CN109822575B - A robot system and method for mobile processing using projected feature images - Google Patents
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Abstract
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Description
Translated fromChinese技术领域technical field
本发明属于打磨机器人加工领域，更具体地，涉及一种利用投影特征图像进行移动加工的机器人系统及方法。The invention belongs to the field of grinding robot processing, and more particularly, relates to a robot system and method for mobile processing by utilizing projected feature images.
背景技术Background technique
随着工业机器人在机械加工制造领域的广泛应用，各种各样的加工场合对机器人加工技术提出了更高的要求。诸如汽车、航空、航天和船舶制造领域，大型复杂曲面构件如高铁车身、飞机蒙皮、风机叶片和船舶船身等，其尺寸较大，表面形状复杂，一般的加工设备如龙门机床和固定式工业机器人难以满足如此大的加工范围需求，导轨式机器人亦难以根据构件形状特点灵活调整加工工位，另外，为保证获取高精度的加工质量，在加工过程中需要对构件进行高精度表面测量，并实时定位加工头与构件的相对位置关系。With the wide application of industrial robots in the field of machining and manufacturing, various processing occasions have put forward higher requirements for robot processing technology. For example, in the fields of automobile, aviation, aerospace and shipbuilding, large and complex surface components such as high-speed rail bodies, aircraft skins, wind turbine blades and ship hulls are large in size and complex in surface shape. General processing equipment such as gantry machine tools and stationary It is difficult for industrial robots to meet the needs of such a large processing range, and it is also difficult for guide-rail robots to flexibly adjust the processing station according to the shape and characteristics of the components. In addition, in order to ensure high-precision processing quality, high-precision surface measurement of components is required during processing. And real-time positioning of the relative positional relationship between the processing head and the component.
传统加工方法一般采用先测量再加工的方式，如使用三坐标测量仪或激光跟踪仪获取工件的三维点云模型，进而根据三维点云模型规划加工路径，最后借助工业机器人或大型数控机床对工件进行加工，这种方式在测量阶段往往需要花费大量的时间，且测量获得的三维模型精度与使用的工具和测量方法密切相关，另外，全局加工轨迹规划需要考虑到诸如加工效率、机器人避碰等多种因素，近年来出现了一些使用多站位光学测量设备对构件进行大范围测量，然后对待加工工件进行全局避碰路径规划并加工的方法，也出现了一些对工件表面进行局部测量，进而边测量边加工的方法。The traditional processing method generally adopts the method of first measuring and then processing, such as using a three-dimensional measuring instrument or a laser tracker to obtain a three-dimensional point cloud model of the workpiece, and then planning the processing path according to the three-dimensional point cloud model, and finally using industrial robots or large CNC machine tools to measure the workpiece. Processing, this method often takes a lot of time in the measurement phase, and the accuracy of the 3D model obtained by measurement is closely related to the tools and measurement methods used. In addition, the global processing trajectory planning needs to take into account processing efficiency, robot collision avoidance, etc. There are many factors. In recent years, there have been some methods of using multi-station optical measurement equipment to measure components in a large range, and then planning and processing the workpiece to be processed. A method of machining while measuring.
已有技术中，专利CN201710702727.8提出一种固定式打磨机器人，通过待加工工件的3D点云模型获取加工点序列，并通过路径规划实现避碰加工，该方法涉及到复杂的规划过程，且需要事先获取待加工工件的3D点云模型，然而如何获取精确的待加工工件整体3D点云数据，一直是有待解决的问题；专利CN201710498471.3提出一种将光栅尺和机器人的丝杠进给机构结合的自主打磨机器人，其采用正交双目立体视觉加激光装置，对整个待加工曲面实现look-and-move的遍历加工，然而带附加外轴的机器人系统坐标系的构建与标定过程极其繁琐与复杂。In the prior art, patent CN201710702727.8 proposes a stationary grinding robot, which obtains the sequence of processing points through the 3D point cloud model of the workpiece to be processed, and realizes collision avoidance processing through path planning. This method involves a complex planning process, and It is necessary to obtain the 3D point cloud model of the workpiece to be processed in advance, but how to obtain the accurate overall 3D point cloud data of the workpiece to be processed has always been a problem to be solved; Patent CN201710498471.3 proposes a method to feed the grating ruler and the lead screw of the robot The autonomous grinding robot combined with the mechanism adopts orthogonal binocular stereo vision and laser device to achieve look-and-move traversal processing of the entire surface to be processed. However, the construction and calibration process of the robot system coordinate system with additional external axes is extremely difficult. Cumbersome and complicated.
发明内容SUMMARY OF THE INVENTION
针对现有技术的以上缺陷或改进需求，本发明提供了一种利用投影特征图像进行移动加工的机器人系统及方法，通过利用投影仪将加工轨迹和工艺参数编码后以特征图像的形式投影到构件表面，加工轨迹与待加工工件表面的几何特征结合后形成新的图像，相机拍摄该新的图像以获取新的加工轨迹和加工工艺参数，同时相机还动态拍摄跟踪靶标以获取加工刀头位置，进而控制加工头对工件进行加工，通过判断特征图像是否遍历整个工件表面来实现对工件的遍历加工。In view of the above defects or improvement requirements of the prior art, the present invention provides a robot system and method for mobile processing by using a projected feature image. By using a projector to encode the processing trajectory and process parameters, the feature image is projected to the component in the form of a feature image. Surface, machining trajectory and the geometric features of the workpiece surface to be processed form a new image, the camera captures the new image to obtain new machining trajectory and machining process parameters, and the camera also dynamically captures the tracking target to obtain the machining tool head position, Then control the processing head to process the workpiece, and realize the traversal processing of the workpiece by judging whether the feature image traverses the entire workpiece surface.
为实现上述目的，按照本发明的一个方面，提供了一种利用投影特征图像进行移动加工的机器人系统，其特征在于，该系统包括投影仪、机器人和控制器，其中，In order to achieve the above object, according to one aspect of the present invention, a robot system for mobile processing using projected characteristic images is provided, characterized in that the system includes a projector, a robot and a controller, wherein,
所述投影仪与所述控制器连接，该控制器将待加工工件上的待加工区域的加工轨迹和加工工艺参数编码形成图像后传递给所述投影仪，所述投影仪将该图像在所述待加工区域上投影；The projector is connected to the controller, and the controller encodes the processing track and processing process parameters of the workpiece to be processed on the workpiece to form an image and transmits it to the projector, and the projector displays the image at the location. Projection on the area to be processed;
所述机器人上设置有相机、加工头和跟踪靶标，所述移动平台设置在所述机器人的下端，用于改变所述加工头的位置，所述加工头设置在所述机器人的末端用于对待加工工件进行加工，所述跟踪靶标设置在所述机器人的上方，用于标记所述加工头的位置，所述相机设置在所述移动平台的上方，用于拍摄待加工工件和跟踪靶标，其将拍摄的所述待加工工件表面的图像和跟踪靶标的图像传递给所述控制器，所述控制器一方面根据拍摄的跟踪靶标的图像判断所述加工头的位置和姿态，另一方面根据拍摄的待加工工件表面的图像判断已经加工的区域和未加工的区域。The robot is provided with a camera, a processing head and a tracking target, the mobile platform is arranged at the lower end of the robot, and is used to change the position of the processing head, and the processing head is arranged at the end of the robot for processing The workpiece is processed for processing, the tracking target is arranged above the robot to mark the position of the processing head, the camera is arranged above the mobile platform, and is used to photograph the workpiece to be processed and the tracking target. The captured image of the surface of the workpiece to be processed and the image of the tracking target are transmitted to the controller. On the one hand, the controller judges the position and attitude of the processing head according to the captured image of the tracking target; The image of the surface of the workpiece to be processed is taken to determine the processed area and the unprocessed area.
进一步优选地，所述机器人为六自由度工业机器人，所述加工头设置在机器人末端法兰上，通过机器人关节运动实现加工头多自由度的运动。Further preferably, the robot is a six-degree-of-freedom industrial robot, the processing head is arranged on the flange at the end of the robot, and the multi-degree-of-freedom movement of the processing head is realized through the joint motion of the robot.
进一步优选地，所述相机选择深度相机，以便测量待测对象到相机之间的距离。Further preferably, the camera selects a depth camera so as to measure the distance between the object to be measured and the camera.
按照本发明的另一方面，提供了一种利用上述所述的系统的加工方法，其特征在于，该方法包括下列步骤：According to another aspect of the present invention, there is provided a processing method utilizing the above-mentioned system, characterized in that the method comprises the following steps:
(a)将待加工工件装夹在夹具上并固定，所述移动平台装载机器人移动至待加工工件附近；(a) clamping and fixing the workpiece to be processed on the fixture, and the mobile platform loading robot moves to the vicinity of the workpiece to be processed;
(b)所述控制器传递给所述投影仪包含有初始加工轨迹和工艺参数的图像，该投影仪将所述图像在所述待加工工件上进行投影，该图像与待加工工件的表面特征结合，使得所述初始加工轨迹发生变化形成新的图像；(b) The controller transmits an image containing the initial processing trajectory and process parameters to the projector, and the projector projects the image on the workpiece to be processed, and the image is related to the surface features of the workpiece to be processed. combined, so that the initial processing trajectory is changed to form a new image;
(c)所述相机拍摄所述新的图像并将其传递给所述控制器，该控制器识别该新的图像中的加工轨迹和工艺参数，然后所述相机拍摄所述跟踪靶标并将拍摄的图像传递给所述控制器，所述控制器根据拍摄的图像判断并获取当前所述加工头的位置和姿态；(c) the camera captures the new image and transmits it to the controller, the controller recognizes the machining trajectory and process parameters in the new image, and then the camera captures the tracking target and will capture The image is transmitted to the controller, and the controller judges and obtains the current position and attitude of the processing head according to the captured image;
(d)所述控制器根据当前所述加工头的位置和姿态，并结合所述加工轨迹和工艺参数，调整并控制所述加工头按照所述加工轨迹和工艺参数加工所述待加工工件表面，直至完成所述加工轨迹的加工；(d) The controller adjusts and controls the processing head to process the surface of the workpiece to be processed according to the processing trajectory and process parameters according to the current position and attitude of the processing head and in combination with the processing trajectory and process parameters , until the processing of the processing track is completed;
(e)所述控制器将当前拍摄的所有图像与工件三维模型作比对，判断待加工工件表面是否还有未加工区域，，若有，则移动平台移动至下一个加工工位，并重复步骤(b)～(e)，直至完成待加工工件表面所有区域的加工。(e) The controller compares all the images currently taken with the three-dimensional model of the workpiece, and judges whether there is an unprocessed area on the surface of the workpiece to be processed, and if so, the mobile platform moves to the next processing station, and repeats Steps (b) to (e) are performed until the processing of all areas on the surface of the workpiece to be processed is completed.
进一步优选地，在步骤(d)中，所述加工头按照所述加工轨迹和工艺参数加工所述待加工工件表面时，是通过所述相机实时拍摄所述加工头的位置和姿态并反馈给所述控制器，所述控制器再根据所述加工轨迹和工艺参数调整所述加工头的位置，以此实现对所述加工头的闭环控制。Further preferably, in step (d), when the processing head processes the surface of the workpiece to be processed according to the processing trajectory and process parameters, the position and attitude of the processing head are captured in real time by the camera and fed back to the processing head. The controller, which adjusts the position of the processing head according to the processing track and process parameters, thereby realizing closed-loop control of the processing head.
进一步优选地，在步骤(b)中，所述加工轨迹优选为希尔伯特曲线等分形曲线。Further preferably, in step (b), the processing track is preferably a fractal curve such as a Hilbert curve.
进一步优选地，所述加工方法适用于对待加工工件的打磨抛光。Further preferably, the processing method is suitable for grinding and polishing the workpiece to be processed.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:
1、本发明利用投影仪投射包含工艺参数的特征图像到待加工工件表面，借助该图像不仅能获取工件几何特征信息和位置信息，还能获取加工轨迹和加工工艺参数，该方法相对于现有的视觉测量过程，不仅能获取工件表面几何信息还能将加工需求与工件表面特征相联系，为实现边投影边加工提供必要条件；1. The present invention utilizes a projector to project a feature image containing process parameters onto the surface of the workpiece to be processed. With the help of the image, not only the geometric feature information and position information of the workpiece can be obtained, but also the processing trajectory and processing technology parameters. The visual measurement process can not only obtain the geometric information of the workpiece surface, but also connect the processing requirements with the surface features of the workpiece, which provides necessary conditions for the realization of processing while projecting;
2、本发明借助相机拍摄特征图像和跟踪靶标，以控制加工头对工件进行加工，该方法同步进行拍摄、测量和加工过程，并通过控制加工头加工工件以获得较好的加工质量；2. The present invention uses the camera to capture characteristic images and track the target to control the processing head to process the workpiece. This method simultaneously performs the shooting, measurement and processing processes, and controls the processing head to process the workpiece to obtain better processing quality;
3、本发明提供的方法借助各个组件的配合工作，实现投影，拍摄和加工过程的同步进行，同时通过相机的实时拍照实时识别当前的加工进度，还有判断是否遍历待加工工件所有区域的加工，实现对待加工工件表面的遍历加工，该方法不需要对工件整体进行测量和三维模型拼接，效率更高。3. The method provided by the present invention realizes the synchronization of projection, shooting and processing by means of the cooperation of various components, at the same time, the current processing progress is recognized in real time through the real-time photography of the camera, and the processing of traversing all areas of the workpiece to be processed is judged. , to realize the traversal processing of the surface of the workpiece to be processed, the method does not need to measure the whole workpiece and splicing the three-dimensional model, and the efficiency is higher.
附图说明Description of drawings
图1是按照本发明的优选实施例所构建的利用投影特征图像进行移动加工的加工方法的流程图；FIG. 1 is a flowchart of a processing method for mobile processing by utilizing a projected feature image constructed according to a preferred embodiment of the present invention;
图2是按照本发明的优选实施例所构建的利用投影特征图像进行移动加工的机器人系统的结构示意图；2 is a schematic structural diagram of a robot system constructed according to a preferred embodiment of the present invention for performing mobile processing using projected feature images;
图3是按照本发明的优选实施例所构建的加工轨迹未投影在待加工工件表面的示意图；FIG. 3 is a schematic diagram illustrating that the machining trajectory constructed according to the preferred embodiment of the present invention is not projected on the surface of the workpiece to be machined;
图4是按照本发明的优选实施例所构建的加工轨迹投影在待加工工件表面后的示意图。FIG. 4 is a schematic diagram of a machining track constructed according to a preferred embodiment of the present invention after being projected on the surface of the workpiece to be machined.
在所有附图中，相同的附图标记用来表示相同的元件或结构，其中：Throughout the drawings, the same reference numbers are used to refer to the same elements or structures, wherein:
1-投影仪2-加工头3-跟踪靶标4-工业机器人5-移动平台6-相机1-projector 2-processing head 3-tracking target 4-industrial robot 5-mobile platform 6-camera
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as there is no conflict with each other.
如图1所示，一种利用投影特征图像进行移动加工的加工方法，该方法借助投影仪将工艺参数编码后以特征图像的形式投影到待加工工件表面，移动平台变换工位并用相机拍摄特征图像以获取待加工工件表面信息和加工工艺参数，同时相机动态拍摄跟踪靶标以获取加工刀头位置，进而控制加工头对工件进行加工，通过判断特征图像是否遍历整个工件表面来实现对工件的遍历加工。As shown in Figure 1, a processing method for mobile processing using projected feature images. The method encodes process parameters with the help of a projector and projects them on the surface of the workpiece to be processed in the form of feature images. The mobile platform changes the station and uses a camera to capture the features. The image is used to obtain the surface information and processing parameters of the workpiece to be processed. At the same time, the camera dynamically shoots and tracks the target to obtain the position of the processing tool head, and then controls the processing head to process the workpiece. The traversal of the workpiece is realized by judging whether the feature image traverses the entire workpiece surface. processing.
上述方法具体包括下列步骤：The above method specifically includes the following steps:
1)装夹工件并运动至起点1) Clamp the workpiece and move to the starting point
将待加工工件装夹在夹具上并固定，所述移动平台装载机器人移动至待加工工件附近。The workpiece to be processed is clamped on the fixture and fixed, and the mobile platform loading robot moves to the vicinity of the workpiece to be processed.
2)投影仪投影特征图像2) The projector projects the characteristic image
所述控制器传递给所述投影仪包含有初始加工轨迹和工艺参数的图像，该投影仪将所述图像在所述待加工工件上进行投影，该图像与待加工工件的表面特征结合，使得所述初始加工轨迹发生变化形成新的图像。The controller transmits an image containing the initial processing trajectory and process parameters to the projector, the projector projects the image on the workpiece to be processed, and the image is combined with the surface features of the workpiece to be processed, so that The initial processing trajectory is changed to form a new image.
3)相机拍摄特征图像3) The camera captures the characteristic image
所述相机拍摄所述新的图像并将其传递给所述控制器，该控制器识别该新的图像中的加工轨迹和工艺参数，然后所述相机拍摄所述跟踪靶标并将拍摄的图像传递给所述控制器，所述控制器根据拍摄的图像判断并获取当前所述加工头的位置和姿态。The camera captures the new image and transmits it to the controller, which recognizes the machining trajectory and process parameters in the new image, and then the camera captures the tracking target and transmits the captured image To the controller, the controller judges and obtains the current position and posture of the processing head according to the captured image.
4)加工头加工工件4) Processing head to process workpiece
所述控制器根据当前所述加工头的位置和姿态，并结合所述加工轨迹和工艺参数，调整并控制所述加工头按照所述加工轨迹和工艺参数加工所述待加工工件表面，直至完成所述加工轨迹的加工。The controller adjusts and controls the processing head to process the surface of the workpiece to be processed according to the processing trajectory and process parameters according to the current position and posture of the processing head and in combination with the processing trajectory and process parameters, until the completion of the process. The machining of the machining trajectory.
5)判断是否加工完毕5) Determine whether the processing is completed
所述控制器将当前拍摄的所有图像与工件三维模型作比对，判断待加工工件表面是否还有未加工区域，若有，则移动平台移动至下一个加工工位，并重复步骤(2)～(5)，直至完成待加工工件表面所有区域的加工。The controller compares all the images currently taken with the three-dimensional model of the workpiece, and determines whether there is an unprocessed area on the surface of the workpiece to be processed. If there is, the mobile platform moves to the next processing station, and repeats step (2) ~(5), until the processing of all areas on the surface of the workpiece to be processed is completed.
如图2所示，一种利用投影特征图像进行移动加工的机器人系统，该系统包括投影仪，加工头，跟踪靶标，工业机器人，移动平台、相机和控制器。其中：As shown in Figure 2, a robot system for mobile processing using projected feature images includes a projector, a processing head, a tracking target, an industrial robot, a mobile platform, a camera and a controller. in:
投影仪固定于加工场景内，用于向待加工工件投影特征图像，跟踪靶标安装于工业机器人末端，用于获取加工头位置，加工头固定于工业机器人末端，用于加工工件，相机固定于移动平台上，用于拍摄工件上的特征图像和跟踪靶标。The projector is fixed in the processing scene and is used to project characteristic images to the workpiece to be processed. The tracking target is installed at the end of the industrial robot to obtain the position of the processing head. The processing head is fixed at the end of the industrial robot for processing the workpiece. The camera is fixed to the mobile On the platform, it is used to take characteristic images on the workpiece and track the target.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.
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