KR20140066408A - Equipment position compensation system using vision sensor and method thereof - Google Patents

Equipment position compensation system using vision sensor and method thereof Download PDF

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Publication number
KR20140066408A
KR20140066408A KR1020120133596A KR20120133596A KR20140066408A KR 20140066408 A KR20140066408 A KR 20140066408A KR 1020120133596 A KR1020120133596 A KR 1020120133596A KR 20120133596 A KR20120133596 A KR 20120133596A KR 20140066408 A KR20140066408 A KR 20140066408A
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KR
South Korea
Prior art keywords
laser
sensor unit
reflection plate
vision sensor
equipment
Prior art date
Application number
KR1020120133596A
Other languages
Korean (ko)
Inventor
유지헌
김은영
김현철
장석민
이석현
최우성
임래수
김호경
허주호
Original Assignee
에스티엑스조선해양 주식회사
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Application filed by 에스티엑스조선해양 주식회사 filed Critical 에스티엑스조선해양 주식회사
Priority to KR1020120133596A priority Critical patent/KR20140066408A/en
Publication of KR20140066408A publication Critical patent/KR20140066408A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to a system and method for correcting an apparatus position using a vision sensor, and more particularly, to correcting a position of an apparatus using a laser sensor and a vision camera.
The present invention provides a system for correcting a position of an equipment equipped with a laser sensor unit, the system comprising: a reflection plate installed on a rail on which the equipment runs and reflecting a laser signal transmitted from the laser sensor unit; A vision sensor unit installed on the rail adjacent to the reflection plate and emitting light to the reflection plate to form a non-focal image at a coordinate origin; And a laser sensor unit which is located in the equipment and transmits a laser signal to the reflection plate to form a laser focus image and receives a reflected laser signal to measure a distance therefrom, And a control unit for calculating a corrected actual distance using the laser focus image and the measured distance.
According to the apparatus position correction system and method using the vision sensor of the present invention, it is possible to accurately measure the position of the heavy equipment without being affected by the vibration caused by the traveling of the heavy equipment.

Description

[0001] The present invention relates to an apparatus position compensation system using a vision sensor,

The present invention relates to a system and method for correcting an apparatus position using a vision sensor, and more particularly, to correcting a position of an apparatus using a laser sensor and a vision camera.

Unlike automobiles, shipyards generally have many products that can not produce bulk products such as conveyor lines.

Heavy equipment such as Goliath crane and overhead crane are moving on the rail of a certain area using a rotating wheel and moving various equipment and blocks.

For production monitoring, the location of these heavy equipment is essential and tracks the location of heavy equipment in a variety of ways.

The moving radius of the heavy equipment is about 100 meters and it is moving in 1 axis.

As a tracking method, there is a method of measuring the motor / rotation axis of the crane itself with an encoder, and detecting the rotation speed relative to the reference coordinate and using the position value.

Second, the position is tracked by measuring the distance of the target point using the laser sensor at the reference point.

Also, there is a method of installing an RFID tag at every unit interval and installing an RFID antenna in the crane, and recognizing and tracking the position of the tag at each move.

You can also use GPS to convert the position values of heavy equipment.

These various positioning methods have advantages and disadvantages, and can be used in accordance with the application areas such as the moving radius and position accuracy of the heavy equipment, and equipment maintenance.

As shown in FIGS. 1 and 2, the position tracking method using a laser is advantageous in that it is simple to install and convenient in terms of facility maintenance.

Also, if there is a position detection radius, it is the most efficient system to track the location of the heavy equipment in the shipyard.

In addition, there are inevitable disadvantages of position tracking systems, backlash errors caused by encoder backlash (backlash errors caused by encoder rotation repeat), GPS reception position errors (in particular, And the accuracy is lowered (difference in position accuracy according to the interval of the RFID tag).

One advantage of the position tracking system using laser sensors is that it compensates for the disadvantages of other tracking systems. However, the disadvantage is that there should be no obstacles to the position detection radius and the reflector should be used at long distance.

In addition, there is a problem in that an error occurs in the position measurement value of the laser sensor as it goes to a long distance by the vibration of the heavy equipment.

This may result in errors in the work results in the parts requiring precision measurement.

The above problem becomes larger as the actual distance is increased (as the measurement distance becomes longer), and the measurement laser more than 50m is used as the distance value by measuring the reflected sensor using the reflector at the target point.

Therefore, it is impossible to eliminate the vibration caused by the movement of the crane by using the complementary system which can cancel the vibration as much as possible.

Also, as described above, the fine oscillation also has a large error in a long distance even if the laser shift (?) Is small.

Further, a technique relating to a position correcting apparatus using a laser vision sensor is disclosed in Korean Patent Registration No. 0621223 (a position correcting jig between a robot tool and a laser vision sensor).

3, the position correcting jig between the robot tool 12 and the laser vision sensor 14 is provided on the front side of the robot tool 12 in the traveling direction of the robot 10 with the laser vision sensor 14 mounted thereon A position correcting jig having a length including a working point of the robot tool and a measuring point of the laser vision sensor is provided below the robot tool and the laser vision sensor, (12) and the laser vision sensor (14); And a fixing table connected to one end of the correction table and fixed to the laser vision sensor 14. The correction table has a length including a working point of the robot tool 12 and a measuring point of the laser vision sensor 14 ; A sorting mat installed on the base corresponding to a working point of the robot tool 12 and configured to align the center of the robot tool 12; The laser vision sensor 14 is mounted on the base corresponding to the measurement point of the laser vision sensor 14 and reads the position on the space of the measurement point of the laser vision sensor 14 to determine an error between the robot tool 12 and the laser vision sensor 14. [ And a graduation block in which a V-shaped graduation table capable of calculating a value is formed

However, the above-described technique has a problem in that it is not a device for correcting the position of the heavy equipment itself by calculating an error with respect to the distance between the robot tool of the robot and the laser vision sensor and proceeding the welding process.

The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide an apparatus and method for correcting an apparatus position using a vision sensor for correcting a position of an apparatus using a vision sensor fixed to a rail, ≪ / RTI >

In order to solve such a problem, an apparatus position correcting system using a vision sensor according to the present invention includes a laser sensor unit and a system for correcting the position of the equipment. The system includes a laser unit mounted on a rail, A reflector for reflecting the signal; A vision sensor unit installed on the rail adjacent to the reflection plate and emitting light to the reflection plate to form a non-focal image at a coordinate origin; And a laser sensor unit which is located in the equipment and transmits a laser signal to the reflection plate to form a laser focus image and receives a reflected laser signal to measure a distance therefrom, And a control unit for calculating a corrected actual distance using the laser focus image and the measured distance.

Here, the vision sensor unit includes a projector for emitting light to a reflection plate, and a camera for photographing a focus image of light emitted from the vision sensor unit and the laser sensor unit, and is fixed to the rail.

The reflector has a rectangular shape and has a coordinate system on its surface to match the data of the coordinate system with the focus image.

According to the apparatus position correction system and method using the vision sensor of the present invention, it is possible to accurately measure the position of the heavy equipment without being affected by the vibration caused by the traveling of the heavy equipment.

In addition, according to the apparatus position correction system and method using the vision sensor of the present invention, even if the heavy equipment is located at a long distance, there is no measurement error by performing position compensation by the vision sensor.

FIG. 1 is a diagram illustrating a conventional heavy equipment position tracking method using a laser.
2 is a diagram illustrating the measured position error according to Fig. 1;
3 is a perspective view of a conventional robot tool equipped with a laser vision sensor;
FIG. 4 is a block diagram of an apparatus position correction system using a vision sensor according to the present invention; FIG.
FIG. 5 shows coordinate and spot (focus) errors according to FIG. 4; FIG.
6 shows distance value calculations for the coordinate and spot (focus) errors according to FIG. 4; FIG.
7 is a flowchart of a method of correcting an apparatus position using a vision sensor according to the present invention;

Hereinafter, the present invention will be described in detail with reference to the drawings.

4 is a view showing a coordinate system and a spot (focus) error according to FIG. 4, FIG. 6 is a view illustrating a coordinate and spot coordinates (Focus) error.

Referring to FIG. 4, the apparatus position correction system using the vision sensor according to the present invention includes a reflection plate 200, a vision sensor unit 130, and a measurement apparatus 100, which corrects the position of the apparatus.

The measurement apparatus 100 includes a laser sensor unit 120, a control unit 140, and a user interface unit 150.

The reflection plate 200 is installed on a rail on which the equipment runs using a support (not shown) and reflects laser signals and light emitted from the projectors of the laser sensor unit 120 and the vision sensor unit 130.

The reflection plate 200 has a rectangular shape and has a coordinate system on the surface of the reflection plate 200 to match the data of the coordinate system with the focus image.

The vision sensor unit 130 is fixed to the rail by using a support (not shown) in proximity to the reflection plate 200 in order to facilitate the formation of the focus image transmitted from the projector to the origin of the coordinate system of the reflection plate 200.

The vibration of the actual vision camera is corrected by the angle sensor included in the vision sensor unit 130, and the present invention can be applied to the case where the origin point The distance of the localized focus (spot) to the (spot) can be calculated by the vision processing technique.

The vision sensor unit 130 focuses the light and / or the laser beam (signal) emitted from the projector and the vision sensor unit 130 and the laser sensor unit 120, which transmit light to the reflection plate 200, And a vision camera (vision sensor) for capturing and storing images.

The vision sensor unit 130 transmits the stored focus image to the user interface unit 150 using wire / wireless.

The vision sensor unit 130 transmits light to the reflection plate 200 to form a non-focal image at a coordinate origin of the reflection plate 200.

The laser sensor unit 120 of the measuring apparatus 100 is located in the equipment and transmits a laser signal to the reflection plate 200 to form a laser focus image on the coordinate system of the reflection plate 200 and receives the reflected laser signal, The control unit 140 calculates the corrected actual distance using the measured non-focused image, the laser focused image, and the measured distance from the laser sensor unit 120.

The user interface unit 150 includes a display and a communication module such as an LED or an LCD to display and transmit the measured and / or calculated result to the outside.

5, a fixed vision camera (not shown) of the vision sensor unit 130 in the above figure includes a reflection plate 200 and a vision sensor unit 130 The reference initial coordinate of the focus image (spot: a region) is set at the origin (0, 0) of the reflection plate 200 at the time of installation.

The following figure is a view showing a focus image (spot: area b) of the laser sensor unit 120.

Referring to FIG. 6, the distance between the initial origin (a) and the measured distance of the laser sensor is calculated using the position of the measurement focus (b) as shown in the equation.

At this time, the controller 140 synchronizes the sampling time of the laser sensor and the vision sensor, and performs signal processing and correction calculation.

Referring to FIG. 7, the position correction method using the position correction system according to the present invention is as follows.

First, the position correction system is provided with a reflection plate 200 and a vision sensor unit 130 on the rail on which the equipment runs, a laser sensor unit 120 mounted on the equipment, and a reflector 200, And a measuring device 200 for measuring the temperature.

The laser sensor unit 120 transmits a laser signal to the reflection plate 200 to form a laser focus image and measure the distance (S110). The vision sensor unit 130 photographs a laser focus image formed on the reflection plate 200 And transmits it to the measuring apparatus 100 (S120).

The vision sensor unit 130 transmits light to the reflection plate 200 having the coordinate system to form a non-focal image at the origin of the reflection plate 200 and transmits the non-focused image to the measurement, storage and measurement apparatus 100 (S130 and S140) .

The controller 140 of the measuring apparatus 100 calculates a correction value (or a measured value) as a difference between the laser focus image and the non-focal image matched with the data of the coordinate system (S150).

The control unit 140 of the measuring apparatus 100 calculates the actual distance corrected between the device and the reflector using the non-focal image and the laser focus image measured from the laser sensor unit 120 and the vision sensor unit 130, (S160).

110: reflector 120: laser sensor unit
130: vision sensor unit 140:
150:

Claims (6)

1. A system for correcting a position of an equipment having a laser sensor unit,
A reflection plate installed on a rail on which the equipment runs and reflecting a laser signal transmitted from the laser sensor unit;
A vision sensor unit installed on the rail adjacent to the reflection plate and emitting light to the reflection plate to form a non-focal image at a coordinate origin; And
A laser sensor unit which is located in the equipment and transmits a laser signal to the reflection plate to form a laser focus image and receives a reflected laser signal to measure a distance; And a control unit for calculating a corrected actual distance using the focus image and the measured distance.
The method according to claim 1,
Wherein the vision sensor unit includes a projector for emitting light to a reflection plate, and a camera for photographing a focus image of light emitted from the vision sensor unit and the laser sensor unit, and is fixed to the rail. .
The method according to claim 1,
Wherein the reflection plate has a rectangular shape and has a coordinate system on its surface to match the data of the coordinate system with the focus image.
And a measurement device for measuring the position of the equipment using the reflection plate, wherein the reflection plate and the vision sensor are installed on the rail on which the equipment runs, the laser sensor unit is mounted on the equipment,
(a) transmitting the laser signal to the reflection plate by the laser sensor unit to form a laser focus image and measuring the distance;
(b) forming a non-focused image at a coordinate origin by emitting light to a reflector provided with a coordinate system of the vision sensor; And
(c) calculating the actual distance corrected by using the non-focal image, the laser focus image and the measured distance measured from the laser sensor unit and the vision sensor unit, A method for calibrating the position of a used equipment
5. The method of claim 4,
Wherein the step (a) comprises capturing and storing a laser focus image formed on the reflection plate of the vision sensor, and transmitting the laser focus image to the measurement device.
5. The method of claim 4,
Wherein the step (b) comprises calculating a correction value, which is a difference between the laser focus image and the non-focal image, in which the measuring device matches the data of the coordinate system.
KR1020120133596A 2012-11-23 2012-11-23 Equipment position compensation system using vision sensor and method thereof KR20140066408A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210034070A (en) * 2019-03-26 2021-03-29 히다찌 겐끼 가부시키가이샤 Calibration work support system
CN114234811A (en) * 2021-12-21 2022-03-25 哈尔滨工业大学芜湖机器人产业技术研究院 Pipeline coarse positioning method and system based on vision and laser ranging

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210034070A (en) * 2019-03-26 2021-03-29 히다찌 겐끼 가부시키가이샤 Calibration work support system
CN114234811A (en) * 2021-12-21 2022-03-25 哈尔滨工业大学芜湖机器人产业技术研究院 Pipeline coarse positioning method and system based on vision and laser ranging
CN114234811B (en) * 2021-12-21 2024-04-02 长三角哈特机器人产业技术研究院 Pipeline coarse positioning method and system based on vision and laser ranging

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