CN202994106U - Large-scale complex part measuring device based on robot visual servo - Google Patents
Large-scale complex part measuring device based on robot visual servo Download PDFInfo
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- CN202994106U CN202994106U CN 201220599751 CN201220599751U CN202994106U CN 202994106 U CN202994106 U CN 202994106U CN 201220599751 CN201220599751 CN 201220599751 CN 201220599751 U CN201220599751 U CN 201220599751U CN 202994106 U CN202994106 U CN 202994106U
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Abstract
A large-scale complex part measuring device based on robot visual servo belongs to a mechanical precision measuring device. The device is provided to mainly solve technical problems that the prior measuring system is not high in measuring efficiency, is not strong in versatility and is low in intelligentization degree. The device comprises a support (9), a guide rail which can be moved in an upper and lower way or a left and right way, a visual robot (8) is arranged on the guide rail, a surface structure light emitting array A (2) and a surface structure light emitting array B(3) are respectively arranged on the side surface of the support (9), and a global camera (1) is arranged on the upper part of the external side of the support (9). A force sense and visual sense merging servo method is adopted to control a robot tail end probe to realize contacting type measuring, and point cloud data of large-scale complex parts can be obtained. The device can be widely applied to the manufacturing field of key components of great strategic equipment.
Description
Technical field
The utility model relates to a kind of technology of large complicated parts measurement, particularly a kind of large complicated parts measurement device based on Robot Visual Servoing.
Background technology
The research and development of current geometric sense precision measurement is just being experienced from stock size to the small scale size and the evolution of large space size both direction from the range ability angle.The large space size is far longer than general maching dimension, the measurement problem during conventional precision measurement method can not fine solution engineering be used; Larger workpiece (product) is because size and quality are huge, and surveying work is many even to carry out on station in the processing and manufacturing site environment, complicated space, and the uncontrollable on-the-spot disturbing factor such as temperature, vibration, increased the measurement difficulty greatly in addition; In addition, huge measurement space and complicated site environment have proposed very high requirement to the Automatic survey level, and it is also one of key factor of large-scale metrology that high-efficient automatic is measured.
Along with energetically support and the development of country to major projects such as large Aircraft Project, wind power generation and deep-sea detectings, increasing parts relate to the complex-curved manufacturing of large scale and measuring technique, such as aircraft fanjet blade, helicopter screw propeller, submarine screw propeller and wind-powered electricity generation turbine blade etc.These parts have strict requirement for the precision of last moulding curved surface, the product curve form that produces should with the design the shape strict conformance, therefore should measure and the consistance that detects to guarantee with design parameter for the crudy of this class part, thereby guarantee the performance of product.
Large scale curved surface detection major part in commercial Application is all to utilize the three-dimensional coordinates measurement technology of contact to detect at present, the measurement that this method is completed cross-sectional geometry by measurement and the evaluation of effects on surface point coordinate, this measuring method precision is high, but measuring speed is very slow, manual intervention is a lot, and the while versatility is poor, the operating process redundant and complicated.And this measuring method generally is based upon on the basis of known priori cad model, for being a great inconvenience property of reverse-engineering.
Summary of the invention
In order to realize that efficient, high precision, high universalizable to large complicated part measure, the purpose of this utility model is to provide a kind of large complicated parts measurement device based on Robot Visual Servoing that need not the full intellectualized precision measurement of priori cad model.
The scheme that its technical matters that solves the utility model adopts is: it comprise support 9, can be up and down or the guide rail that moves left and right, be provided with 1 above vision robot 8 on guide rail, be separately installed with area-structure light emission battle array A2 and an area-structure light emission battle array B3 in support 9 sides, and at top or the arranged outside overall situation video camera 1 of support 9.Guide rail moving up and down comprise be arranged on support 9 two ends move up and down guide rail 4, the guide rail that can move left and right comprise be arranged on support 9 both sides move horizontally guide rail 5.Move horizontally guide rail 5 two ends can be respectively with move up and down guide rail 4 and survive movingly and be connected.
Model loads the measure field of 4 above robotic arms, adopts area-structure light to carry out mark to piece surface, then adopts vision technique to set up space curved surface stream shape model, then carries out precision zone for curved surface stream shape model and divide and get some planning automatically; Carry out task for each robot again and distribute and get a path planning, the servo method control end probe of the feel-vision of employing power at last fusion carries out contact to be got a little, to obtain the cloud data of large complicated part.
Described space curved surface stream shape model can adopt B batten control vertex mate in binocular image to come the geometric configuration of tested curved surface is built accurate model, adopts each regional curvature of mesh shape measurement curved surface of structured light projection to change and set up the space manifold of curved surface.
Described precision zone division is curved surface to be carried out the zone divide according to the situation of curvature variation on space curved surface, namely the curvature of curve according to grid changes, and the feature angle point that comprises structured light node and curved surface consists of grid node density, thereby curved surface is divided into the precision zone that gone out by feature points segmentation.The generating laser that produces area-structure light becomes the 25-75 degree to piece surface surface of emission structured light with surface level, structured light plane and piece surface intersect straight line or curve.Described generating laser both sides are by the equidistant video camera that arranges of vertical direction, to launch equidistant parallel surface structured light.
Measure field described in the utility model can comprise four removable guide rails and 4 above servo robot, and servo robot and global measuring are controlled the location by indoor iGPS.Described measure field also can comprise four fixed guides and four removable guide rail Special composition structural framings, wherein but two guide rail vertical directions move, but two other guide rail tangential movement, on each removable guide rail, two mobile robots of assembling, be equipped with overall camera system and indoor iGPS position system device above measurement space.Each robot is carried out task by precision zone distribute, each robot completes return measurement data behind the subtask.Robot is in the process of executing the task, and is the shortest in the task distribution principle with robot displacement, and the circulation optimum solution is as the optimal allocation method.Robot distributes according to task progressively to be selected to carry out the measurement task with regard near field, each robot zone of chosen distance regional center minimum is in the course of the work measured, the zone of chosen distance minimum again after measurement is completed, so circulation until the All Ranges measurement complete.。
The beneficial effects of the utility model are: this method is a kind ofly to need not part C AD prior model, intelligent planning path, realize high-precision complex parts measuring method, set up the measure field of oneself due to this method, and be mounted with iGPS position probing station, overall video camera and a plurality of servo robot, can plan and carry out accurate operation from the part from the overall situation, realize the measurement of efficient, high precision, high universalizable.This method can be widely used in the key components and parts of China's Major Strategic equipment and make the field.
Description of drawings
Fig. 1 is workflow block scheme of the present utility model.
Fig. 2 is the structural principle schematic diagram that the utility model is set up a kind of embodiment of measure field when being used to measure.
Fig. 3 is the structural representation of facing of Fig. 2.
Fig. 4 is the plan structure schematic diagram of Fig. 2.
Fig. 5 is the right TV structure schematic diagram of Fig. 2.Fig. 6 and Fig. 7 are based on the principle schematic of binocular vision FEEDBACK CONTROL.
Fig. 8 is that power is felt and vision merges servocontrol square frame principle schematic diagram.
Fig. 9 is that the crossing video camera in structured light and curved surface part surface obtains figure.
Figure 10 is that the crossing video camera in structured light and planar part surface obtains figure.
In figure: 1-overall situation video camera, a 2-area-structure light emission battle array A, a 3-area-structure light emission battle array B, 4-moves up and down guide rail, and 5-moves horizontally guide rail, 6-area-structure light and piece surface intersection, 7-object being measured, 8-robot, 9-support.
Embodiment
In order to illustrate the technical solution of the utility model and technical purpose, below in conjunction with accompanying drawing and specific implementation method, the utility model is described further.
The utility model wants model to load the measure field (the utility model describes take 8 as example) of 4 above robotic arms, adopt area-structure light to carry out mark to piece surface, then adopt vision technique to set up space curved surface stream shape model, then carry out precision zone for curved surface stream shape model and divide and get some planning automatically; Carry out task for each robot again and distribute and get a path planning, the feel-vision of employing power at last merges the vision power that contacts feels that mixing the control survey method measures the related data that obtains large complicated part to large complicated part.Consult Fig. 1 to Figure 10.
Embodiment 6, measure field described in the utility model also can comprise four fixed guides and four removable guide rail Special composition structural framings, wherein but two guide rail vertical directions move, the two other guide rail can move horizontally, two mobile robots of assembling on each removable guide rail are for the automatic measurement of follow-up whole system provides hardware foundation.Overall camera system and indoor iGPS position system device are housed above measurement space.Eight robots are carried out task by precision zone distribute, each robot completes return measurement data behind the subtask.Robot is in the process of executing the task, and is the shortest in the task distribution principle with robot displacement, and the circulation optimum solution is as the optimal allocation method.Robot distributes according to task progressively to be selected to carry out the measurement task with regard near field, and each robot is the zone of chosen distance regional center minimum in the course of the work, measure complete after the zone of chosen distance minimum again, so circulation until the All Ranges measurement complete.The utility model is intended to the data that each robot measures are merged, and obtains at last the cloud data of piece surface.Consult Fig. 1 to Figure 10, all the other are with above-mentioned embodiment.
Embodiment 7, need above the measurement space that the utility model proposes overall video camera and indoor iGPS device are installed, and indoor iGPS device is housed on the base of eight robots, accurately locate in order to obtain each robot post exercise on guide rail.
At first, tested part is placed into the measure field that has established, the face laser transmitter group is to piece surface surface of emission laser, the crossing Laser Curve that obtains of face laser and piece surface, the degree of crook of the image internal reaction piece surface that can obtain at video camera for the curve that makes acquisition, face laser transmitter group parallel equidistant is from vertical arrangement, and the face laser of launching becomes 25-75 degree angle with surface level; Then by overall camera picked-up part general image, obtain shape and the profile of part by demarcation, thereby setting up the Snake energy model approaches the objective contour curve, profile is considered as an energy minimization batten, profile detects and match to adopt B-spline curves to be used for fast, thereby obtains shape and the profile of part.Adopt and the similar energy function of Snake, objective contour represents with the evolution forms of initial B-spline curves, and the external energy term of curve is intended employing GVF(gradient vector flow) the external energy expression represent.The equation concrete according to B-spline curves can be derived the Snake model that corresponding B-spline curves approach image outline.Mate by B batten control vertex the shape of calculating tested curved surface in binocular image, measure by the mesh shape of structured light projection the space manifold that each regional curvature situation of change of curved surface is set up curved surface on this basis.
According to the profile situation on space curved surface, and mesh shape and node density determine three accuracy classes, is respectively: superhigh precision, high precision, normal precision.The superhigh precision zone refers to that mesh shape distortion is very large, and node density also very large zone, the piece surface that the one's respective area be described be out of shape or degree of crook larger, need to carry out precision and get the shape facility that an ability accurately obtains piece surface; The high precision zone refers to that mesh shape distortion is more obvious, and node density also larger zone, illustrate that the piece surface of one's respective area has distortion or crooked the existence, needs measurement determine the shape facility of piece surface than multi-characteristic points; The normal region refers to that distortion of the mesh is not obvious, and the zone that node density is less illustrates that the piece surface of one's respective area is closer can measure less unique point like plane characteristic, improves and measures efficient to reduce workload.
Measurement space of the present utility model carries eight robots altogether, and label is one to No. eight respectively, and one three five No. seven artificial six articulated robots of four machines wherein carry out the measurement task in superhigh precision and high precision zone; Artificial four articulated robots of all the other four machines carry out the measurement task of normal precision zone.After piece surface to be measured was divided into three accuracy classes, guide rail moved to the appropriate location according to part height and then maintains static.Respectively superhigh precision, high precision and normal precision Three regions are labeled as A, B, C, again six articulated robots and four articulated robots are labeled as respectively S and F, by calculating each S of robot to the distance of A and B, one group of the shortest coupling of chosen distance is measured, and then a group of chosen distance minimum is measured from remaining Different matching distance, by that analogy.In the time of six articulated robot work, the shortest coupling of distance is carried out in four articulated robot F and C zone.If there is in the course of the work the situation of mutually interfering on the same guide rail of robot, task first walks off from one's job, after first round measurement task is completed, repeat above measurement task after moving guide rail and distribute, until complete the measurement task of the surperficial All Ranges of tested part.
After mobile end on guide rail, will at first obtain the position data of pedestal by indoor iGPS device when robot, then fixed pedestal, carry out surveying work by rotation or the movement of joint of robot.
Getting point process employing power feel-vision for probe merges servo method control end probe and carries out contact and get a little.Soft for making contact type probe get point process contact, power is felt to control be incorporated in the binocular vision servo-control system, binocular vision and power visual information are combined together.Draw parallax between Corner and robot unique point by two ccd video cameras; Then the motion by control reduce binocular parallax value until zero (unique point and the Corner that are robot overlap), thereby reach the purpose that hand eye coordination is controlled.As shown in Figure 6, obtain the angular parallax of two unique points on target object and tail end manipulator of robot by stereo visual system
With
, the purpose of Visual Feedback Control makes exactly
With
All reducing to trend towards 0, as shown in Figure 7, namely make two unique points overlap, is also that the robot end has reached the target location.When probe did not touch curved surface, the feedback quantity f of power sensor was 0, and control according to binocular vision is servo this moment, as shown in Figure 8; When probe touches measured surface, power is controlled as the outer circulation of controlling to reduce the contact force of probe and tested curved surface.
Whole measuring process is by overall camera control, indoor iGPS position probing station gathers the pose data of robot, and the measurement data of being obtained by computer recording each zone, after the surveying work of regional is completed, the data analysis of measuring is also generated a some cloud, based on the automatic data acquisition end-of-job of Robot Visual Servoing control.Consult Fig. 1 to Figure 10, all the other are with above-mentioned embodiment.
Claims (6)
1. large complicated parts measurement device that is used for based on Robot Visual Servoing, it is characterized in that: it comprise support (9), can be up and down or the guide rail that moves left and right, be provided with 1 above vision robot (8) on guide rail, be separately installed with an area-structure light emission battle array A(2 in support (9) side) and an area-structure light emission battle array B(3), and at top or the overall video camera (1) of arranged outside of support (9).
2. according to claim 1 based on the large complicated parts measurement device of Robot Visual Servoing, it is characterized in that: guide rail moving up and down comprise be arranged on support (9) two ends move up and down guide rail (4), the guide rail that can move left and right comprise be arranged on support (9) both sides move horizontally guide rail (5).
3. according to claim 1 based on the large complicated parts measurement device of Robot Visual Servoing, it is characterized in that: move horizontally guide rail (5) two ends respectively with move up and down guide rail (4) and survive movingly and be connected.
4. according to claim 1 based on the large complicated parts measurement device of Robot Visual Servoing, it is characterized in that: the generating laser that produces area-structure light becomes the 25-75 degree to piece surface surface of emission structured light with surface level, structured light plane and piece surface intersect straight line or curve, and these straight lines or curve form network.
5. according to claim 4 based on the large complicated parts measurement device of Robot Visual Servoing, it is characterized in that: described generating laser is by the equidistant setting of vertical direction, to launch equidistant parallel surface structured light.
6. according to claim 1 based on the large complicated parts measurement device of Robot Visual Servoing, it is characterized in that: by the measure field of four fixed guides and four removable guide rail Special composition framed structures, wherein but two guide rail vertical directions move, but two other guide rail tangential movement, on each removable guide rail, above mobile robot of assembling, be equipped with overall video camera and indoor iGPS position system device above the space structure framework.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220599751 CN202994106U (en) | 2012-11-14 | 2012-11-14 | Large-scale complex part measuring device based on robot visual servo |
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| CN 201220599751 CN202994106U (en) | 2012-11-14 | 2012-11-14 | Large-scale complex part measuring device based on robot visual servo |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102937426A (en) * | 2012-11-14 | 2013-02-20 | 湘潭大学 | Measurement method for large and complex parts based on robot visual servo |
| CN109839067A (en) * | 2017-11-29 | 2019-06-04 | 宝山钢铁股份有限公司 | Plate size measuring device and method |
| CN112097684A (en) * | 2020-11-16 | 2020-12-18 | 中科元象(常州)智能装备有限公司 | Visual measurement system and method based on multi-attitude band structured light |
-
2012
- 2012-11-14 CN CN 201220599751 patent/CN202994106U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102937426A (en) * | 2012-11-14 | 2013-02-20 | 湘潭大学 | Measurement method for large and complex parts based on robot visual servo |
| CN102937426B (en) * | 2012-11-14 | 2015-07-01 | 湘潭大学 | Measurement method for large and complex parts based on robot visual servo |
| CN109839067A (en) * | 2017-11-29 | 2019-06-04 | 宝山钢铁股份有限公司 | Plate size measuring device and method |
| CN112097684A (en) * | 2020-11-16 | 2020-12-18 | 中科元象(常州)智能装备有限公司 | Visual measurement system and method based on multi-attitude band structured light |
| CN112097684B (en) * | 2020-11-16 | 2021-05-07 | 中科元象(常州)智能装备有限公司 | Visual measurement system and method based on multi-attitude band structured light |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20151114 |
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| EXPY | Termination of patent right or utility model |