to the data of structured light sensor, and record gyroscope readings and calculate mobile ranging offset and axial corner offset, as far as possible the 3D modeling information under splicing different structure optical sensor position.A feature of the present invention is can to carry out ranging and 3D modeling to multiple positions according to some preset mode, and result can be combined into the overall condition in the gap of a more complete object or required welding, and the more convenient performance for checking weld task.
Description
Technical field
The present invention relates to welding robot fields, and in particular to a kind of welding robot to objects' contour positioning
Method and apparatus.
Background technique
The present invention provides the method and dress to objects' contour positioning of a kind of more succinct, more accurate welding robot
It sets, models needs to meet welding robot or welding robot arm to the ranging of target object, and avoid in most cases
Additional programing work based on shape is carried out to more typical demand environment (such as pipeline etc.), and can be in more complex situation
Under the welding guide data for stablizing smaller error is provided welding module.Another feature of the present invention is can be pre- according to some
The mode first set to carry out ranging and 3D modeling to multiple positions, and result can be combined into a more complete object or
The overall condition in the gap of required welding, and the more convenient performance for checking weld task.
Summary of the invention
A kind of device to objects' contour positioning of welding robot characterized by comprising structure light sensing
Device, gyroscope, software systems.
Preferably, the structured light sensor is that the sensing of depth information can be obtained to assigned direction emitting structural light
Device.
Preferably, the gyroscope is that apparatus of the present invention currently movement such as axial direction and or acceleration is related to be believed to obtain
The device of breath.
Preferably, the software systems are responsible for being modeled according to the data of structured light sensor, and record gyroscope readings
It is deviated with the ranging offset and axial direction corner for calculating mobile, as far as possible the 3D modeling letter under splicing different structure optical sensor position
Breath.
Preferably as a kind of optional embodiment, can be disposed in apparatus of the present invention specified calibrated scale or
Calibration mark (such as increasing a small red dot or a cross in unified position), with the device for being used to executing welding operation
Calculate opposite offset (positional shift and axial angle offset).
Further, the execution welding operation can be input to by finding out the relative offset come and axial angle offset
Robot device in, so that the data that provide apparatus of the present invention carry out coordinate system conversion to obtain the executions welding and operate
Robot device used in data value in coordinate system.
Preferably as a kind of optional embodiment, for apparatus of the present invention and the machine for executing welding operation
The relative displacement of people's device and to axial angle are constant situations, can be by relative displacement and angle is stored into axial
In configuration file, the calculating being iteratively repeated and the setting machine for executing welding operation are avoided by the load of software systems
People's device.
Preferably, the structure light can be in patterns such as striped formula, grid type, speckle formula, coding types.
A kind of method to objects' contour positioning of welding robot characterized by comprising
Step 1: fixing apparatus of the present invention or put or is moved in specified position (at gap or near gap), then makes
Depth information is collected with structured light sensor, collects the information such as position, acceleration, axial angle using gyroscope.
Step 2: establishing model information (3D modeling) using the depth information that structured light sensor is collected into, and current
Gyroscope information store together.
Step 3: the structured light sensor and gyroscope part of apparatus of the present invention are moved by predefined mode
(automatic or manual) carries out multiple information collection and 3D modeling, splices 3D modeling information, selects or click seam in software systems center
Gap and edge instruct welding system to work.
Preferably as a kind of optional embodiment, when being worked at the same time if there is multiple groups apparatus of the present invention, then according to every
It the relative displacement of group apparatus of the present invention and is fused in the same 3D coordinate system after corner converts model information to axial.
Preferably as a kind of optional embodiment, can turn when measurement if it is one group of apparatus of the present invention
To corner and relative displacement are recorded by gyroscope to axial, are finally spelled by the 3D modeling data of each scanning element one
When to the 3D modeling data under different location according to each position opposite offset and to axial angle offset into
Row coordinate transform.
Preferably as a kind of optional embodiment, when collecting data, a kind of data collection mould can be preset
Formula, such as according to a square the top vertex Liang Ge as data collection locations, towards the side of square center position
To collection data.
Preferably, after having collected depth information in some position and having completed 3D modeling and read gyro data, this
The gyroscope of invention device and structured light sensor part can be moved to another place (automatic or manual is mobile) to capture
Depth information, in moving process gyroscope record mobile relevant information calculate it is mobile after positional shift and axial angle it is inclined
It moves.
Preferably, after repeatedly collecting information, each information is collected to the 3D model information of position, is believed according to depth is collected
The relative offset and axial angle of gyroscope information when breath deviate to carry out changes in coordinates, to obtain multiple modeling
3D modeling information be finally fused in a unified coordinate system.
Preferably as a kind of optional embodiment, when calculating relative displacement according to gyroscope, the every frame of gyroscope
It is available using acceleration multiplied by the time interval of every frame comprising information such as having time, axial angle, acceleration in data
The velocity variations of this frame deviate, and the offset of these velocity variations, which is added up, can be obtained by the velocity amplitude of moment (every frame),
The displacement of every frame can be obtained multiplied by the time interval of every frame with this calculated average speed of instantaneous speed value after cumulative
Deviant, can obtain collecting from a depth information bleeding point to another depth information by this displacement bias value is cumulative
The positional shift of point.
Preferably as a kind of optional embodiment, if it directly can read out displacement information from gyroscope not
Software systems belonging to needing are calculated according to the acceleration that gyroscope provides.
Preferably, frame choosing be vertex, find frame choosing vertex among gap (gap define be no apex region or
There is the region of the cliff of displacement pattern based on some direction in 3d space).
Preferably, the frame selects the mode in vertex or gap to be also possible to by computer or by connection software systems
Mobile phone or tablet computer.
Optionally, as an alternative embodiment, distinguishing the two kinds of vertex position information in edge and gap,
Data are passed into welding module together.
Preferably as a kind of optional embodiment, when 3D modeling, can be according to the depth information of structured light sensor
Each of (usually picture) four directions shaped position (each position can be the pixel in picture) establishes two triangles
(four point distributions are squares, establish two triangles), to form triangle strip or triangle sets.
Optionally, the type of the bearing device of apparatus of the present invention can be pallet on the robotic arm or pallet is fixed
To facilitate rotation on circular shaft.
Preferably as a kind of optional embodiment, structured light sensor and gyroscope can individually be deployed in and can revolve
Turn or the mechanical part of mobile (automatic or manual) on, to realize the overall movement and rotation of structured light sensor and gyroscope
(synchronous progress).
Preferably as a kind of optional embodiment, present invention may also apply to weld to complete to check face of weld later
Performance.
Further, as an alternative embodiment, using structure light when checking that effect is completed on the surface after welding
Sensor rescans same position, carries out vertex position ratio according to the 3D modeling data before frame favored area and welding after 3D modeling
Compared with, if still occur gap illustrate welding do not complete.
Further, as an alternative embodiment, using structure light when checking that effect is completed on the surface after welding
Sensor rescans same position, can also be directly using depth information shown in selection range and the depth information before welding
It is compared, is not completed to detect welding.
Preferably as a kind of optional embodiment, the bounding box of apparatus of the present invention can be input to the execution
It welds and is collided in the robot device of operation to avoid robotic arm.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
A kind of pattern schematic diagram of the bearing device of apparatus of the present invention of Fig. 1, front view.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
Step 1: apparatus of the present invention are arranged in the designated position for needing the object welded.
Step 2: apparatus of the present invention according to the mode that is previously set and sequence successively to each position (and or angle) come into
Row information is collected, and collects depth information including structured light sensor, gyroscope collects position, acceleration, axial angle etc.
Information, and 3D modeling is completed, result is stored.
Step 3: relative position that the data repeatedly collected are calculated according to gyro data and to axial angle
It is coordinately transformed, transformed 3D model result is fused in the same coordinate system.
Step 4: frame selects gap, selects information to be sent to welding module 3D modeling information and frame and operates.
Step 5: the mode and sequence being previously set according to apparatus of the present invention are successively to each position (or angle) Lai Jinhang
Second of information is collected, and the depth information being collected into and gyroscope information are fused to a coordinate according to conversion method before
After in system, the region of the choosing of frame just now is compared with 3D modeling data before, to check the surface performance of welding.
It is a specific embodiment of the invention above, but protection scope of the present invention should not be limited to thoses mentioned above.It is any to be familiar with sheet
Within the technical scope disclosed by the invention, any changes or substitutions that can be easily thought of by the technical staff in field, should all cover at this
Within the protection scope of invention, therefore protection scope of the present invention should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of device to objects' contour positioning of welding robot characterized by comprising structured light sensor,
Gyroscope, software systems；
The structured light sensor is the sensor that depth information can be obtained to assigned direction emitting structural light；
The gyroscope is the device to obtain the motion related informations such as apparatus of the present invention current axial and or acceleration；
The software systems are responsible for being modeled according to the data of structured light sensor, and record gyroscope readings and calculate movement
Ranging offset and axial corner offset, as far as possible the 3D modeling information under splicing different structure optical sensor position.
2. a kind of method to objects' contour positioning of welding robot characterized by comprising
Step 1: fixing apparatus of the present invention or put or is moved in specified position (at gap or near gap), then makes
Depth information is collected with structured light sensor, collects the information such as position, acceleration, axial angle using gyroscope；
Step 2: establishing model information (3D modeling) using the depth information that structured light sensor is collected into, with current top
Spiral shell instrument information stores together；
Step 3: structured light sensor and the gyroscope part that apparatus of the present invention are moved by predefined mode are (automatic
Or manually), carry out multiple information collection and 3D modeling, splice 3D modeling information, software systems center select or click gap and
Edge instructs the welding system to work.
" step 1 " 3. according to claim 2, which is characterized in that apparatus of the present invention are fixed or put or are moved to finger
Depth information is then collected using structured light sensor in fixed position (at gap or near gap), collects position using gyroscope
It sets, the information such as acceleration, axial angle, comprising:
As an alternative embodiment, then being filled according to every group of present invention when being worked at the same time if there is multiple groups apparatus of the present invention
It the relative displacement set and is fused in the same 3D coordinate system after corner converts model information to axial；
As an alternative embodiment, can be turned to when measurement if it is one group of apparatus of the present invention, to axial
Corner and relative displacement are recorded by gyroscope, finally to not when the 3D modeling data of each scanning element are stitched together
It is coordinately transformed according to the opposite offset of each position with angle offset to axial with the 3D modeling data under position；
As an alternative embodiment, when collecting data, a kind of data-collecting mode can be preset, such as according to
Data are collected as data collection locations, towards the direction of square center position in one square the top vertex Liang Ge.
" step 2 " 4. according to claim 2, which is characterized in that the depth information being collected into using structured light sensor
Model information (3D modeling) is established, is stored together with current gyroscope information, comprising:
After having collected depth information in some position and having completed 3D modeling and read gyro data, the top of apparatus of the present invention
Spiral shell instrument and structured light sensor part can be moved to another place (automatic or manual moves) to capture depth information, move
Gyroscope records mobile relevant information to calculate the positional shift after movement and axial angle offset in the process；
After repeatedly collecting information, each information is collected to the 3D model information of position, gyro when according to collection depth information
The relative offset and axial angle of instrument information deviate to carry out changes in coordinates, will repeatedly to model obtained 3D information most
It is fused in a unified coordinate system eventually；
As an alternative embodiment, including the letter such as having time, axial angle, acceleration in the data of the every frame of gyroscope
Breath, using acceleration multiplied by the time interval of every frame, the velocity variations of this available frame are deviated, these velocity variations are inclined
Shifting, which adds up, can be obtained by the velocity amplitude of moment (every frame), with the calculated average speed of this instantaneous speed value after cumulative
Degree can obtain the deviant of the displacement of every frame multiplied by the time interval of every frame, by this displacement bias value it is cumulative can obtain from
Positional shift of one depth information bleeding point point to another depth information bleeding point.
" step 3 " 5. according to claim 2, which is characterized in that move dress of the present invention by predefined mode
The structured light sensor and gyroscope part (automatic or manual) set carry out multiple information collection and 3D modeling, splice 3D modeling
Information is selected in software systems center or clicks gap and edge to instruct welding system to work, comprising:
As an alternative embodiment, including in the data of the every frame of gyroscope when calculating relative displacement according to gyroscope
The information such as having time, axial angle, acceleration, using acceleration multiplied by the time interval of every frame, the speed of this available frame
Varying offset is spent, the offset of these velocity variations, which is added up, can be obtained by the velocity amplitude of moment (every frame), cumulative with this
The calculated average speed of instantaneous speed value afterwards can obtain the deviant of the displacement of every frame multiplied by the time interval of every frame, will
This displacement bias value is cumulative to be obtained from a depth information bleeding point point to the position of another depth information bleeding point
Offset；
After repeatedly collecting information, each information is collected to the 3D model information of position, gyro when according to collection depth information
The relative offset and axial angle of instrument information deviate to carry out changes in coordinates, believe will repeatedly to model obtained 3D modeling
Breath is finally fused in a unified coordinate system；
Frame choosing is vertex, and (defining for gap is no apex region or 3d space occur in the gap for finding among the vertex of frame choosing
In the cliff of displacement shape based on some direction region)；
As an alternative embodiment, after distinguishing the vertex position informations of the two kinds of data in edge and gap, by data one
And pass to welding module.
6. one kind is computer-readable to write medium, it is stored thereon with computer program and related data, which is characterized in that described program
Relevant calculation function and content of the invention is realized when being executed by processor.
7. a kind of electronic equipment characterized by comprising
One or more processors；
One or more video cards (optional)；
Storage device, for storing one or more programs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750584.7A CN110421288A (en) | 2019-08-14 | 2019-08-14 | A kind of method and apparatus to objects' contour positioning of welding robot |
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| CN201910750584.7A CN110421288A (en) | 2019-08-14 | 2019-08-14 | A kind of method and apparatus to objects' contour positioning of welding robot |
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2019
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