CN111664812B - Laser scanning-based robot drilling and riveting normal alignment method and device - Google Patents

Laser scanning-based robot drilling and riveting normal alignment method and device Download PDF

Info

Publication number
CN111664812B
CN111664812B CN202010414093.8A CN202010414093A CN111664812B CN 111664812 B CN111664812 B CN 111664812B CN 202010414093 A CN202010414093 A CN 202010414093A CN 111664812 B CN111664812 B CN 111664812B
Authority
CN
China
Prior art keywords
distance sensor
laser
laser distance
coordinates
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010414093.8A
Other languages
Chinese (zh)
Other versions
CN111664812A (en
Inventor
隋少春
陈强
曾德标
雷沛
石章虎
孙海龙
云鑫
孟华林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Aircraft Industrial Group Co Ltd
Original Assignee
Chengdu Aircraft Industrial Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu Aircraft Industrial Group Co Ltd filed Critical Chengdu Aircraft Industrial Group Co Ltd
Priority to CN202010414093.8A priority Critical patent/CN111664812B/en
Publication of CN111664812A publication Critical patent/CN111664812A/en
Application granted granted Critical
Publication of CN111664812B publication Critical patent/CN111664812B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a laser scanning-based robot drilling and riveting normal alignment method and device, wherein a laser distance sensor S1 and a laser distance sensor S2 are used for scanning and measuring the surface of a skin in a mechanical rotation mode to obtain two groups of criss-cross measuring point data, then 10 measuring point data closest to cross points in the two groups of measuring point data are respectively selected to approximately calculate and scan a tangent vector at a drilling and riveting point position, and a processing normal angle deviation delta on the surface of the skin is calculated according to the cross product of the tangent vectors of two scanning curves. According to the invention, the robot drilling and riveting normal alignment is realized rapidly, efficiently and accurately through the operation.

Description

Laser scanning-based robot drilling and riveting normal alignment method and device
Technical Field
The invention belongs to the field of robot drilling and riveting precision control, and particularly relates to a robot drilling and riveting normal alignment method and device based on laser scanning.
Background
With the continuous development of intelligent manufacturing, the robot automatic drilling and riveting system is widely applied and researched abroad, and for example, EI companies, GE companies and the like have developed relatively mature systems. With the continuous and deep research of colleges and universities and scientific research institutions in China, the robot automatic drilling and riveting technology is also developed dramatically, and related systems are developed in Nanjing aerospace university, northwest industry university and the like. With the continuous popularization and application of the robot automatic drilling and riveting system, how to ensure the processing quality and stability becomes the key point of the current research. The verticality of the rivet hole is an important index in the aircraft assembly process, and the verticality can directly influence the assembly quality and strength of the aircraft and the service life of the aircraft. Therefore, ensuring the verticality of the rivet hole is a very key technical index in the automatic drilling and riveting system of the robot.
A great deal of research has been done at home and abroad on the normal automatic alignment method. The quadric surface fitting method is used for fitting a machined curved surface to calculate the normal direction of a curved surface machining point, and the method is long in data acquisition time and low in calculation efficiency; the four-point method carries out plane fitting by collecting four points around a processing point, and replaces the normal direction of the processing point with the normal direction of the plane, so that the method cannot identify and process the characteristics of a hole and a rivet boss, and meanwhile, the four-point method can realize final normal alignment by carrying out multiple calculations on the normal alignment of a curved surface.
Disclosure of Invention
Aiming at the problems of low calculation efficiency, long data acquisition time, multiple calculation and the like in the prior art, the invention provides a robot drilling and riveting normal alignment method and device based on laser scanning, wherein the surface of a skin is scanned and measured by using a laser distance sensor S1 and a laser distance sensor S2 in a mechanical rotation mode to obtain two groups of crisscross measuring point data, and the processing normal angle deviation on the surface of the skin is calculated according to the scanning measuring point data to obtain the processing normal angle deviation
Figure 100002_DEST_PATH_IMAGE001
。
The specific implementation content of the invention is as follows:
the invention provides a laser scanning-based robot drilling and riveting normal alignment method, which comprises the steps of arranging a laser distance sensor S1 and a laser distance sensor S2 which are perpendicular to each other, obtaining two groups of criss-cross measuring point data by rotating the laser distance sensor S1 and the laser distance sensor S2, then respectively selecting 10 measuring point data which are closest to a cross point from the two groups of measuring point data to approximately calculate and scan a tangent vector at a drilling and riveting point position, and calculating according to the cross product of tangent vectors of two scanning curves to obtain the processing normal angle deviation on the surface of a skin
Figure 659420DEST_PATH_IMAGE001
。
In order to better implement the present invention, after the laser distance sensor S1 and the laser distance sensor S2 are arranged perpendicular to each other, the laser distance sensor S1 and the laser distance sensor S2 are calibrated, and the specific calibration steps include:
s1, establishing a TCP coordinate system, and setting the coordinates of the laser distance sensor S1 and the laser distance sensor S2 in the TCP coordinate system as
Figure 704736DEST_PATH_IMAGE002
Wherein subscript i =1, 2; numbers indicating the laser distance sensor S1 and the laser distance sensor S2;
s2, setting the laser ray emitting directions of the laser distance sensor S1 and the laser distance sensor S2 as
Figure 100002_DEST_PATH_IMAGE003
；
S3, setting a reference plane D to obtain projection points of the laser distance sensor S1 and the laser distance sensor S2 on the reference plane D
Figure 162262DEST_PATH_IMAGE004
Projection point
Figure 100002_DEST_PATH_IMAGE005
；
S4, calculating the distances from the laser emitting points of the laser distance sensor S1 and the laser distance sensor S2 to the reference plane D along the emitting direction
Figure 711055DEST_PATH_IMAGE006
Wherein subscript i =1, 2;
s5, calculating projection points
Figure 612146DEST_PATH_IMAGE004
Projection point
Figure 879180DEST_PATH_IMAGE005
Coordinates of (2)
Figure 100002_DEST_PATH_IMAGE007
The coordinates
Figure 78080DEST_PATH_IMAGE008
By distance
Figure 543696DEST_PATH_IMAGE006
And the direction of emission
Figure 100002_DEST_PATH_IMAGE009
Product of (d) plus the coordinate
Figure 802639DEST_PATH_IMAGE010
Is calculated to obtain
Figure 100002_DEST_PATH_IMAGE011
；
Wherein the content of the first and second substances,
Figure 364158DEST_PATH_IMAGE012
。
to better implement the present invention, the coordinates are further determined
Figure 101170DEST_PATH_IMAGE008
Then according to the coordinates
Figure 624556DEST_PATH_IMAGE008
Is/are as follows
Figure 100002_DEST_PATH_IMAGE013
Calculating the distance D from the origin of the TCP coordinate system to the reference plane D; the specific calculation method comprises the following steps: multiplying the coefficient a by
Figure 116717DEST_PATH_IMAGE014
Value of (b), coefficient b multiplied by
Figure 100002_DEST_PATH_IMAGE015
C is multiplied by
Figure 905812DEST_PATH_IMAGE016
The values of (d) are added to obtain the distance dValue, i.e.
Figure 100002_DEST_PATH_IMAGE017
。
In order to better implement the present invention, 6 reference planes D which are not parallel to each other are calibrated for the laser distance sensor S1 and the laser distance sensor S2, and the distances D from the origin of the TCP coordinate system to the six reference planes D are determined1Distance d2Distance d3Distance d4Distance d5Distance d6I.e. by
Figure 446515DEST_PATH_IMAGE018
。
To better implement the invention, further, the distance d is calculated1Distance d2Distance d3Distance d4Distance d5Distance d6Converting to obtain a matrix X of the positions and postures of the laser distance sensor S1 and the laser distance sensor S2; the calculation method of the position posture X specifically comprises the following steps: will be a distance d1Distance d2Distance d3Distance d4Distance d5Distance d6Conversion integration into a matrix representation in which matrix A times matrix X equals matrix D, i.e.
Figure 100002_DEST_PATH_IMAGE019
；
Wherein the content of the first and second substances,
Figure 152303DEST_PATH_IMAGE020
then, the value of the matrix X is obtained according to matrix operation, that is:
Figure 100002_DEST_PATH_IMAGE021
。
to better implement the present invention, a laser distance sensor S1 is obtained to obtain the laser distanceAfter calculating the matrix X of the position and orientation of the sensor S2, the position and orientation of the initial position in the TCP coordinate system when the rotation angle of the laser distance sensor S1 or the laser distance sensor S2 is 0 ° is calculated
Figure 487469DEST_PATH_IMAGE022
Rotate by different angles than the laser distance sensor S1 and the laser distance sensor S2
Figure 100002_DEST_PATH_IMAGE023
Position and posture of the time
Figure 29440DEST_PATH_IMAGE024
Wherein i =1, 2; j =1, 2.
In order to better implement the present invention, the rotation axes of the laser distance sensor S1 and the laser distance sensor S2 are set to aiThe said rotation axis
Figure 100002_DEST_PATH_IMAGE025
(ii) a The rotating shaft AiOne point of is
Figure 108255DEST_PATH_IMAGE026
Said
Figure 100002_DEST_PATH_IMAGE027
And is and
Figure 668549DEST_PATH_IMAGE028
，
Figure 100002_DEST_PATH_IMAGE029
。
to better implement the invention, further, about the axis of rotation AiRotate at any angle
Figure 174617DEST_PATH_IMAGE030
Then obtaining a position posture rotation matrix
Figure 100002_DEST_PATH_IMAGE031
Said
Figure 203884DEST_PATH_IMAGE032
Wherein:
Figure 100002_DEST_PATH_IMAGE033
calculating a rotation axis from matrix conversion
Figure 148706DEST_PATH_IMAGE025
And
Figure 501190DEST_PATH_IMAGE034
further calculate the rotation axis AiPosition and attitude P ofiAnd a rotation axis AiPosition postures of two curves projected to the surface of the measured skin
Figure 100002_DEST_PATH_IMAGE035
。
To better implement the present invention, the rotation axis A is further calculatediPosition postures of two curves projected to the surface of the measured skin
Figure 443738DEST_PATH_IMAGE035
And then, sequentially carrying out the following operations to realize normal alignment:
step a, sampling coordinate points on the two curves to obtain a coordinate set of sampling points on the curves formed by the laser distance sensor S1
Figure 694722DEST_PATH_IMAGE036
Coordinate set of sample points on a curve formed with the laser range sensor S2
Figure 100002_DEST_PATH_IMAGE037
，i=1,...,n；
Step b, coordinate set is paired
Figure 115339DEST_PATH_IMAGE036
And coordinatesCollection
Figure 650226DEST_PATH_IMAGE037
Preprocessing is carried out to obtain a coordinate set
Figure 498096DEST_PATH_IMAGE038
And a set of coordinates
Figure 100002_DEST_PATH_IMAGE039
；
Step c, coordinate set is paired
Figure 423327DEST_PATH_IMAGE038
And a set of coordinates
Figure 460684DEST_PATH_IMAGE039
Analyzing to find out coordinate set
Figure 787760DEST_PATH_IMAGE038
Of a sampling point Q1And a set of coordinates
Figure 72111DEST_PATH_IMAGE039
Of a sampling point Q2Said sampling point Q1And sampling point Q2The point with the closest distance in the two data sets is near the intersection point Q of the two curves;
respectively in the coordinate sets
Figure 546954DEST_PATH_IMAGE038
And a set of coordinates
Figure 309374DEST_PATH_IMAGE039
Middle located at sampling point Q1And sampling point Q2Solving the tangent vectors of the curves at the five points before and after and averaging to obtain the tangent vector of the two curves at the intersection point Q
Figure 490957DEST_PATH_IMAGE040
Sum tangent vector
Figure 100002_DEST_PATH_IMAGE041
；
Step e, cutting vector
Figure 759258DEST_PATH_IMAGE040
Sum tangent vector
Figure 659081DEST_PATH_IMAGE041
Performing cross product calculation to obtain a normal vector n of the curved surface formed by the two curves;
step f, solving the normal angle deviation according to the angle between the normal vector n of the curved surface and the axis vector of the machining tool
Figure 225192DEST_PATH_IMAGE042
。
The invention also provides a robot drilling and riveting normal alignment device based on laser scanning, which is used for the robot drilling and riveting normal alignment and comprises an installation base, a laser distance sensor S1, a first sensor installation plate, a servo motor B1, a laser distance sensor S2, a servo motor B2, a second sensor installation plate and a pressing head;
the mounting base is a square flat plate, a pressing head is vertically mounted in the center of one surface of the mounting base, a first fixing plate is vertically and fixedly connected to the same side surface of the mounting base as the pressing head, a round hole is formed in the center of the first fixing plate, one side, closest to the edge of the mounting base, of the first fixing plate is fixedly connected with a servo motor B1, a spindle of the servo motor B1 penetrates through the round hole of the first fixing plate and is connected with a first sensor mounting plate on the other side of the first fixing plate, the first sensor mounting plate is a 'shaped plate, the upper end face of the' shaped plate is fixedly connected with a spindle of a servo motor B1 ', and a laser distance sensor S1 is fixedly mounted on the outward side of the' shaped plate;
a second fixing plate is also vertically and fixedly connected to the same side face of the mounting base as the pressing head, and the second fixing plate is also vertical to the first fixing plate; the center of the second fixing plate is provided with a round hole, one side of the second fixing plate, which is closest to the edge of the mounting base, is fixedly connected with the servo motor B2, the spindle of the servo motor B2 penetrates through the round hole of the second fixing plate and is connected with the second sensor mounting plate on the other side of the second fixing plate, the second sensor mounting plate is a ' shaped plate, the upper end surface of the ' shaped plate is fixedly connected with the spindle of the servo motor B2, and the outward side of the side plate of the ' shaped plate is fixedly provided with the laser distance sensor S2.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the measurement efficiency is higher than that of the prior art in actual measurement;
(2) during actual measurement, the measurement time is shortened compared with the measurement time of the prior art;
(3) in the actual measurement, the alignment precision is higher during the measurement.
Drawings
FIG. 1 is a schematic structural view of a normal alignment apparatus according to the present invention;
FIG. 2 is a schematic view of a projection onto a reference plane D;
fig. 3 is a schematic diagram of the intersection Q of two curves.
Wherein: 1. installation base, 2, laser distance sensor, 3, first sensor mounting panel, 4, servo motor B1, 5, laser distance sensor S2, 6, servo motor B2, 7, second sensor mounting panel, 8, pressure head.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the embodiment provides a laser scanning-based robot drilling and riveting normal alignment method, which includes the steps of arranging a laser distance sensor S12 and a laser distance sensor S25 which are perpendicular to each other, obtaining two groups of crisscross scanning measurement point data by rotating the laser distance sensor S12 and the laser distance sensor S25, and calculating to obtain processing normal angle deviation on the surface of a skin according to the scanning measurement point data
Figure 323598DEST_PATH_IMAGE001
The specific calculation steps are as follows:
(1) firstly, a laser distance sensor S12 and a laser distance sensor S25 which are perpendicular to each other are arranged, then the laser distance sensor S12 and the laser distance sensor S25 are calibrated, and the specific calibration steps comprise:
s1, establishing a TCP coordinate system, and setting the coordinates of the laser distance sensor S12 and the laser distance sensor S25 in the TCP coordinate system as
Figure 949751DEST_PATH_IMAGE002
Wherein subscript i =1, 2; numbers indicating the laser distance sensor S12 and the laser distance sensor S25;
s2, setting the laser ray emitting directions of the laser distance sensor S12 and the laser distance sensor S25 as
Figure 336870DEST_PATH_IMAGE003
；
S3, setting a reference plane D to obtain projection points of the laser distance sensor S12 and the laser distance sensor S25 on the reference plane D
Figure 441092DEST_PATH_IMAGE004
Projection point
Figure 410316DEST_PATH_IMAGE005
；
S4, calculating the distances from the laser emitting points of the laser distance sensor S12 and the laser distance sensor S25 to the reference plane D along the emitting direction
Figure 207371DEST_PATH_IMAGE006
Wherein subscript i =1, 2;
s5, calculating projection points
Figure 816207DEST_PATH_IMAGE004
Projection point
Figure 52016DEST_PATH_IMAGE005
Coordinates of (2)
Figure 62698DEST_PATH_IMAGE007
The coordinates
Figure 30654DEST_PATH_IMAGE008
By distance
Figure 126786DEST_PATH_IMAGE006
And the direction of emission
Figure 403438DEST_PATH_IMAGE009
Product of (d) plus the coordinate
Figure 534205DEST_PATH_IMAGE010
Is calculated to obtain
Figure 673062DEST_PATH_IMAGE011
；
Wherein the content of the first and second substances,
Figure 318807DEST_PATH_IMAGE012
。
(2) in the determination of coordinates
Figure 568523DEST_PATH_IMAGE008
Then according to the coordinates
Figure 553796DEST_PATH_IMAGE008
Is/are as follows
Figure 863555DEST_PATH_IMAGE013
Calculating the distance D from the origin of the TCP coordinate system to the reference plane D; the expression for the reference plane D can be expressed as:
Figure DEST_PATH_IMAGE043
the specific calculation method comprises the following steps: multiplying the coefficient a by
Figure 747329DEST_PATH_IMAGE014
Value of (b), coefficient b multiplied by
Figure 800735DEST_PATH_IMAGE015
C is multiplied by
Figure 640515DEST_PATH_IMAGE016
Are added to obtain the value of the distance d, i.e.
Figure 183492DEST_PATH_IMAGE017
Can also be expressed as
Figure 475933DEST_PATH_IMAGE044
. Wherein the coefficients a, b, c are values measurable by the system in actual operation.
(3) 6 reference planes D which are not parallel to each other are calibrated for the laser distance sensor S12 and the laser distance sensor S25, and the distances D from the origin of the TCP coordinate system to the six reference planes D are respectively calculated1Distance d2Distance d3Distance d4Distance d5Distance d6I.e. by
Figure 333031DEST_PATH_IMAGE018
。
(4) According to the calculated distance d1Distance d2Distance d3Distance d4Distance d5Distance d6Converting to obtain a matrix X of the positions and postures of the laser distance sensor S1 and the laser distance sensor S2; the calculation method of the position posture X specifically comprises the following steps: will be a distance d1Distance d2Distance d3Distance d4Distance d5Distance d6Conversion integration into a matrix representation in which matrix A times matrix X equals matrix D, i.e.
Figure 840367DEST_PATH_IMAGE019
；
Wherein the content of the first and second substances,
Figure 491928DEST_PATH_IMAGE020
then, the value of the matrix X is obtained according to matrix operation, that is:
Figure 537244DEST_PATH_IMAGE021
。
in order to better implement the present invention, after obtaining the matrix X of the position and orientation of the laser distance sensor S1 and the laser distance sensor S2, the position and orientation of the initial position of the laser distance sensor S1 and the laser distance sensor S2 in the TCP coordinate system at the rotation angle of 0 ° is calculated
Figure 932453DEST_PATH_IMAGE022
Rotate by different angles than the laser distance sensor S1 and the laser distance sensor S2
Figure 543563DEST_PATH_IMAGE023
Position and posture of the time
Figure 631605DEST_PATH_IMAGE024
Wherein i =1, 2; j =1, 2.
In order to better implement the inventionFurther, the rotation axes of the laser distance sensor S1 and the laser distance sensor S2 are set to aiThe said rotation axis
Figure DEST_PATH_IMAGE045
(ii) a The rotating shaft AiOne point of is
Figure 711688DEST_PATH_IMAGE046
Said
Figure DEST_PATH_IMAGE047
And is and
Figure 645009DEST_PATH_IMAGE048
，
Figure DEST_PATH_IMAGE049
。
1. in order to better implement the present invention, further, a position posture rotation matrix is obtained after rotating any angle around the rotation axis Ai
Figure 376204DEST_PATH_IMAGE050
Said
Figure DEST_PATH_IMAGE051
Wherein:
Figure 635147DEST_PATH_IMAGE033
calculating a rotation axis from matrix conversion
Figure 123897DEST_PATH_IMAGE025
And
Figure 939538DEST_PATH_IMAGE034
further calculate the rotation axis AiPosition and attitude of (1) and the rotation axis AiPosition postures of two curves projected to the surface of the measured skin
Figure 462923DEST_PATH_IMAGE052
。
To better implement the present invention, the rotation axis A is further calculatediPosition postures of two curves projected to the surface of the measured skin
Figure DEST_PATH_IMAGE053
And then, sequentially carrying out the following operations to realize normal alignment:
step a, sampling coordinate points on the two curves to obtain a coordinate set of sampling points on the curves formed by the laser distance sensor S12
Figure 689505DEST_PATH_IMAGE036
Coordinate set of sample points on a curve formed with the laser range sensor S25
Figure 931130DEST_PATH_IMAGE037
，i=1,...,n；
Step b, coordinate set is paired
Figure 471833DEST_PATH_IMAGE036
And a set of coordinates
Figure 849725DEST_PATH_IMAGE037
Preprocessing is carried out to obtain a coordinate set
Figure 263520DEST_PATH_IMAGE038
And a set of coordinates
Figure 726862DEST_PATH_IMAGE037
；
Step c, coordinate set is paired
Figure 71256DEST_PATH_IMAGE038
And a set of coordinates
Figure 631550DEST_PATH_IMAGE037
Analyzing to find out coordinate set
Figure 137618DEST_PATH_IMAGE038
Of a sampling point Q1And a set of coordinates
Figure 353836DEST_PATH_IMAGE037
Of a sampling point Q2Said sampling point Q1And sampling point Q2The point with the closest distance in the two data sets is near the intersection point Q of the two curves; the concrete solving method is as follows: by the objective function:
Figure 236341DEST_PATH_IMAGE054
solve out
Figure DEST_PATH_IMAGE055
；
Respectively in the coordinate sets
Figure 401874DEST_PATH_IMAGE038
And a set of coordinates
Figure 78843DEST_PATH_IMAGE037
Middle located at sampling point Q1And sampling point Q2Solving the tangent vectors of the curves at the five points before and after and averaging to obtain the tangent vector of the two curves at the intersection point Q
Figure 579095DEST_PATH_IMAGE056
Sum tangent vector
Figure DEST_PATH_IMAGE057
；
Step e, cutting vector
Figure 265291DEST_PATH_IMAGE056
Sum tangent vector
Figure 472281DEST_PATH_IMAGE057
Performing cross product calculation to obtain a normal vector n of the curved surface formed by the two curves,
Figure 398780DEST_PATH_IMAGE058
；
step f. according toThe angle between the normal vector n of the curved surface and the axis vector of the processing tool is solved to obtain the normal angle deviation
Figure 324011DEST_PATH_IMAGE042
The specific calculation formula is as follows:
Figure DEST_PATH_IMAGE059
。
example 2:
the invention also provides a robot drilling and riveting normal alignment device based on laser scanning, which is used for the robot drilling and riveting normal alignment, and comprises an installation base 1, a laser distance sensor S12, a first sensor installation plate 3, a servo motor B14, a laser distance sensor S25, a servo motor B26, a second sensor installation plate 7 and a pressing head 8, wherein the installation base 1 is provided with a plurality of laser distance sensors;
the mounting base 1 is a square flat plate, a pressing head 8 is vertically mounted in the center of one surface of the mounting base 1, a first fixing plate is vertically and fixedly connected to the same side surface of the mounting base 1 as the pressing head 8, a round hole is formed in the center of the first fixing plate, one side, closest to the edge of the mounting base 1, of the first fixing plate is fixedly connected with a servo motor B14, a spindle of a servo motor B14 penetrates through the round hole of the first fixing plate and is connected with a first sensor mounting plate 3 on the other side of the first fixing plate, the first sensor mounting plate 3 is a ' shaped plate, the upper end face of the ' shaped plate is fixedly connected with the spindle of a servo motor B14, and a laser distance sensor S12 is fixedly mounted on the outward side of the ' shaped plate;
a second fixing plate is also vertically and fixedly connected to the same side face of the mounting base 1 as the pressing head 8, and the second fixing plate is also vertical to the first fixing plate; the center of the second fixing plate is provided with a round hole, one side of the second fixing plate, which is closest to the edge of the mounting base 1, is fixedly connected with the servo motor B26, the spindle of the servo motor B26 penetrates through the round hole of the second fixing plate and is connected with the second sensor mounting plate 7 on the other side of the second fixing plate, the second sensor mounting plate 7 is a ' shaped plate, the upper end surface of the ' shaped plate is fixedly connected with the spindle of the servo motor B26, and the outward side of the side plate of the ' shaped plate is fixedly provided with the laser distance sensor S25.
The working principle is as follows: the laser distance sensor is installed in the following mode: the laser distance sensor S12 is mounted in the OYZ plane of the end effector TCP coordinate system and rotates around a rotating shaft A1 parallel to the X axis, and the scanning plane formed by the laser lines is coincident with the OYZ plane. The laser distance sensor S25 is mounted in the OXZ plane of the TCP coordinate system and rotates about a rotation axis a2 parallel to the Y axis, the scan plane formed by the laser lines coinciding with the OXZ plane. And the laser distance sensor S12 and the laser distance sensor S25 scan and measure the surface of the skin in a mechanical rotation mode to obtain two groups of crisscross measuring point data. And approximately calculating tangent vectors of the scanning lines at the drilling and riveting point positions according to the data of the 10 nearest measurement points away from the drilling and riveting point positions. And finally, obtaining the normal direction of the skin at the drilling and riveting point according to the cross product of the tangent vectors of the two scanning lines.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims (6)

1. A robot drilling and riveting normal alignment method based on laser scanning is characterized in that a laser distance sensor S1 and a laser distance sensor S2 which are perpendicular to each other are arranged, two groups of crisscross scanning measurement point data are obtained by rotating the laser distance sensor S1 and the laser distance sensor S2, and processing normal angle deviation on the surface of a skin is obtained by calculation according to the scanning measurement point data
Figure DEST_PATH_IMAGE001
；
After the laser distance sensor S1 and the laser distance sensor S2 which are perpendicular to each other are arranged, the laser distance sensor S1 and the laser distance sensor S2 are calibrated, and the specific calibration steps comprise:
s1, establishing a TCP coordinate system, and setting a seat of the laser distance sensor in the TCP coordinate systemIs marked as
Figure 397881DEST_PATH_IMAGE002
Where the subscript i =1, denotes the coordinates of the laser distance sensor S1; when the subscript i =2, the coordinates of the laser distance sensor S2 are indicated;
s2, setting the laser ray emitting directions of the laser distance sensor S1 and the laser distance sensor S2 as
Figure DEST_PATH_IMAGE003
；
S3, setting a reference plane D to obtain projection points of the laser distance sensor S1 and the laser distance sensor S2 on the reference plane D
Figure 933993DEST_PATH_IMAGE004
Projection point
Figure DEST_PATH_IMAGE005
；
S4, calculating the distances from the laser emitting points of the laser distance sensor S1 and the laser distance sensor S2 to the reference plane D along the emitting direction
Figure 12807DEST_PATH_IMAGE006
Wherein subscript i =1, 2;
s5, calculating projection points
Figure 573101DEST_PATH_IMAGE004
Projection point
Figure 344748DEST_PATH_IMAGE005
Coordinates of (2)
Figure DEST_PATH_IMAGE007
The coordinates
Figure 108436DEST_PATH_IMAGE008
By distance
Figure 990942DEST_PATH_IMAGE006
And the direction of emission
Figure DEST_PATH_IMAGE009
Product of (d) plus the coordinate
Figure 343425DEST_PATH_IMAGE010
Is calculated to obtain
Figure DEST_PATH_IMAGE011
；
Wherein the content of the first and second substances,
Figure 348291DEST_PATH_IMAGE012
；
in the determination of coordinates
Figure 786225DEST_PATH_IMAGE008
Then according to the coordinates
Figure 206842DEST_PATH_IMAGE008
Is/are as follows
Figure DEST_PATH_IMAGE013
Calculating the distance D from the origin of the TCP coordinate system to the reference plane D; the specific calculation method comprises the following steps: multiplying the coefficient a by
Figure 492461DEST_PATH_IMAGE014
Value of (b), coefficient b multiplied by
Figure DEST_PATH_IMAGE015
C is multiplied by
Figure 605911DEST_PATH_IMAGE016
Are added to obtain the value of the distance d, i.e.
Figure DEST_PATH_IMAGE017
；
6 reference planes D which are not parallel to each other are calibrated for the laser distance sensor S1 and the laser distance sensor S2, and the distances D from the origin of the TCP coordinate system to the six reference planes D are respectively calculated1Distance d2Distance d3Distance d4Distance d5Distance d6I.e. by
Figure 593458DEST_PATH_IMAGE018
。
2. The laser scanning-based robot drilling-riveting normal alignment method according to claim 1, wherein the calculated distance d is used for aligning1Distance d2Distance d3Distance d4Distance d5Distance d6Converting to obtain a matrix X of the positions and postures of the laser distance sensor S1 and the laser distance sensor S2; the calculation method of the position posture X specifically comprises the following steps: will be a distance d1Distance d2Distance d3Distance d4Distance d5Distance d6Conversion integration into a matrix representation in which matrix A times matrix X equals matrix D, i.e.
Figure DEST_PATH_IMAGE019
；
Wherein the content of the first and second substances,
Figure 630816DEST_PATH_IMAGE020
then, the value of the matrix X is obtained according to matrix operation, that is:
Figure DEST_PATH_IMAGE021
。
3. a substrate as claimed in claim 2The method for the robot drilling-riveting normal alignment in laser scanning is characterized in that after a matrix X of the position postures of a laser distance sensor S1 and a laser distance sensor S2 is obtained, the position postures of initial positions of the laser distance sensor S1 and the laser distance sensor S2 under a TCP coordinate system are calculated when the rotation angle of the laser distance sensor S1 and the laser distance sensor S2 is 0 degree
Figure 692312DEST_PATH_IMAGE022
Rotate by different angles than the laser distance sensor S1 and the laser distance sensor S2
Figure DEST_PATH_IMAGE023
Position and posture of the time
Figure 38980DEST_PATH_IMAGE024
Wherein i =1, 2; j =1, 2.
4. The laser scanning-based robot drilling-riveting normal alignment method as claimed in claim 3, wherein the rotation axes of the laser distance sensor S1 and the laser distance sensor S2 are set to AiThe said rotation axis
Figure DEST_PATH_IMAGE025
(ii) a The rotating shaft AiOne point of is
Figure 451507DEST_PATH_IMAGE026
Said
Figure DEST_PATH_IMAGE027
And is and
Figure 292555DEST_PATH_IMAGE028
，
Figure DEST_PATH_IMAGE029
。
5. a substrate as claimed in claim 4The laser scanning robot drilling and riveting normal alignment method is characterized in that the robot drilling and riveting normal alignment method rotates around a rotating shaft Ai by any angle
Figure 536455DEST_PATH_IMAGE030
Then obtaining a position posture rotation matrix
Figure DEST_PATH_IMAGE031
Said
Figure 726128DEST_PATH_IMAGE032
Wherein:
Figure DEST_PATH_IMAGE033
calculating a rotation axis from matrix conversion
Figure 439000DEST_PATH_IMAGE025
And
Figure 5110DEST_PATH_IMAGE034
further calculate the rotation axis AiPosition and attitude P ofiAnd a rotation axis AiPosition postures of two curves projected to the surface of the measured skin
Figure DEST_PATH_IMAGE035
。
6. The laser scanning-based robot drilling-riveting normal alignment method as claimed in claim 5, wherein the rotation axis A is calculatediPosition postures of two curves projected to the surface of the measured skin
Figure 369096DEST_PATH_IMAGE035
And then, sequentially carrying out the following operations to realize normal alignment:
step a, sampling coordinate points on the two curves to obtain the laser distance transmissionSet of coordinates of sample points on the curve formed by sensor S1
Figure 729670DEST_PATH_IMAGE036
Coordinate set of sample points on a curve formed with the laser range sensor S2
Figure DEST_PATH_IMAGE037
，i=1,...,n；
Step b, coordinate set is paired
Figure 116789DEST_PATH_IMAGE036
And a set of coordinates
Figure 299639DEST_PATH_IMAGE037
Preprocessing is carried out to obtain a coordinate set
Figure 190235DEST_PATH_IMAGE038
And a set of coordinates
Figure DEST_PATH_IMAGE039
；
Step c, coordinate set is paired
Figure 987290DEST_PATH_IMAGE038
And a set of coordinates
Figure 658443DEST_PATH_IMAGE039
Analyzing to find out coordinate set
Figure 831935DEST_PATH_IMAGE038
Of a sampling point Q1And a set of coordinates
Figure 842616DEST_PATH_IMAGE039
Of a sampling point Q2Said sampling point Q1And sampling point Q2The point with the closest distance in the two data sets is near the intersection point Q of the two curves;
step d, divideIn a set of coordinates
Figure 810572DEST_PATH_IMAGE038
And a set of coordinates
Figure 719754DEST_PATH_IMAGE039
Middle located at sampling point Q1And sampling point Q2Solving the tangent vectors of the curves at the five points before and after and averaging to obtain the tangent vector of the two curves at the intersection point Q
Figure 431358DEST_PATH_IMAGE040
Sum tangent vector
Figure DEST_PATH_IMAGE041
；
Step e, cutting vector
Figure 296545DEST_PATH_IMAGE040
Sum tangent vector
Figure 497720DEST_PATH_IMAGE041
Performing cross product calculation to obtain a normal vector n of the curved surface formed by the two curves;
step f, solving the normal angle deviation according to the angle between the normal vector n of the curved surface and the axis vector of the machining tool
Figure 81148DEST_PATH_IMAGE042
。
CN202010414093.8A 2020-05-15 2020-05-15 Laser scanning-based robot drilling and riveting normal alignment method and device Active CN111664812B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010414093.8A CN111664812B (en) 2020-05-15 2020-05-15 Laser scanning-based robot drilling and riveting normal alignment method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010414093.8A CN111664812B (en) 2020-05-15 2020-05-15 Laser scanning-based robot drilling and riveting normal alignment method and device

Publications (2)

Publication Number Publication Date
CN111664812A CN111664812A (en) 2020-09-15
CN111664812B true CN111664812B (en) 2021-08-03

Family

ID=72383693

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010414093.8A Active CN111664812B (en) 2020-05-15 2020-05-15 Laser scanning-based robot drilling and riveting normal alignment method and device

Country Status (1)

Country Link
CN (1) CN111664812B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112734863B (en) * 2021-03-31 2021-07-02 武汉理工大学 Crossed binocular camera calibration method based on automatic positioning
CN115451822B (en) * 2022-11-10 2023-03-24 通用技术集团沈阳机床有限责任公司 Skin curved surface normal line searching method based on four-point laser

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5936039B2 (en) * 2012-02-29 2016-06-15 三菱重工業株式会社 Normal detection method, normal detection device, and processing machine with normal detection function
CN104625162B (en) * 2015-01-27 2017-01-25 南京航空航天大学 Aligning method and aligning system based on hole drilling normal vector of laser transmitters
CN107957234B (en) * 2016-10-17 2023-09-29 中国航空制造技术研究院 Method and device for measuring normal vector at any point of free-form surface
CN107462881A (en) * 2017-07-21 2017-12-12 北京航空航天大学 A kind of laser range sensor scaling method
CN109541626B (en) * 2018-12-12 2020-12-11 华南农业大学 Target plane normal vector detection device and detection method
CN110935906B (en) * 2019-12-16 2021-03-23 南京航空航天大学 Machining point positioning, normal detection and adjustment method based on mixed connection type track hole making system

Also Published As

Publication number Publication date
CN111664812A (en) 2020-09-15

Similar Documents

Publication Publication Date Title
EP3715780B1 (en) Method for the establishment and the spatial calibration of a 3d measurement model based on a 1d displacement sensor
CN109822574B (en) Industrial robot end six-dimensional force sensor calibration method
CN109623656B (en) Mobile double-robot cooperative polishing device and method based on thickness online detection
CN110161850A (en) A kind of identification of industrial robot variable element rigidity and modeling method
CN107214703B (en) Robot self-calibration method based on vision-assisted positioning
CN111660295A (en) Industrial robot absolute precision calibration system and calibration method
CN110193829B (en) Robot precision control method for coupling kinematics and rigidity parameter identification
US7904202B2 (en) Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
CN111664812B (en) Laser scanning-based robot drilling and riveting normal alignment method and device
CN111664813B (en) Free surface arbitrary hole normal vector measuring device and method and compensation method
CN110154022B (en) Directional stiffness model-based robot hole-making radial positioning correction method
CN112008491B (en) CA type five-axis numerical control machine tool RTCP precision calibration method based on measuring head
CN109978991A (en) The method that view-based access control model fast implements complex component clamping position and attitude error on-line measurement
CN110161965B (en) On-machine measurement method for large-scale aerospace casing inclined hole
CN111409067A (en) Automatic calibration system and calibration method for robot user coordinates
CN112828878B (en) Three-dimensional measurement and tracking method for large-scale equipment in butt joint process
WO2022067596A1 (en) Standard ball array-based geometric error detection method for machine tool
CN102445171A (en) Method for determining normal vector at random point on free-form surface
Fares et al. Tool center point calibration method for an industrial robots based on spheres fitting method
CN112894490B (en) Method for realizing perpendicularity error detection of numerical control machine tool based on rotating L-shaped array
CN115609586A (en) Robot high-precision assembling method based on grabbing pose constraint
CN111323048B (en) Performance test method and system for single relative attitude measurement machine
CN114905332A (en) Machine tool rotating shaft position-related geometric error identification method based on single-axis motion
CN113352092A (en) Machining reference determination method based on tool for machining aircraft parts
CN112388388A (en) Machine tool geometric error detection method based on standard ball array

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant