CN1831468A - Method for deciding relative position of laser scanner and robot - Google Patents
Method for deciding relative position of laser scanner and robot Download PDFInfo
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Abstract
A method for calibrating relative position of laser scanner to robot includes moving sphere to scanning scope of scanner by mechanical arm of robot, calculating out coordinate of sphere center to scanner and recording coordinate of mechanical tail end to robot base, controlling said tail end to make translation, varying attitude of said arm, calculating out rotary relation of scanner coordinate to robot base coordinate, making sphere translation by said arm and scanning sphere by scanner to record related coordinates, varying attitude of said arm and calculating out translation - relation of scanner coordinate to robot base coordinate.
Description
Technical field
The present invention relates to the scaling method of the relative position of laser scanner and robot.
Background technology
Laser scanner can be used for the reconstruction of three dimensions point, if but the mutual alignment of scanner and scanned object fix, its can reconstruct scope just be subjected to considerable restraint.With the line laser is example, the point that just sweep trace shone of its energy reconstruct.For the sweep limit of expanded sweep device, normally used method has two kinds.The one, scanner is placed on the mechanical hook-up, by the motion of mechanical hook-up, make the sweep trace of scanner can reach the more space point.Another kind method is, scanned object is placed on the mechanical hook-up, and by the motion of mechanical hook-up, the scanner scans that makes each spatial point on the scanned object to be fixed arrives.
Therefore, no matter adopt which kind of mode, the demarcation of the TCP of scanner determines that promptly the relation between scanner coordinate system and mechanical hook-up coordinate system is the problem that at first will solve.But present scaling method all is that the rotation relationship of scanner and mechanical hook-up and translation relation are coupled together, and the robustness and the accuracy of its demarcation are low.
Content of the present invention
The objective of the invention is to utilize the known spheroid of radius as instrument, realized the demarcation of relative position relation between laser scanner and the robot coordinate system, realized the decoupling zero of rotation relationship and translation relation, and process is simple, precision height and good stability.
For achieving the above object, the invention provides the scaling method of the relative position of a kind of laser scanner and robot, may further comprise the steps:
Step 3, the terminal translation of control mechanical arm make spheroid still in the sweep limit of scanner;
Step 4, repeating step 2;
The attitude of step 5, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 2-4;
Step 6, repeating step 5;
Step 7, calculate the rotation relation of scanner coordinate and robot base coordinate, promptly calculate the rotation matrix of scanner coordinate system and robot base coordinate sys-tem;
Step 8, control mechanical arm make the spheroid translation, and scanner scans spheroid in the process of spheroid translation, note spherome surface and are scanned a little with respect to the coordinate of scanner and the corresponding moment mechanical arm end coordinate with respect to robot base;
The attitude of step 9, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 8;
Described step 9 can be carried out repeatedly.Described step 6 can also for repeating step 5 once the scanner in the above method be line laser scanner.
The present invention also provides the scaling method of the relative position of a kind of laser scanner and robot, may further comprise the steps:
Step 3, the terminal translation of control mechanical arm make spheroid still in the sweep limit of scanner;
Step 4, repeating step 2;
The attitude of step 5, change robot makes terminal translation of mechanical arm and rotation, repeating step 2-4;
Step 6, repeating step 5;
Step 7, calculate the rotation relation of scanner coordinate and the terminal coordinate of robot arm, promptly calculate the rotation matrix of scanner coordinate system and robot arm end coordinate system;
Step 8, control mechanical arm make the scanner translation, and scanner scans spheroid in the process of scanner translation, note spherome surface and are scanned a little with respect to the coordinate of scanner and the corresponding moment mechanical arm end coordinate with respect to robot base;
The attitude of step 9, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 8;
Described step 9 can be carried out repeatedly.Described step 6 can also for repeating step 5 once more than.Scanner in the described method is a line laser scanner.
Therefore, the present invention has the following advantages:
1, utilize spheroid as instrument, realize demarcating, its process is simple;
2, utilize at the fixed method of the partial sweep make-game standard laid down by the ministries or commissions of the Central Government, can improve scanning and recover precision;
3, the decoupling zero of translation relation and rotation relationship be can realize, the stability and the precision of demarcating improved.
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the position view of the scaling method embodiment 1 of relative position of the present invention.
Fig. 2 is the method flow diagram of the scaling method embodiment 1 of relative position of the present invention.
Fig. 3 is the position view of the scaling method embodiment 2 of relative position of the present invention.
Fig. 4 is the method flow diagram of the scaling method embodiment 2 of relative position of the present invention.
Embodiment
Invention thought of the present invention is to utilize line laser scanner and a spheroid and realize when robot clamping scanner, demarcates the relation between scanner coordinate system and the robot end's coordinate system; When robot clamping spheroid, demarcate the relation between scanner coordinate system and the robot base coordinate sys-tem.Therefore this method is demarcated the mutual alignment relation of robot and line laser scanner, and line laser scanner is not only calibration tool, is still demarcated object.
As shown in Figure 1, be the synoptic diagram of the embodiment of the invention 1.Robot 1 have one can the clamping object mechanical arm 11, spheroid 3 of top 12 clampings of mechanical arm 11, robot 1 and line laser scanner 2 all are fixed in the world coordinate system, and spheroid 3 is within the sweep limit of scanner 2.Present embodiment is the position relation of demarcating between scanner 2 and the robot base 10, i.e. rotation matrix R between the coordinate system of the coordinate system of definite scanner 2 and base 10
sWith the translation matrix T
sThe coordinate system on mechanical arm top 12 is made as Tool
0Coordinate system.
As shown in Figure 2, be the method flow diagram of the embodiment of the invention 1.
The attitude of step 105, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 102-104;
The attitude of step 109, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 8; In order to improve measuring accuracy, this step can be carried out repeatedly.
1, calculates the rotation relation of line laser scanner coordinate and robot base coordinate, promptly calculate the rotation matrix R of scanner coordinate and robot base coordinate
s
For one and Tool
0The point of coordinate system stationkeeping (as the centre of sphere of spheroid), it is at Tool
0Under coordinate (x
t, y
t, z
t) and its coordinate (x with respect to scanner coordinate system
l, y
l, z
l) between relation satisfy:
Wherein, x
tFor this point of fixity at Tool
0Coordinate under the coordinate system
X
lThe coordinate that recovers in scanner for this point of fixity (is its coordinate with respect to scanner
R
0Be Tool
0With respect to the rotation matrix of robot base, T
0Be Tool
0With respect to the translation matrix of robot base, R
sWith T
sBe the scanner that to demarcate rotation and translation matrix with respect to base coordinate system.
After the expansion of (1) formula, can obtain:
R
0·X
t+T
0＝R
s·X
l+T
s(2)
Control robot makes to obtain the same point of fixity of twice recovery of scanner:
R
01·X
t+T
01＝R
s·X
l1+T
s(3)
R
02·X
t+T
02＝R
s·X
l2+T
s(4)
The attitude of robot remains unchanged in the control procedure if make, i.e. R
01=R
02(4)-(3) can be obtained: T
02-T
01=R
s(X
L2-X
L1) (5)
For line laser scanner, it is difficult finding the coordinate of a certain spatial point under scanner, can solve this problem by allowing scanner recover Virtual Space point (referring to the spheroid centre of sphere herein).When scanner was swept to spheroid, its laser rays simulated a space circle, measures radius of sphericity, gets the centre of sphere by the geometric relationship ball.But the centre of sphere will have two to separate, removing puppet by experiment in the process separates: the experimenter can be by the position judgment centre of sphere direction of sweep trace in spheroid, again by select upper, middle and lower portion 3 points in the sweep trace with about graded, with this advisory computing machine, computing machine then obtains two vectors according to these 3, obtain the roughly direction at centre of sphere place again by the result of these two vectorial multiplication crosses, separate thereby remove puppet.
By ball of step 101 robot clamping, move in the visual range of scanner, beat sweep trace on spheroid by the collection of step 102 scanner, obtain the coordinate of centre of sphere point under scanner, promptly draw X by top computing method
L1, write down Tool at this moment
0Promptly from robot controller, read T
01By step 103, the control robot translation still makes ball in the visual range of scanner afterwards, beats sweep trace on spheroid by the collection of step 104 scanner again, recovers the coordinate of the centre of sphere under scanner, obtains X
L2, and write down Tool at this moment
0Promptly from robot controller, read T
02So far, can obtain the data of one group of solving equation (5).Change robot pose by step 105 and step 106, once or once, gather a group or more experimental data substitution equation (5) as mentioned above again, can obtain Rx, Ry, Rz.
2, calculate the translation relation of scanner coordinate and robot base coordinate, promptly find the solution the translation matrix of scanner coordinate system and robot base coordinate sys-tem by the method for scanning sphere, calibrating parameters X, Y, Z:
By (2) Shi Kede, for Tool
0The spatial point of stationkeeping has:
X
t＝R
0 -1·(R
s·X
l+T
s-T
0)＝R
0 -1·(R
s·X
l-T
0)+R
0 -1T
s(6)
In the three-dimensional reconfiguration system of above-mentioned scanner and robot combination, (spatial point is with respect to Tool for the restoration result of scanner
0The position of coordinate system) X
tWith its coordinate X under scanner coordinate system
lRelation shown in (6) formula.For different spaces point X
T1With X
T2, can obtain its relative position relation:
X
t2-X
t1＝R
02 -1·(R
s·X
l2+T
s-T
02)-R
01 -1·(R
s·X
l1+T
s-T
01)(7)
When robot only carries out translation in scanning process is R
01=R
02The time, but the following formula abbreviation is:
X
t2-X
t1＝R
0 -1·(R
s·(X
l2-X
l1)-T
02+T
01(8)
Can obtain from (8) formula, when robot scans a sphere with translation (attitude is constant), T no matter
sGet what value, its restoration result all is a sphere.Relative position relation between the result who recovers (body form that promptly recovers) only with rotation matrix R
sRelevant.So in the three-dimensional reconfiguration system of above-mentioned scanner and robot combination, when robot only carries out translation in scanning process, the rotation matrix R during the mould shapes that scanner recovers is only demarcated with scanner
sRelevant, and with translation relation T
sIrrelevant.
Get T
s=0, (be X with its scanning restoration result
t) do spherical match, the sphere center position X that obtains
BActual position X with the centre of sphere
bBetween will satisfy (6) formula, that is:
X
b＝X
B+R
0 -1T
s(9)
By step 108, control robot is carried out translation scanning.In scanning process, be scanned the some coordinate under scanner and the Tool in the corresponding moment with noting
0According to (6) formula, get T
s=0, can carry out the 3-d recovery of the sphere that scanned, utilize the result who recovers to carry out the sphere match, can obtain the X in (7) formula
B, write down Tool this moment simultaneously
0Change the robot posture once or once by step 109, as stated above, obtain a group or more X again
BAnd Tool
0Value utilizes equation (7) can solve T
s, draw X, Y, Z.
This method utilizes spheroid as instrument, realizes demarcating, and its process is simple; In calibration process, (Rx, Ry is Rz) with translation relation (X, Y, Z) decoupling zero, raising result's stability and precision to make its rotation relationship.
As shown in Figure 3, be the synoptic diagram of the embodiment of the invention 2.Robot 1 have one can the clamping object mechanical arm 11, scanner 2 of top 12 clampings of mechanical arm 11, robot 1 and spheroid 3 all are fixed in the world coordinate system, and spheroid 3 is within the sweep limit of line laser scanner 2.Present embodiment is the position relation of demarcating between scanner 2 and the mechanical arm top 12, i.e. rotation matrix R between the coordinate system on the coordinate system of definite scanner 2 and mechanical arm top 12
sWith the translation matrix T
sThe coordinate system on mechanical arm top 12 is made as Tool
0Coordinate system.
As shown in Figure 4, be the method flow diagram of the embodiment of the invention 2.
The attitude of step 205, change robot makes terminal translation of mechanical arm and rotation, repeating step 202-204;
The attitude of step 209, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 208; In order to improve precision, this step can be carried out repeatedly.
1, calculates the rotation relation of scanner coordinate system and robot arm top coordinate system, promptly calculate the rotation matrix R of scanner coordinate system and robot arm top coordinate system
s
For a point (as the spheroid centre of sphere) with the robot base coordinate sys-tem stationkeeping, its coordinate (x under base coordinate system
w, y
w, z
w) and its coordinate (x with respect to scanner coordinate system
l, y
l, z
l) between relation satisfy:
Wherein, X
wBe the coordinate of this point of fixity under base coordinate system
X
lThe coordinate that recovers in scanner for this point of fixity (is its coordinate with respect to scanner
R
0Be Tool
0With respect to the rotation matrix of base coordinate system, T
0Be Tool
0With respect to the translation matrix of base coordinate system, R
tWith T
tBe that the scanner that will demarcate is with respect to Tool
0Rotation and translation matrix.
After the expansion of (10) formula, can obtain:
X
w＝R
0·R
t·X
l+R
0·T
t+T
0(11)
Control robot makes the same point of fixity of twice recovery of scanner, can obtain:
X
w1＝R
01·R
t·X
l1+R
01·T
t+T
01(12)
X
w2＝R
02·R
t·X
l2+R
02·T
t+T
02(13)
The attitude of robot remains unchanged in the control procedure if make, i.e. X
W1=X
W2, R
01=R
02, (13)-(12) can be obtained:
R
0·R
t·(X
l1-X
l2)＝T
02-T
01(14)
For line laser scanner, it is difficult finding the coordinate of a certain spatial point under scanner, can solve this problem by allowing scanner recover Virtual Space point (referring to the spheroid centre of sphere herein).When scanner was swept to spheroid, its laser rays simulated a space circle, measures radius of sphericity, gets the centre of sphere by the geometric relationship ball.But the centre of sphere will have two to separate, removing puppet by experiment in the process separates: the experimenter can be by the position judgment centre of sphere direction of sweep trace in spheroid, again by select upper, middle and lower portion 3 points in the sweep trace with about graded, with this advisory computing machine, computing machine then obtains two vectors according to these 3, obtain the roughly direction at centre of sphere place again by the result of these two vectorial multiplication crosses, separate thereby remove puppet.
By step 201 robot clamping scanner, move to a spheroid being fixed in the world coordinates around, make this spheroid in the visual range of scanner, by step 202, the sweep trace on spheroid is beaten in the scanner collection, obtains the coordinate of centre of sphere point under scanner, writes down the Tool of this moment
0Promptly from robot controller, read T
01And R
0By step 203, the control robot translation still makes ball in the visual range of scanner afterwards, beats sweep trace on spheroid by the collection of step 204 scanner again, recovers the coordinate of the centre of sphere under scanner, and writes down the Tool of this moment
0Promptly from robot controller, read T
02And R
0So far, can obtain the experimental data of one group of solving equation (14).Change robot pose once or once by step 205 and step 206, gather a group or more experimental data as mentioned above again, substitution equation (14) can be obtained Rx, Ry, Rz.
2, calculate the translation relation of scanner coordinate and mechanical arm top coordinate, promptly find the solution the translation matrix of scanner coordinate system and mechanical arm top coordinate system by the method for scanning sphere, calibrating parameters X, Y, Z:
By (11) Shi Kede, for basis coordinates be that the spatial point of stationkeeping has:
X
w＝R
0·R
t·X
l+R
0·T
t+T
0(15)
In the three-dimensional reconfiguration system of above-mentioned scanner and robot combination, the restoration result of scanner (spatial point is with respect to the position of base coordinate system) X
wWith its coordinate X under scanner coordinate system
lRelation shown in (15) formula.For different spaces point X
W1With X
W2, can obtain its relative position relation:
X
w2-X
w1＝R
02·R
t·X
l2+R
02·T
t+T
02-(R
01·R
t·X
l1+R
01·T
t+T
01)(16)
When robot only carries out translation in scanning process is R
01=R
02The time, but the following formula abbreviation is:
X
w2-X
w1＝R
0·R
t·(X
l2-X
l1)+T
02-T
01(17)
Can obtain from (17) formula, when robot scans a sphere with translation (attitude is constant), T no matter
tGet what value, its restoration result all is a sphere.Relative position relation between the result who recovers (body form that promptly recovers) only with rotation matrix R
tRelevant.In the three-dimensional reconfiguration system of above-mentioned scanner and robot combination, when robot only carries out translation in scanning process, the rotation matrix R during the mould shapes that scanner recovers is only demarcated with scanner
tRelevant, and with translation relation T
tIrrelevant.Get T
t=0, (be X with its scanning restoration result
w) do spherical match, the sphere center position X that obtains
BActual position X with the centre of sphere
bBetween will satisfy (15) formula, that is:
X
b＝X
B+R
0·T
t(18)
Carry out translation scanning by step 208 control robot, in scanning process, note and be scanned the some coordinate under scanner and the Tool in the corresponding moment
0According to (15) formula, get T
t=0, can carry out the 3-d recovery of the sphere that scanned, utilize the result who recovers to carry out the sphere match, can obtain the X in (18) formula
B, write down Tool this moment simultaneously
0Change robot pose once or once by step 209 again, as stated above, obtain a group or more X again
BAnd Tool
0Value utilizes equation (18) can solve T
s, promptly draw X, Y, Z.
This method utilizes spheroid as instrument, realizes demarcating, and its process is simple; In calibration process, (Rx, Ry is Rz) with translation relation (X, Y, decoupling zero Z), raising result's stability and precision to have realized rotation relationship.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1, the scaling method of the relative position of a kind of laser scanner and robot is characterized in that may further comprise the steps:
Step 1, scanner are relative with robot base static, spheroid of the terminal clamping of the mechanical arm of robot, and manipulator motion makes spheroid in the sweep limit of scanner;
Step 2, scanner are gathered the sweep trace on the described spheroid, calculate the coordinate of the centre of sphere of described spheroid with respect to scanner, and record mechanical arm end this moment is with respect to the coordinate of robot base;
Step 3, the terminal translation of control mechanical arm make spheroid still in the sweep limit of scanner;
Step 4, repeating step 2;
The attitude of step 5, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 2-4;
Step 6, repeating step 5;
Step 7, calculate the rotation relation of scanner coordinate and robot base coordinate, promptly calculate the rotation matrix of scanner coordinate system and robot base coordinate sys-tem;
Step 8, control mechanical arm make the spheroid translation, and scanner scans spheroid in the process of spheroid translation, note spherome surface and are scanned a little with respect to the coordinate of scanner and the corresponding moment mechanical arm end coordinate with respect to robot base;
The attitude of step 9, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 8;
Step 10, calculate the translation relation of scanner coordinate and robot base coordinate, promptly calculate the translation matrix of scanner coordinate system and robot base coordinate sys-tem.
2, the scaling method of the relative position of laser scanner according to claim 1 and robot is characterized in that: described step 9 is carried out repeatedly.
3, the scaling method of the relative position of laser scanner according to claim 1 and robot is characterized in that: described step 6 can also for repeating step 5 once more than.
4, the scaling method of the relative position of laser scanner according to claim 1 and robot is characterized in that: the scanner in the described method is a line laser scanner.
5, the scaling method of the relative position of a kind of laser scanner and robot is characterized in that may further comprise the steps:
Step 1, spheroid are relative with robot base static, scanner of the terminal clamping of the mechanical arm of robot, and manipulator motion makes spheroid in the sweep limit of scanner;
Step 2, scanner are gathered the sweep trace on the described spheroid, calculate the coordinate of the centre of sphere of described spheroid with respect to scanner, and record mechanical arm end this moment is with respect to the coordinate of robot base;
Step 3, the terminal translation of control mechanical arm make spheroid still in the sweep limit of scanner;
Step 4, repeating step 2;
The attitude of step 5, change robot makes terminal translation of mechanical arm and rotation, repeating step 2-4;
Step 6, repeating step 5;
Step 7, calculate the rotation relation of scanner coordinate and the terminal coordinate of robot arm, promptly calculate the rotation matrix of scanner coordinate system and robot arm end coordinate system;
Step 8, control mechanical arm make the scanner translation, and scanner scans spheroid in the process of scanner translation, note spherome surface and are scanned a little with respect to the coordinate of scanner and the corresponding moment mechanical arm end coordinate with respect to robot base;
The attitude of step 9, change robot arm makes terminal translation of mechanical arm and rotation, repeating step 8;
Step 10, calculate the translation relation of scanner coordinate and the terminal coordinate of robot arm, promptly calculate the translation matrix of scanner coordinate system and robot arm end coordinate system.
6, the scaling method of the relative position of laser scanner according to claim 5 and robot is characterized in that: described step 9 is carried out repeatedly.
7, the scaling method of the relative position of laser scanner according to claim 5 and robot is characterized in that: described step 6 can also for repeating step 5 once more than.
8, the scaling method of the relative position of laser scanner according to claim 5 and robot is characterized in that: the scanner in the described method is a line laser scanner.
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| JPH08272414A (en) * | 1995-03-29 | 1996-10-18 | Fanuc Ltd | Calibrating method for robot and visual sensor using hand camera |
| CN1115545C (en) * | 1999-08-23 | 2003-07-23 | 胡修泰 | Angular coordinate measuring method for point and novel wheel positioning device |
| JP2002118730A (en) * | 2000-10-06 | 2002-04-19 | Citizen Electronics Co Ltd | Handy scanner |
| JP2002307346A (en) * | 2001-04-18 | 2002-10-23 | Mitsubishi Electric Corp | Method and device for calibrating visual coordinates of robot |
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