CN112729779B - Robot handheld laser sensor optical axis adjusting method and robot - Google Patents
Robot handheld laser sensor optical axis adjusting method and robot Download PDFInfo
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- CN112729779B CN112729779B CN202011558392.5A CN202011558392A CN112729779B CN 112729779 B CN112729779 B CN 112729779B CN 202011558392 A CN202011558392 A CN 202011558392A CN 112729779 B CN112729779 B CN 112729779B
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Abstract
The invention belongs to the technical field of metallurgical equipment, and particularly relates to a method for adjusting an optical axis of a robot handheld laser sensor and a robot. The method has high efficiency and comprises the following steps: setting a tool coordinate system, taking a laser emission point of a laser sensor as a central point of the tool coordinate system, and enabling the direction of the tool coordinate system to be consistent with the 6 th shaft flange central line of the robot; recording a projection point P1 of the laser beam emitted by the laser sensor on the target plane when the central point is positioned at a point R1, and recording a projection point P2 of the laser beam emitted by the laser sensor on the target plane when the central point is positioned at a point R2, wherein the point R2 is positioned above the point R1, and the points R2 and R1 are both positioned in the target direction; calculating Ls1 according to Ls1= Ls2 × L1/L2, wherein L1 is the distance between the point R1 and the point P1, L2 is the distance between the point R1 and the point R2, and Ls2 is the distance between the point P1 and the point P2; and adjusting the laser sensor to enable the laser beam emitted by the laser sensor to be projected to a point P0, enabling the distance between the point P0 and the point P1 to be Ls1, enabling the points P2, P1 and P0 to be collinear and sequentially arranged.
Description
Technical Field
The invention belongs to the technical field of metallurgical equipment, and particularly relates to a method for adjusting an optical axis of a robot handheld laser sensor and a robot.
Background
With the rise of intelligent manufacturing technology in China, more and more enterprises in China adopt industrial robots to replace workers for production in many times in order to eliminate the risk of manual operation, improve the labor production efficiency and reduce the labor intensity. In order to make an industrial robot flexible for performing complex work tasks, it is known to equip it with various sensors, such as ranging, force, temperature and light measuring, and even various 2D and 3D cameras, which guide the robot in real time, corresponding to the eyes of the robot.
The industrial robot can be used for indicating which to hit, and besides selecting proper sensors, the industrial robot also needs to calibrate each sensor, which is commonly called hand-eye calibration. Methods, devices and systems for hand-eye calibration are continuously being innovated. The existing method for adjusting the optical axis of the hand-held laser sensor of the industrial robot has low efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of how to quickly adjust the optical axis of the handheld laser sensor of the industrial robot to ensure that the height of the optical axis direction is consistent with that of a target direction, thereby meeting the requirement of accuracy.
The technical scheme of the invention is as follows:
a method for adjusting an optical axis of a robot handheld laser sensor comprises the following steps:
s1: setting a tool coordinate system, taking a laser emission point of a laser sensor as a central point of the tool coordinate system, and enabling the direction of the tool coordinate system to be consistent with the 6 th shaft flange central line of the robot;
s2: recording a projection point P1 of a laser beam emitted by a laser sensor on a target plane when the central point of the tool coordinate system is positioned at a point R1, and recording a projection point P2 of a laser beam emitted by a laser sensor on a target plane when the central point of the tool coordinate system is positioned at a point R2, wherein the point R2 is positioned above the point R1, and the points R2 and R1 are both positioned in a target direction;
s3: calculating Ls1 according to a length relation Ls1= Ls2 × L1/L2, wherein L1 is a distance between the point R1 and the point P1, L2 is a distance between the point R1 and the point R2, and Ls2 is a distance between the point P1 and the point P2;
s4: and adjusting the laser sensor to enable the laser beam emitted by the laser sensor to be projected to a point P0, enabling the distance between the point P0 and the point P1 to be Ls1, enabling the points P2, P1 and P0 to be collinear and sequentially arranged.
Preferably, before step S1, the following steps are further included: the optical axis direction of the laser sensor is roughly adjusted to the target direction.
Preferably, step S2 comprises:
when the central point of the tool coordinate system is positioned at the point R1, recording the projection point P1 of the laser beam emitted by the laser sensor on the target plane;
moving the robot arm along the target direction by using the robot geodetic coordinate system to move the center point of the tool coordinate system to a point R2;
when the central point of the coordinate system of the recording tool is positioned at the point R2, the laser sensor emits a laser beam to project a point P2 on the target plane.
Preferably, step S2 further comprises:
measuring the distance L1 between the point R1 and the point P1;
recording the distance L2 between the points R1 and R2;
the distance Ls2 between the points P1 and P2 is measured.
Preferably, step S4 comprises:
on the target plane, connecting points P1 and P2;
extending the line segment P1P2 to a point P0, wherein the distance between the point P0 and the point P1 is Ls1, and the points P2, P1 and P0 are sequentially arranged;
the laser sensor is adjusted so that the laser beam emitted by the laser sensor is projected at point P0.
A robot comprising a processor and a memory, the memory having stored therein computer instructions, which when executed by the processor, implement all or part of the steps of the method for adjusting an optical axis of a robot hand-held laser sensor as described above.
After adopting the scheme, compared with the prior art, the invention has the following advantages:
the optical axis of the handheld laser sensor of the robot can be quickly adjusted, so that the height of the optical axis direction is consistent with that of a required target direction, the accuracy requirement is met, and the efficiency is high.
Drawings
FIG. 1 is a diagram illustrating the pose of a robot with the center point of a tool coordinate system at point R1 according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the pose of a robot with the center point of the tool coordinate system at point R2 according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first embodiment of the invention;
fig. 4 is a flowchart of a first embodiment of the invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific embodiments.
The first embodiment is as follows:
as shown in fig. 1 to 4, a method for adjusting an optical axis of a laser sensor held by a robot includes the following steps:
s1: and setting a Tool coordinate system, taking a laser emission Point of the laser sensor as a central Point (Tool Center Point) of the Tool coordinate system, and enabling the direction of the Tool coordinate system to be consistent with the 6 th shaft flange central line of the robot.
S2: recording a projection point P1 of the laser beam emitted by the laser sensor on the target plane 2 when the center point of the tool coordinate system is located at a point R1, and recording a projection point P2 of the laser beam emitted by the laser sensor on the target plane 2 when the center point of the tool coordinate system is located at a point R2, wherein the point R2 is located above the point R1, and the points R2 and R1 are both located in the target direction i.
Fig. 3 is a schematic diagram of the present embodiment, and line segments R2P2 and R1P1 represent laser beams emitted by the laser sensor, which reach the target plane 2 in the optical axis direction R of the laser sensor. The aim of the invention is to adjust the optical axis direction r of the laser sensor to coincide with a target direction i (which may still be slightly wrong), which may be any direction desired by the skilled person.
S3: calculating Ls1 according to the length relation Ls1= Ls2 × L1/L2, wherein L1 is the distance between the point R1 and the point P1, L2 is the distance between the point R1 and the point R2, and Ls2 is the distance between the point P1 and the point P2.
Obviously, the smaller the included angle between the optical axis direction R of the laser sensor and the target direction i is, the closer the length of the line segment R2R1' is to the length of the line segment R2R 1; the farther the point R2 is from the point R1, the closer the length of the line segment R2R1' is to the length of the line segment R2R 1. When the included angle between the optical axis direction R of the laser sensor and the target direction i is small, and the distance between the point R2 and the point R1 is far, the length of the line segment R2R1' is approximately equal to the length of the line segment R2R 1; since triangle R2P 0 is similar to triangle R1P 0, ls1= Ls2 × L1/L2.
Preferably, to keep point R2 as far as possible from point R1, while keeping points P2 and P1 as close as possible (for recording and measurement purposes), the appropriate target plane 2 should be chosen so that the laser beam is projected onto target plane 2 as perpendicularly as possible.
S4: and adjusting the laser sensor to enable the laser beam emitted by the laser sensor to be projected to a point P0, enabling the distance between the point P0 and the point P1 to be Ls1, enabling the points P2, P1 and P0 to be collinear and sequentially arranged.
Further, before step S1, the following steps are also included: the optical axis direction r of the laser sensor is coarsely adjusted in a target direction i.
If the optical axis direction r of the laser sensor is obviously inconsistent with the target direction i, the step is executed first, and the optical axis direction r of the laser sensor is adjusted to be basically consistent with the target direction i. If the optical axis direction r of the visual inspection laser sensor is adjusted to be substantially coincident with the target direction i, the step need not be performed.
Further, step S2 includes:
s21: when the central point of the tool coordinate system is positioned at the point R1, recording the projection point P1 of the laser beam emitted by the laser sensor on the target plane 2.
S22: the robot arm 1 is moved in the target direction i by using the robot geodetic coordinate system, and the center point of the tool coordinate system is moved to a point R2.
S23: when the central point of the coordinate system of the recording tool is located at the point R2, the laser sensor emits the laser beam to project at the projection point P2 of the target plane 2.
Further, step S2 further includes: measuring the distance L1 between the point R1 and the point P1; recording the distance L2 between the points R1 and R2; the distance Ls2 between the points P1 and P2 is measured.
Further, step S4 includes:
s41: on the target plane 2, the points P1 and P2 are connected.
S42: extending the line segment P1P2 to a point P0, wherein the distance between the point P0 and the point P1 is Ls1, and the points P2, P1 and P0 are sequentially arranged;
s43: the laser sensor is adjusted so that the laser beam emitted by the laser sensor is projected at point P0.
Example two:
the present embodiment provides a robot, which includes a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the computer instructions implement all or part of the steps of the method for adjusting the optical axis of the robot handheld laser sensor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention. It should be understood that any modification, equivalent replacement, improvement, etc. made by those skilled in the art after reading the specification, which are within the spirit and principle of the present invention, should be included in the protection scope of the present invention.
Claims (6)
1. A method for adjusting an optical axis of a robot handheld laser sensor is characterized by comprising the following steps:
s1: setting a tool coordinate system, taking a laser emission point of a laser sensor as a central point of the tool coordinate system, and enabling the direction of the tool coordinate system to be consistent with the 6 th shaft flange central line of the robot;
s2: recording a projection point P1 of a laser beam emitted by a laser sensor on a target plane when the central point of the tool coordinate system is positioned at a point R1, and recording a projection point P2 of a laser beam emitted by a laser sensor on a target plane when the central point of the tool coordinate system is positioned at a point R2, wherein the point R2 is positioned above the point R1, and the points R2 and R1 are both positioned in a target direction;
s3: calculating Ls1 according to a length relation Ls1= Ls2 × L1/L2, wherein L1 is a distance between a point R1 and P1, L2 is a distance between a point R1 and R2, and Ls2 is a distance between a point P1 and P2;
s4: and adjusting the laser sensor to enable the laser beam emitted by the laser sensor to be projected to a point P0, enabling the distance between the point P0 and the point P1 to be Ls1, enabling the points P2, P1 and P0 to be collinear and sequentially arranged.
2. The optical axis adjusting method of a robot hand-held laser sensor according to claim 1, characterized by further comprising, before step S1, the steps of: the optical axis direction of the laser sensor is roughly adjusted to the target direction.
3. The optical axis adjusting method of the robot hand-held laser sensor according to claim 1, wherein the step S2 comprises:
when the central point of the tool coordinate system is positioned at the point R1, recording the projection point P1 of the laser beam emitted by the laser sensor on the target plane;
moving the robot arm along the target direction by using the robot geodetic coordinate system to move the central point of the tool coordinate system to a point R2;
when the central point of the coordinate system of the recording tool is positioned at the point R2, the laser sensor emits a laser beam to project a point P2 on the target plane.
4. The optical axis adjusting method of the robot handheld laser sensor according to claim 3, wherein the step S2 further comprises:
measuring the distance L1 between the point R1 and the point P1;
recording the distance L2 between the points R1 and R2;
the distance Ls2 between the points P1 and P2 is measured.
5. The optical axis adjusting method of the robot hand-held laser sensor according to claim 1, wherein the step S4 comprises:
on the target plane, connecting points P1 and P2;
extending the line segment P1P2 to a point P0, wherein the distance between the point P0 and the point P1 is Ls1, and the points P2, P1 and P0 are sequentially arranged;
the laser sensor is adjusted so that the laser beam emitted by the laser sensor is projected at point P0.
6. A robot comprising a processor and a memory, the memory having stored therein computer instructions which, when executed by the processor, carry out the steps of the method of robot hand-held laser sensor optical axis adjustment of any of claims 1 to 5.
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| CN202011558392.5A CN112729779B (en) | 2020-12-25 | 2020-12-25 | Robot handheld laser sensor optical axis adjusting method and robot |
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| CN202011558392.5A CN112729779B (en) | 2020-12-25 | 2020-12-25 | Robot handheld laser sensor optical axis adjusting method and robot |
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| CN112729779B true CN112729779B (en) | 2023-02-24 |
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| CN108724190A (en) * | 2018-06-27 | 2018-11-02 | 西安交通大学 | A kind of industrial robot number twinned system emulation mode and device |
| CN111968177A (en) * | 2020-07-22 | 2020-11-20 | 东南大学 | Mobile robot positioning method based on fixed camera vision |
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| JP6810116B2 (en) * | 2018-10-24 | 2021-01-06 | ファナック株式会社 | Calibration method and control device for laser machining robot |
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| CN105303560A (en) * | 2015-09-22 | 2016-02-03 | 中国计量学院 | Robot laser scanning welding seam tracking system calibration method |
| CN106839979A (en) * | 2016-12-30 | 2017-06-13 | 上海交通大学 | The hand and eye calibrating method of line structured laser sensor |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
| CN108724190A (en) * | 2018-06-27 | 2018-11-02 | 西安交通大学 | A kind of industrial robot number twinned system emulation mode and device |
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