CN210741384U - Robot vision measurement system with two-dimensional sensor and three-dimensional sensor fused - Google Patents
Robot vision measurement system with two-dimensional sensor and three-dimensional sensor fused Download PDFInfo
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- CN210741384U CN210741384U CN201922172621.9U CN201922172621U CN210741384U CN 210741384 U CN210741384 U CN 210741384U CN 201922172621 U CN201922172621 U CN 201922172621U CN 210741384 U CN210741384 U CN 210741384U
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Abstract
The utility model provides a robot vision measurement system that two-dimensional sensor and three-dimensional sensor fuse, it includes: an industrial robot having a robot arm; an adjustable-pitch mounting plate connected to the end of the robot arm by an extension bracket; two three-dimensional sensors which are symmetrically arranged on the mounting plate with adjustable intervals in angle and position relative to the mechanical arm and are used for measuring the three-dimensional appearance of the object to be measured; and the angle and the position of the two-dimensional sensor are adjustably installed on the adjustable-interval installation plate and are used for acquiring the image of the appearance of the object to be measured. The utility model discloses a robot vision that two-dimentional and three-dimensional sensor fuse is measured, can gather the two-dimensional image information and the three-dimensional point cloud information of the object that awaits measuring simultaneously, has effectively expanded the application scope of robot vision measurement.
Description
Technical Field
The utility model belongs to the visual detection field, concretely relates to robot vision measurement system that two-dimensional sensor and three-dimensional sensor fuse.
Background
With the rapid development of the manufacturing industry, large complex curved surface parts are widely used in the engineering field, such as large turbine blades, large marine propellers, large aircraft panels, rocket barrels, and the like. The parts have large size, high value and complex forming process, and the shape and size of the parts need to be detected after the parts are processed so as to ensure the processing quality and the service performance of the parts. Taking the final dimension inspection process of the large-scale turbine cast blade as an example, the method needs to measure the complex curved surface of the blade body, compare the characteristic parameters obtained by calculation with the design values of the product, and evaluate the quality of the cast blade. However, the parts have the characteristics of weak rigidity, large bending moment, easy deformation and the like, and the processing process is complex, so that efficient and rapid detection is an important link for ensuring the product quality.
The traditional measuring method adopts a manual detection mode, and the blade casting allowance, the local correction value, the size error and the like are detected manually by depending on a template, but the mode relates to complex secondary clamping, multi-variety template customization design, manual operation and the like, the efficiency is low, and the requirements of rapid measurement and molded surface precision control of the cast turbine blade cannot be met. At present, a coordinate measuring machine is adopted to measure the sections of the blades at certain specific heights point by point in a main digital measuring means, but the detection efficiency of the means is low, the characteristic parameters of the blades cannot be obtained quickly, and the production efficiency is greatly reduced.
Nowadays, non-contact three-dimensional detection for the blade morphology has gradually become a mainstream detection means, wherein binocular structured light three-dimensional morphology measurement is the most widely used measurement method, a structured grating with coded information is projected on the surface of an object through a projector, and a collected picture is decoded and three-dimensionally reconstructed according to the principle of binocular stereo vision.
Industrial robots have been widely used in industries with higher automation degree, such as automobile manufacturing and electronic assembly, due to their advantages of high flexibility and easy automation. The sensor is carried at the tail end of the industrial robot and used as a motion platform, the two-dimensional or three-dimensional sensor is carried to reach a specified position for measurement, and meanwhile, a measurement system constructed based on the industrial robot can plan a better measurement path according to a design model of a measured object and in combination with the measurement principle of the two-dimensional or three-dimensional sensor. The method has the advantages of low cost, high automation degree, high measurement efficiency and the like, and can adapt to most industrial scenes.
However, most of the existing three-dimensional measurement systems constructed based on industrial robots adopt a single three-dimensional sensor, which can only reconstruct the three-dimensional shape point cloud data of the surface of the object to be measured, and because the point cloud data is discrete data generated by matching based on image data, the defects of the surface of the object to be measured are difficult to reflect.
SUMMERY OF THE UTILITY MODEL
For overcoming the above defect of prior art, the utility model provides a two-dimensional sensor and three-dimensional sensor fused robot vision measurement system, aim at through installing two-dimensional sensor and three-dimensional sensor simultaneously at industrial robot end, so that measure through the standard target to in the space, mark two-dimensional sensor and three-dimensional sensor respectively with the relation of the terminal coordinate system of robot, discern and compensate robot joint parameter error simultaneously, construct the robot vision measurement system that two-dimensional sensor and three-dimensional sensor fuse, thereby can gather the two-dimensional image data and the three-dimensional point cloud data of testee simultaneously, realize the fusion of two-dimensional image data and three-dimensional point cloud data.
In order to achieve the above object, the utility model provides a robot vision measurement system that two-dimensional sensor and three-dimensional sensor fuse, it includes:
an industrial robot having a robot arm;
an adjustable-pitch mounting plate connected to the end of the robot arm by an extension bracket;
two three-dimensional sensors which are symmetrically arranged on the mounting plate with adjustable intervals in angle and position relative to the mechanical arm and are used for measuring the three-dimensional appearance of the object to be measured;
and the angle and the position of the two-dimensional sensor are adjustably installed on the adjustable-interval installation plate and are used for acquiring the image of the appearance of the object to be measured.
Further, the three-dimensional sensors are detachably fixed on the mounting plate with the adjustable interval through the three-dimensional sensor angle adjusting cushion block and the three-dimensional sensor mounting frame, and the two three-dimensional sensors are respectively located on two sides of the tail end of the mechanical arm.
And furthermore, the three-dimensional sensor is detachably fixed on the three-dimensional sensor mounting frame, the three-dimensional sensor mounting frame is detachably fixed on the three-dimensional sensor angle adjusting cushion block, and the three-dimensional sensor angle adjusting cushion block is detachably fixed on the adjustable-interval mounting plate.
Still further, the three-dimensional sensor is a line laser scanning sensor.
Still further, two three-dimensional sensor are installed and are set up its measuring distance and 300 ~ 400mm, and installation angle is 10 ~ 30.
And furthermore, the two-dimensional sensor is detachably fixed on the mounting plate with the adjustable interval through a two-dimensional sensor mounting connecting block and a two-dimensional sensor mounting cushion block.
Still further, the two-dimensional sensor is detachably fixed on the bottom surface of the two-dimensional sensor mounting cushion block, the two-dimensional sensor mounting cushion block is detachably fixed on the bottom surface of the two-dimensional sensor mounting connecting block, and the two-dimensional sensor mounting connecting block is detachably fixed on the adjustable-interval mounting plate on one side thereof.
Still further, the two-dimensional sensor is a CMOS industrial camera.
Still further, the two three-dimensional sensors perform preliminary calibration on the spatial pose relationship of the two three-dimensional sensors, the terminal coordinate system of the mechanical arm of the industrial robot and the measurement coordinate system of the three-dimensional sensors through a fixed three-dimensional calibration device in the space.
Still further, the two three-dimensional sensors identify and compensate joint parameter errors of the industrial robot by measuring a fixed standard geometric object in space.
And further, the two three-dimensional sensors perform fine calibration on a terminal coordinate system of a mechanical arm of the industrial robot and a measurement coordinate system of the three-dimensional sensors through a three-dimensional calibration device based on the compensated joint parameters.
And furthermore, the two-dimensional sensor calibrates the tail end coordinate system of the mechanical arm of the industrial robot and the measurement coordinate system of the two-dimensional sensor through the plane calibration device based on the compensated joint parameters, so that the conversion relation between the measurement coordinate system of the two-dimensional sensor and the measurement coordinate system of the three-dimensional sensor is established.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, has following beneficial effect:
(1) the utility model overcomes the defect that a single three-dimensional sensor can only reconstruct the three-dimensional appearance point cloud data of the surface of the object to be measured and is difficult to reflect the defect of the surface of the object to be measured, and the utility model simultaneously acquires two-dimensional image data and three-dimensional point cloud data;
(2) the utility model discloses a measure the standard target in the space, calibrate the relation of the measurement coordinate system of two-dimensional sensor and three-dimensional sensor's measurement coordinate system and the terminal coordinate system of industrial robot's arm (also can be called terminal flange face coordinate system) simultaneously, and then established the space position appearance relation of two-dimensional sensor and three-dimensional sensor, can realize the fusion of two-dimensional image data and three-dimensional point cloud data and handle, effectively expanded the application scope that the robot vision was measured;
(3) the utility model identifies and compensates the joint parameter error of the industrial robot, and can effectively improve the positioning precision of the industrial robot;
(4) the utility model discloses simple structure adopts industrial robot as motion platform, carries on two-dimensional sensor and the three-dimensional sensor of measuring usefulness, and measurement efficiency is high, easily realizes the automation, and the commonality is strong moreover, can carry out the secondary development.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.
Drawings
The structure of the present invention, together with further objects and advantages thereof, will be best understood from the following description taken in conjunction with the accompanying drawings, in which like reference characters identify like elements:
fig. 1 is a schematic perspective view of a robot vision measuring system with a two-dimensional sensor and a three-dimensional sensor integrated according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system of FIG. 1 after removal of the industrial robot;
fig. 3 is a view similar to fig. 2, but with the two-dimensional sensor and the three-dimensional sensor further removed to clearly show the structure connecting these sensors to the industrial robot.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
In this document, the directions used to explain the structure and/or actions of the various parts of the disclosed embodiments, such as "upper", "lower", etc., are not absolute, but relative. These representations are suitable when the various parts of the disclosed embodiments are located in the positions shown in the figures, and if the position or frame of reference of the disclosed embodiments is changed, they are also changed according to the change in the position or frame of reference of the disclosed embodiments.
The robot vision measuring system with the two-dimensional sensor and the three-dimensional sensor fused according to one embodiment of the present invention is shown in fig. 1, fig. 2 and fig. 3. The robot vision measuring system with the two-dimensional sensor and the three-dimensional sensor fused comprises an industrial robot 1, an adjustable interval mounting plate 3, a three-dimensional sensor 51, a three-dimensional sensor 53 and a two-dimensional sensor 7. The industrial robot 1 has a robot arm 10, to the end of which robot arm 10 an adjustable-pitch mounting plate 3 is connected via an extension bracket 2, wherein the end can be a flange surface, and the extension bracket 2 correspondingly also has a flange surface 20 for connection. The three- dimensional sensors 51 and 53 are mounted on the adjustable-pitch mounting plate 3 in a left-right symmetrical manner and in an angle and position adjustable manner with respect to the robot arm 10, so as to be used for measuring the three-dimensional topography of the object to be measured.
In the present embodiment, as shown in fig. 2 and referring to fig. 3, taking one of the three-dimensional sensors 51 as an example, the three-dimensional sensor 51 is detachably fixed on the adjustable-pitch mounting plate 3 through the three-dimensional sensor angle adjusting pad 4 and the three-dimensional sensor mounting bracket 6. Specifically, the three-dimensional sensor 51 is detachably fixed to the three-dimensional sensor mounting bracket 6, the three-dimensional sensor mounting bracket 6 is detachably fixed to the three-dimensional sensor angle adjusting pad 4, and the three-dimensional sensor angle adjusting pad 4 is detachably fixed to the adjustable interval mounting plate 3. The three-dimensional sensor 51 and the three-dimensional sensor 53 are installed so that the measurement distance is 300-400 mm and the installation angle is 10-30 degrees. The change of the installation angles of the three-dimensional sensor 51 and the three-dimensional sensor 53 can be realized by replacing the three-dimensional sensor angle adjusting cushion block 4 with different slopes, and the installation position can be adjusted by the position of the three-dimensional sensor angle adjusting cushion block 4 installed on the mounting plate 3 with the adjustable distance, so that the common area of the measurement ranges of the two three-dimensional sensors can be adjusted. It will be appreciated that such "removably securing" may include, for example, screwing, snapping or gluing.
As further shown in fig. 2 and 3, in the present embodiment, the two-dimensional sensor 7 is also mounted on the adjustable-pitch mounting plate 3 in an angle and position adjustable manner so as to be used for image acquisition of the appearance of the object to be measured. The two-dimensional sensor 7 is detachably fixed on the adjustable-interval mounting plate 3 through a two-dimensional sensor mounting connecting block 8 and a two-dimensional sensor mounting cushion block 9. Specifically, in the present embodiment, the two-dimensional sensor 7 is detachably fixed to the bottom surface of the two-dimensional sensor mounting block 9, and the mounting angle thereof can be adjusted by adjusting the two-dimensional sensor mounting block 9; the two-dimensional sensor mounting cushion block 9 is detachably fixed on the bottom surface of the two-dimensional sensor mounting connecting block 8, the two-dimensional sensor mounting connecting block 8 is detachably fixed on the adjustable-interval mounting plate 3 at one side thereof, and the mounting position of the two-dimensional sensor 7 can be adjusted by the position of the two-dimensional sensor mounting connecting block 8 mounted on the adjustable-interval mounting plate 3.
In the present embodiment, the three-dimensional sensor 51 and the three-dimensional sensor 53 are line laser scanning sensors; the two-dimensional sensor 7 is a CMOS industrial camera. It should be understood that in further embodiments, the two-dimensional sensor 7 may also be a CCD industrial camera; the three-dimensional sensor 51 and the three-dimensional sensor 53 may also be a binocular structured light three-dimensional sensor or a multi-view stereoscopic three-dimensional sensor.
In the embodiment, the two three-dimensional sensors can simultaneously perform primary calibration on the spatial pose relationship of the two three-dimensional sensors, the end coordinate system of the mechanical arm of the industrial robot and the measurement coordinate system of the three-dimensional sensors by a fixed three-dimensional calibration device in the space, wherein the three-dimensional calibration device is preferably a high-precision matte ceramic ball with a known standard diameter. The two three-dimensional sensors can also identify and compensate joint parameter errors of the industrial robot by measuring a fixed standard geometric object in space, wherein the standard geometric object is preferably a high-precision matte ceramic ball with a known standard diameter. And further, the two three-dimensional sensors perform fine calibration on a terminal coordinate system of a mechanical arm of the industrial robot and a measurement coordinate system of the three-dimensional sensors through the three-dimensional calibration device based on the compensated joint parameters. In addition, the two-dimensional sensor calibrates the terminal coordinate system of the mechanical arm of the industrial robot and the measuring coordinate system of the two-dimensional sensor through the plane calibration device based on the compensated joint parameters, so as to establish a conversion relation between the measuring coordinate system of the two-dimensional sensor and the measuring coordinate system of the three-dimensional sensor, wherein the plane calibration device preferably selects a checkerboard calibration plate, and the standard coordinate value of the angular point of the checkerboard calibration plate is known.
In the embodiment, for example, the overall three-dimensional point cloud data and the two-dimensional image data of the blade body of the large-scale cast steam turbine blade can be measured through two three-dimensional sensors, and whether the measured blade is qualified or not is judged according to the design requirement by obtaining the blade profile tolerance error of the three-dimensional point cloud data, including the error value obtained by matching the characteristic parameters of the blade basin, the blade back, the front edge, the rear edge, the maximum thickness, the torsion angle and the like with the design model; the two-dimensional image data may be used to detect specific structures on the blade body, such as film holes, and surface defects.
In the embodiment, two line laser scanning sensors and one CMOS industrial camera are mounted at the tail end of the industrial robot, the spatial pose relationship between the line laser scanning sensors and the tail end (flange surface) of the industrial robot is established through calibration, and the scanning path of the line laser scanning sensors and the CMOS industrial camera mounted on the industrial robot can be planned through a kinematic model of the industrial robot according to a design model of a measured object to obtain better measurement data for subsequent analysis and processing.
While the invention has been described with reference to the above embodiments, it will be understood by those skilled in the art that various changes and modifications may be made to the above-described arrangements, including combinations of features disclosed herein either individually or in any combination as is evident from the below disclosure. These variants and/or combinations fall within the technical field of the present invention and are intended to be protected by the following claims.
Claims (10)
1. A robot vision measurement system with a two-dimensional sensor and a three-dimensional sensor fused is characterized by comprising:
an industrial robot having a robot arm;
an adjustable-pitch mounting plate connected to the end of the robot arm by an extension bracket;
two three-dimensional sensors which are symmetrically arranged on the mounting plate with adjustable intervals in angle and position relative to the mechanical arm and are used for measuring the three-dimensional appearance of the object to be measured;
and the angle and the position of the two-dimensional sensor are adjustably installed on the adjustable-interval installation plate and are used for acquiring the image of the appearance of the object to be measured.
2. The system according to claim 1, wherein the three-dimensional sensor is detachably fixed to the adjustable-pitch mounting plate by a three-dimensional sensor angle adjusting pad and a three-dimensional sensor mounting bracket, and the two three-dimensional sensors are respectively located on both sides of the end of the robot arm.
3. The two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system of claim 2, wherein the three-dimensional sensor is removably secured to the three-dimensional sensor mount, the three-dimensional sensor mount is removably secured to the three-dimensional sensor angle adjustment block, and the three-dimensional sensor angle adjustment block is removably secured to the adjustable-pitch mounting plate.
4. A two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system as claimed in claim 3, wherein said three-dimensional sensor is a line laser scanning sensor.
5. A robot vision measuring system in which a two-dimensional sensor and a three-dimensional sensor are integrated as set forth in any one of claims 1 to 4, wherein said two three-dimensional sensors are installed so that a measuring distance thereof is 300 to 400mm and an installation angle thereof is 10 to 30 °.
6. A two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system as claimed in any one of claims 1 to 4, wherein said two-dimensional sensor is removably secured to said adjustable-pitch mounting plate by means of a two-dimensional sensor mounting connection block and a two-dimensional sensor mounting spacer block.
7. The system according to claim 6, wherein the two-dimensional sensor is detachably fixed to a bottom surface of the two-dimensional sensor mounting block, the two-dimensional sensor mounting block is detachably fixed to a bottom surface of the two-dimensional sensor mounting connecting block, and the two-dimensional sensor mounting connecting block is detachably fixed to the adjustable-pitch mounting plate at one side thereof.
8. A two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system as claimed in claim 7, wherein said two-dimensional sensor is a CMOS industrial camera.
9. A two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system as claimed in claim 5, wherein said two-dimensional sensor is removably secured to said adjustable-pitch mounting plate by a two-dimensional sensor mounting connection block and a two-dimensional sensor mounting block.
10. A two-dimensional sensor and three-dimensional sensor fused robotic vision measuring system as claimed in claim 9, wherein said two-dimensional sensor is a CMOS industrial camera.
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| CN112991460A (en) * | 2021-03-10 | 2021-06-18 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN113198691A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113776458A (en) * | 2021-08-31 | 2021-12-10 | 香港理工大学深圳研究院 | High dynamic range complex curved surface measuring method, system and storage medium |
| CN114378808A (en) * | 2020-10-22 | 2022-04-22 | 上海大界机器人科技有限公司 | Method and device for multi-camera and line laser auxiliary mechanical arm to track target |
| CN115343289A (en) * | 2022-07-18 | 2022-11-15 | 中国第一汽车股份有限公司 | Automatic scratch detection system and method for whole automobile assembly pit package |
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Cited By (10)
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| CN114378808A (en) * | 2020-10-22 | 2022-04-22 | 上海大界机器人科技有限公司 | Method and device for multi-camera and line laser auxiliary mechanical arm to track target |
| CN114378808B (en) * | 2020-10-22 | 2024-07-16 | 上海大界机器人科技有限公司 | Method and device for tracking target by using multi-camera and line laser auxiliary mechanical arm |
| CN112991460A (en) * | 2021-03-10 | 2021-06-18 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN112991460B (en) * | 2021-03-10 | 2021-09-28 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN113198691A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113198691B (en) * | 2021-05-19 | 2022-06-17 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113776458A (en) * | 2021-08-31 | 2021-12-10 | 香港理工大学深圳研究院 | High dynamic range complex curved surface measuring method, system and storage medium |
| CN113776458B (en) * | 2021-08-31 | 2024-03-19 | 香港理工大学深圳研究院 | High dynamic range complex curved surface measurement method, system and storage medium |
| CN115343289A (en) * | 2022-07-18 | 2022-11-15 | 中国第一汽车股份有限公司 | Automatic scratch detection system and method for whole automobile assembly pit package |
| GB2623752A (en) * | 2022-10-24 | 2024-05-01 | Verus Prec Limited | A metrology and inspection system |
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Denomination of utility model: Robot vision measurement system based on fusion of 2D sensor and 3D sensor Effective date of registration: 20200924 Granted publication date: 20200612 Pledgee: Qingdao high technology financing Company limited by guarantee Pledgor: QINGDAO HAIZHICHEN INDUSTRIAL EQUIPMENT Co.,Ltd. Registration number: Y2020990001166 |
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Date of cancellation: 20210918 Granted publication date: 20200612 Pledgee: Qingdao high technology financing Company limited by guarantee Pledgor: QINGDAO HAIZHICHEN INDUSTRIAL EQUIPMENT Co.,Ltd. Registration number: Y2020990001166 |
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Denomination of utility model: Robot vision measurement system based on fusion of two-dimensional sensor and three-dimensional sensor Effective date of registration: 20211013 Granted publication date: 20200612 Pledgee: Rizhao Bank Co.,Ltd. Qingdao Branch Pledgor: QINGDAO HAIZHICHEN INDUSTRIAL EQUIPMENT Co.,Ltd. Registration number: Y2021370010101 |
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