技术领域Technical field
本发明涉及工业测量技术领域，具体地，涉及基于点云的装配特征识别与六轴台运动控制方法和系统。The present invention relates to the field of industrial measurement technology, and specifically to point cloud-based assembly feature recognition and six-axis table motion control methods and systems.
背景技术Background technique
航天部件尤其是太空中需要运动调整的器件，安装需要在“零重力”环境下操作，防止地面预应力对太空中运动产生影响。太阳翼帆板需要在太空中完成展开，以获取太阳能后给卫星电子设备供电，是航天器赖以生存的“能量源泉”。太阳翼与航天器本体之间的连接为铰链扣形式，且精度较高。传统工艺是通过在卫星模拟架上做标记点，借助经纬仪准直形式获取空间点位，太阳翼与模拟架之间不固定连接，有误差，且经纬仪建系瞄准效率较低。Aerospace components, especially those that require movement adjustment in space, need to be installed in a "zero gravity" environment to prevent ground prestress from affecting movement in space. The solar wing sail needs to be deployed in space to obtain solar energy and then power the satellite's electronic equipment. It is the "energy source" that the spacecraft depends on for its survival. The connection between the solar wing and the spacecraft body is in the form of a hinge buckle with high precision. The traditional process is to mark points on the satellite simulation frame and obtain the spatial point position with the help of theodolite collimation. The solar wing and the simulation frame are not fixedly connected, causing errors, and the theodolite system aiming efficiency is low.
专利文献CN114700728A（申请号：202210328734.7）公开了一种卫星太阳翼装配用六自由度调姿平台，调姿平台包括：解耦部分，解耦部分包括：C轴支撑平台，C轴支撑平台通过齿轮齿圈结构实现卫星绕C轴的旋转；设在C轴支撑平台下的Y轴支撑底座和X轴支撑底座，Y轴支撑底座和X轴支撑底座各自用于调姿平台在Y轴和X轴方向上的平动位移；耦合部分，耦合部分包括：转盘轴承，用于夹持并驱动卫星绕A轴旋转；三连杆结构，包括B轴底座、连接杆和支架，用于实现卫星绕B轴的翻转；三连杆结构的支架部分设有Z向滑动装置，用于实现卫星在Z轴上的移动，且Z向滑动装置与转盘轴承的内圈连接，使得B轴、Z轴与A轴各轴相互耦合。Patent document CN114700728A (Application No.: 202210328734.7) discloses a six-degree-of-freedom attitude adjustment platform for satellite solar wing assembly. The attitude adjustment platform includes: a decoupling part. The decoupling part includes: a C-axis support platform. The C-axis support platform passes through gears. The ring gear structure realizes the rotation of the satellite around the C-axis; the Y-axis support base and the X-axis support base are located under the C-axis support platform. The Y-axis support base and the translational displacement in the direction; coupling part, the coupling part includes: turntable bearing, used to clamp and drive the satellite to rotate around the A axis; three-link structure, including the B-axis base, connecting rod and bracket, used to realize the satellite rotating around the B axis The flipping of the axis; the bracket part of the three-link structure is equipped with a Z-direction sliding device to realize the movement of the satellite on the Z-axis, and the Z-direction sliding device is connected to the inner ring of the turntable bearing, so that the B-axis, Z-axis and A-axis The axes are coupled to each other.
本发明中通过非接触式3D激光测量获取目标位姿信息，通过运动插值和逆运动学形式规划轨迹路径，完成整个过程无碰撞对接，过程全自动效率高，且对接精准。In the present invention, the target pose information is obtained through non-contact 3D laser measurement, and the trajectory path is planned through motion interpolation and inverse kinematics to complete the entire process of collision-free docking. The process is fully automatic, highly efficient, and the docking is accurate.
发明内容Contents of the invention
针对现有技术中的缺陷，本发明的目的是提供一种基于点云的装配特征识别与六轴台运动控制方法及系统。In view of the deficiencies in the prior art, the purpose of the present invention is to provide a point cloud-based assembly feature recognition and six-axis table motion control method and system.
根据本发明提供的一种基于点云的装配特征识别与六轴台运动控制方法，包括：According to a point cloud-based assembly feature recognition and six-axis table motion control method provided by the present invention, it includes:
步骤S1：控制激光相机在垂直导轨上移动扫描待装配区域得到待装配区域点云数据；Step S1: Control the laser camera to move on the vertical guide rail to scan the area to be assembled to obtain point cloud data of the area to be assembled;
步骤S2：基于待装配区域的点云数据获取特征区域的点云数据，基于特征区域的点云数据完成对六轴调姿台坐标系和相机坐标系的识别与标定；Step S2: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled, and complete the identification and calibration of the six-axis posture adjustment table coordinate system and the camera coordinate system based on the point cloud data of the characteristic area;
步骤S3：基于特征区域的点云数据求取待装配区域内的特征向量，基于装配区域内的特征向量得到六轴调姿台在运动过程中的过渡点；基于运动起点和过渡点进行路径规划；Step S3: Obtain the feature vector in the area to be assembled based on the point cloud data of the feature area, and obtain the transition point of the six-axis posture adjustment platform during the movement based on the feature vector in the assembly area; perform path planning based on the starting point and transition point of the movement. ;
步骤S4：六轴调姿台基于运动起点、过渡点以及目标点，根据规划的路径，完成第一待装配件和第二待装配件的无碰装配。Step S4: Based on the motion starting point, transition point and target point, and according to the planned path, the six-axis posture adjustment table completes the collision-free assembly of the first to-be-assembled part and the second to-be-assembled part.
优选地，所述步骤S2采用：Preferably, the step S2 adopts:
步骤S2.1：基于待装配区域的点云数据获得特征区域的点云数据；Step S2.1: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled;
步骤S2.2：对特征区域的点云数据进行滤波处理、聚类分析得到各个类别的位置，包括：轴孔、槽特征和形态特征，完成对六轴调姿台坐标系和相机坐标系的识别与标定。Step S2.2: Perform filtering and clustering analysis on the point cloud data of the feature area to obtain the positions of each category, including: shaft holes, slot features and morphological features, and complete the calculation of the six-axis posture adjustment table coordinate system and the camera coordinate system. Identification and calibration.
优选地，所述步骤S3采用：对聚类分析后的特征区域的点云数据进行特征提取获取特征区域内的第一待装配件的装配用特征向量；根据装配用特征向量得到运动的过渡点；Preferably, the step S3 adopts: performing feature extraction on the point cloud data of the characteristic area after cluster analysis to obtain the assembly feature vector of the first component to be assembled in the feature area; and obtaining the transition point of the motion according to the assembly feature vector. ;
所述第一待装配件的装配用特征向量为装配过程中轴插入的方向；The assembly feature vector of the first component to be assembled is the direction of shaft insertion during the assembly process;
所述装配用特征向量通过对轴孔特征的识别，提取出轴孔的孔心，将两个轴孔的孔心相连得到装配用特征向量，并且以上方的孔心为运动目标点；The assembly feature vector extracts the hole center of the shaft hole by identifying the characteristics of the shaft hole, connects the hole centers of the two shaft holes to obtain the assembly feature vector, and uses the upper hole center as the motion target point;
基于第一待装配件的装配用特征向量获得第一待装配件的姿态信息；从起点到过渡点运动的过程中将六轴调姿台姿态调整为第一待装配件的姿态，从而确定运动的过渡点。The attitude information of the first part to be assembled is obtained based on the assembly feature vector of the first part to be assembled; during the movement from the starting point to the transition point, the attitude of the six-axis posture adjustment table is adjusted to the attitude of the first part to be assembled, thereby determining the movement transition point.
优选地，所述步骤S3采用：对运动起点和过渡点以及过渡点和目标点分别采用运动均匀插值的方法得到路径点，再对路径点通过逆运动学反解，将路径点转化为对应的关节角度或坐标值。Preferably, the step S3 adopts: using the motion uniform interpolation method for the motion starting point and transition point as well as the transition point and the target point respectively to obtain the path point, and then using the inverse kinematics inverse solution of the path point to convert the path point into the corresponding Joint angle or coordinate value.
优选地，所述步骤S4采用：从起点运动到过渡点完成六轴调姿台姿态上的变化；Preferably, the step S4 adopts: completing the change in the posture of the six-axis posture adjustment platform from the starting point to the transition point;
从过渡点运动到目标点完成六轴台位置的变化，进而完成装配的过程。The movement from the transition point to the target point completes the change in the position of the six-axis table, thereby completing the assembly process.
根据本发明提供的一种基于点云的装配特征识别与六轴台运动控制系统，包括：A point cloud-based assembly feature recognition and six-axis table motion control system provided according to the present invention includes:
模块M1：控制激光相机在垂直导轨上移动扫描待装配区域得到待装配区域点云数据；Module M1: Control the laser camera to move on the vertical guide rail to scan the area to be assembled to obtain point cloud data of the area to be assembled;
模块M2：基于待装配区域的点云数据获取特征区域的点云数据，基于特征区域的点云数据完成对六轴调姿台坐标系和相机坐标系的识别与标定；Module M2: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled, and complete the identification and calibration of the six-axis posture adjustment table coordinate system and the camera coordinate system based on the point cloud data of the characteristic area;
模块M3：基于特征区域的点云数据求取待装配区域内的特征向量，基于装配区域内的特征向量得到六轴调姿台在运动过程中的过渡点；基于运动起点和过渡点进行路径规划；Module M3: Obtain the feature vector in the area to be assembled based on the point cloud data of the feature area, and obtain the transition point of the six-axis posture adjustment platform during the movement based on the feature vector in the assembly area; perform path planning based on the starting point and transition point of the movement ;
模块M4：六轴调姿台基于运动起点、过渡点以及目标点，根据规划的路径，完成第一待装配件和第二待装配件的无碰装配。Module M4: The six-axis posture adjustment table completes the collision-free assembly of the first to-be-assembled part and the second to-be-assembled part based on the planned path based on the motion starting point, transition point and target point.
优选地，所述模块M2采用：Preferably, the module M2 adopts:
模块M2.1：基于待装配区域的点云数据获得特征区域的点云数据；Module M2.1: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled;
模块M2.2：对特征区域的点云数据进行滤波处理、聚类分析得到各个类别的位置，包括：轴孔、槽特征和形态特征，完成对六轴调姿台坐标系和相机坐标系的识别与标定。Module M2.2: Perform filtering and clustering analysis on the point cloud data of the characteristic area to obtain the positions of each category, including: shaft holes, slot features and morphological features, and complete the calculation of the six-axis posture adjustment table coordinate system and the camera coordinate system. Identification and calibration.
优选地，所述模块M3采用：对聚类分析后的特征区域的点云数据进行特征提取获取特征区域内的第一待装配件的装配用特征向量；根据装配用特征向量得到运动的过渡点；Preferably, the module M3 adopts: performing feature extraction on the point cloud data of the characteristic area after cluster analysis to obtain the assembly feature vector of the first component to be assembled in the feature area; and obtaining the transition point of the motion according to the assembly feature vector. ;
所述第一待装配件的装配用特征向量为装配过程中轴插入的方向；The assembly feature vector of the first component to be assembled is the direction of shaft insertion during the assembly process;
所述装配用特征向量通过对轴孔特征的识别，提取出轴孔的孔心，将两个轴孔的孔心相连得到装配用特征向量，并且以上方的孔心为运动目标点；The assembly feature vector extracts the hole center of the shaft hole by identifying the characteristics of the shaft hole, connects the hole centers of the two shaft holes to obtain the assembly feature vector, and uses the upper hole center as the motion target point;
基于第一待装配件的装配用特征向量获得第一待装配件的姿态信息；从起点到过渡点运动的过程中将六轴调姿台姿态调整为第一待装配件的姿态，从而确定运动的过渡点。The attitude information of the first part to be assembled is obtained based on the assembly feature vector of the first part to be assembled; during the movement from the starting point to the transition point, the attitude of the six-axis posture adjustment table is adjusted to the attitude of the first part to be assembled, thereby determining the movement transition point.
优选地，所述模块M3采用：对运动起点和过渡点以及过渡点和目标点分别采用运动均匀插值的方法得到路径点，再对路径点通过逆运动学反解，将路径点转化为对应的关节角度或坐标值。Preferably, the module M3 adopts: using the motion uniform interpolation method for the motion starting point and transition point as well as the transition point and the target point respectively to obtain the path point, and then using the inverse kinematics inverse solution of the path point to convert the path point into the corresponding Joint angle or coordinate value.
优选地，所述模块M4采用：从起点运动到过渡点完成六轴调姿台姿态上的变化；Preferably, the module M4 adopts: completing the change in the posture of the six-axis posture adjustment platform from the starting point movement to the transition point;
从过渡点运动到目标点完成六轴台位置的变化，进而完成装配的过程。The movement from the transition point to the target point completes the change in the position of the six-axis table, thereby completing the assembly process.
与现有技术相比，本发明具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明搭载激光相机进行点云数据扫描和分析，能够高效准确地识别装配过程中的特征区域；这可以提供精确的装配目标位置和方向信息，为后续的运动控制提供准确的参考；1. The present invention is equipped with a laser camera to scan and analyze point cloud data, which can efficiently and accurately identify characteristic areas during the assembly process; this can provide accurate assembly target position and direction information, providing accurate reference for subsequent motion control;
2、本发明通过准确的装配特征识别和运动控制，可以实现高精度的装配操作，以满足装配的应力在规范以内；这可以提高装配的质量和稳定性，减少装配过程中的误差和损失；2. Through accurate assembly feature recognition and motion control, the present invention can realize high-precision assembly operations to ensure that the stress of the assembly is within specifications; this can improve the quality and stability of the assembly and reduce errors and losses during the assembly process;
3、六轴台独立控制六个方向的自由度，降低误差积累，运动更加精准；对于装配操作的应用场景非常有利；精密的装配，可以满足装配的应力在规范以内。3. The six-axis stage independently controls the degrees of freedom in six directions, reducing error accumulation and making the movement more precise; it is very beneficial for assembly operation application scenarios; precise assembly can ensure that the assembly stress is within specifications.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:
图1为装配特征识别与六轴台运动控制系统的工作示意图。Figure 1 is a working schematic diagram of the assembly feature recognition and six-axis motion control system.
图2为装配区域内的细节处理示意图。Figure 2 is a schematic diagram of detail processing in the assembly area.
图3为装配区域内的细节处理示意图。Figure 3 is a schematic diagram of detail processing in the assembly area.
图4为装配特征识别与六轴台运动控制方法的流程图。Figure 4 is a flow chart of the assembly feature recognition and six-axis table motion control method.
其中，1-第一待装配件；2-过渡点；3-第二待装配件；4-待装配区域；5-特征区域；6-垂直导轨；8-1-第一单耳铰接座孔心；8-2-第二单耳铰接座孔心；9-1-第一双耳铰接座孔心；9-2-第二双耳铰接座孔心。Among them, 1-the first part to be assembled; 2-the transition point; 3-the second part to be assembled; 4-the area to be assembled; 5-feature area; 6-vertical guide rail; 8-1-the first single-ear hinge seat hole 8-2-the hole center of the second single-ear hinge seat; 9-1-the hole center of the first binaural hinge seat; 9-2-the hole center of the second binaural hinge seat.
具体实施方式Detailed ways
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
本发明提供了一种基于点云的装配特征识别与六轴台运动控制方法和系统。激光相机搭载在一个单自由度垂直运动的滑轨上，可以进行垂直方向的移动，变更激光相机的扫描区域。首先通过激光相机扫描待装配区域获得特征区域，通过特征区域对六轴调姿台坐标系和相机坐标系进行标定。接着，相机对扫描到的点云数据中检测特征区域，通过数个特征区域的检测结果求取旋转矩阵，完成从世界坐标系到测量坐标系的标定。求取第一待装配件的装配用特征向量，通过此特征向量得到六轴台在运动过程中的过渡点，运动起点与过渡点之间通过运动插值和逆运动学求解轴的进给量。通过此过渡点再移动到目标点，完成无碰装配。本发明摆脱了传统人工操作依赖、耗时、难以保证装配精度以及安全风险的缺点，提出的方法系统具有高精度、鲁棒性强、实时性强的优点。The invention provides a point cloud-based assembly feature recognition and six-axis table motion control method and system. The laser camera is mounted on a single-degree-of-freedom vertical motion slide rail, which can move in the vertical direction to change the scanning area of the laser camera. First, the laser camera scans the area to be assembled to obtain the characteristic area, and the six-axis posture adjustment table coordinate system and camera coordinate system are calibrated through the characteristic area. Then, the camera detects feature areas in the scanned point cloud data, obtains the rotation matrix based on the detection results of several feature areas, and completes the calibration from the world coordinate system to the measurement coordinate system. The eigenvector for assembly of the first part to be assembled is obtained. Through this eigenvector, the transition point of the six-axis table during motion is obtained. The feed amount of the axis is solved through motion interpolation and inverse kinematics between the starting point of motion and the transition point. Move through this transition point to the target point to complete the collision-free assembly. The invention gets rid of the shortcomings of traditional manual operation dependence, time consumption, difficulty in ensuring assembly accuracy and safety risks. The proposed method system has the advantages of high precision, strong robustness and strong real-time performance.
实施例1Example 1
根据本发明提供的一种基于点云的装配特征识别与六轴台运动控制方法，如图4所示，包括：According to a point cloud-based assembly feature recognition and six-axis table motion control method provided by the present invention, as shown in Figure 4, it includes:
步骤S1：控制激光相机在垂直导轨6上移动扫描待装配区域4得到待装配区域点云数据；Step S1: Control the laser camera to move on the vertical guide rail 6 to scan the area to be assembled 4 to obtain point cloud data of the area to be assembled;
步骤S2：基于待装配区域的点云数据获取特征区域5的点云数据，基于特征区域的点云数据完成对六轴调姿台坐标系和相机坐标系的识别与标定；Step S2: Obtain the point cloud data of the characteristic area 5 based on the point cloud data of the area to be assembled, and complete the identification and calibration of the six-axis posture adjustment table coordinate system and the camera coordinate system based on the point cloud data of the characteristic area;
步骤S3：基于特征区域的点云数据求取待装配区域内的特征向量，基于装配区域内的特征向量得到六轴调姿台在运动过程中的过渡点；基于运动起点和过渡点2进行路径规划；Step S3: Obtain the feature vector in the area to be assembled based on the point cloud data of the feature area, and obtain the transition point of the six-axis posture adjustment platform during the movement based on the feature vector in the assembly area; determine the path based on the starting point of the movement and transition point 2 planning;
步骤S4：六轴调姿台基于运动起点、过渡点以及目标点，根据规划的路径，完成第一待装配件1和第二待装配件3的无碰装配；Step S4: The six-axis posture adjustment table completes the collision-free assembly of the first to-be-assembled part 1 and the second to-be-assembled part 3 based on the motion starting point, transition point and target point according to the planned path;
如图1-2所示，特征区域为第一待装配件中的上下两个单耳铰接座；As shown in Figure 1-2, the characteristic area is the upper and lower single-ear hinge seats in the first component to be assembled;
具体地，所述步骤S1采用：激光相机通过在垂直方向的导轨移动，覆盖装配件装配区域，获取扫描范围内的特征区域。Specifically, the step S1 adopts: the laser camera moves on the guide rail in the vertical direction, covers the assembly area, and obtains the characteristic area within the scanning range.
具体地，所述步骤S2采用：Specifically, the step S2 adopts:
步骤S2.1：基于待装配区域的点云数据获得特征区域的点云数据；Step S2.1: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled;
步骤S2.2：对特征区域的点云数据进行滤波处理、聚类分析得到各个类别的位置，包括：轴孔、槽特征和形态特征，完成对六轴调姿台坐标系和相机坐标系的识别与标定。Step S2.2: Perform filtering and clustering analysis on the point cloud data of the feature area to obtain the positions of each category, including: shaft holes, slot features and morphological features, and complete the calculation of the six-axis posture adjustment table coordinate system and the camera coordinate system. Identification and calibration.
具体地，所述步骤S3采用：对聚类分析后的特征区域的点云数据进行特征提取获取特征区域内的第一待装配件的装配用特征向量；根据装配用特征向量得到运动的过渡点；Specifically, the step S3 adopts: performing feature extraction on the point cloud data of the characteristic area after cluster analysis to obtain the assembly feature vector of the first component to be assembled in the feature area; and obtaining the transition point of the motion according to the assembly feature vector. ;
所述第一待装配件的装配用特征向量为装配过程中轴插入的方向；The assembly feature vector of the first component to be assembled is the direction of shaft insertion during the assembly process;
所述装配用特征向量通过对轴孔特征的识别，提取出轴孔的孔心，将两个轴孔的孔心相连得到装配用特征向量，并且以上方的孔心为运动目标点；The assembly feature vector extracts the hole center of the shaft hole by identifying the characteristics of the shaft hole, connects the hole centers of the two shaft holes to obtain the assembly feature vector, and uses the upper hole center as the motion target point;
基于第一待装配件的装配用特征向量获得第一待装配件的姿态信息；从起点到过渡点运动的过程中将六轴调姿台姿态调整为第一待装配件的姿态，从而确定运动的过渡点。The attitude information of the first part to be assembled is obtained based on the assembly feature vector of the first part to be assembled; during the movement from the starting point to the transition point, the attitude of the six-axis posture adjustment table is adjusted to the attitude of the first part to be assembled, thereby determining the movement transition point.
所述步骤S3采用：基于过渡点将整个运动过程分成两个阶段；第一阶段是从起点运动到过渡点的过程，完成六轴台姿态上的变化，而第二阶段是从过渡点运行到目标点，完成六轴台位置的变化，进而完成装配的过程。把运动分成两个阶段可以提高装配的精度和稳定性。具体地，通过获取第一待装配件的装配用特征向量获得其姿态信息，在起点到过渡点的过程中将自身姿态调整为与目标姿态相同的姿态，之后在过渡点到目标点的运动过程中只需要沿一个方向平移完成装配对接。The step S3 adopts: dividing the entire motion process into two stages based on the transition point; the first stage is the process of moving from the starting point to the transition point, completing the change in the attitude of the six-axis table, and the second stage is running from the transition point to The target point is used to complete the position change of the six-axis table, thereby completing the assembly process. Dividing the movement into two stages can improve the accuracy and stability of the assembly. Specifically, the posture information of the first component to be assembled is obtained by obtaining the assembly feature vector, and its posture is adjusted to the same posture as the target posture in the process from the starting point to the transition point, and then during the movement process from the transition point to the target point Only translation in one direction is required to complete assembly and docking.
具体地，所述步骤S3采用：对运动起点和过渡点以及过渡点和目标点分别采用运动均匀插值的方法得到路径点，这些路径点描述了从起点到目标点的运动路径，以实现平滑的运动过渡；再对路径点通过逆运动学反解，将路径点转化为对应的关节角度或坐标值，以便控制系统执行相应的运动。Specifically, the step S3 adopts: using the motion uniform interpolation method for the motion starting point and transition point as well as the transition point and the target point respectively to obtain path points. These path points describe the motion path from the starting point to the target point to achieve smooth motion. Motion transition; then use inverse kinematics to convert the path points into corresponding joint angles or coordinate values, so that the control system can execute the corresponding motion.
具体地，所述步骤S4采用：从起点运动到过渡点完成六轴调姿台姿态上的变化；Specifically, the step S4 adopts: completing the change in the posture of the six-axis posture adjustment platform from the starting point movement to the transition point;
从过渡点运动到目标点完成六轴台位置的变化，进而完成装配的过程。The movement from the transition point to the target point completes the change in the position of the six-axis table, thereby completing the assembly process.
根据本发明提供的一种基于点云的装配特征识别与六轴台运动控制系统，包括：A point cloud-based assembly feature recognition and six-axis table motion control system provided according to the present invention includes:
模块M1：控制激光相机在垂直导轨6上移动扫描待装配区域4得到待装配区域点云数据；Module M1: Control the laser camera to move on the vertical guide rail 6 to scan the area to be assembled 4 to obtain point cloud data of the area to be assembled;
模块M2：基于待装配区域的点云数据获取特征区域5的点云数据，基于特征区域的点云数据完成对六轴调姿台坐标系和相机坐标系的识别与标定；Module M2: Obtain the point cloud data of the characteristic area 5 based on the point cloud data of the area to be assembled, and complete the identification and calibration of the six-axis posture adjustment table coordinate system and the camera coordinate system based on the point cloud data of the characteristic area;
模块M3：基于特征区域的点云数据求取待装配区域内的特征向量，基于装配区域内的特征向量得到六轴调姿台在运动过程中的过渡点；基于运动起点和过渡点2进行路径规划；Module M3: Obtain the feature vector in the area to be assembled based on the point cloud data of the feature area, and obtain the transition point of the six-axis posture adjustment platform during the movement based on the feature vector in the assembly area; carry out the path based on the starting point of the movement and transition point 2 planning;
模块M4：六轴调姿台基于运动起点、过渡点以及目标点，根据规划的路径，完成第一待装配件1和第二待装配件3的无碰装配；Module M4: The six-axis posture adjustment platform completes the collision-free assembly of the first to-be-assembled part 1 and the second to-be-assembled part 3 based on the motion starting point, transition point and target point according to the planned path;
如图1-2所示，特征区域为第一待装配件中的上下两个单耳铰接座；As shown in Figure 1-2, the characteristic area is the upper and lower single-ear hinge seats in the first component to be assembled;
具体地，所述模块M1采用：激光相机通过在垂直方向的导轨移动，覆盖装配件装配区域，获取扫描范围内的特征区域。Specifically, the module M1 uses: the laser camera moves on the guide rail in the vertical direction, covers the assembly area, and obtains the characteristic area within the scanning range.
具体地，所述模块M2采用：Specifically, the module M2 adopts:
模块M2.1：基于待装配区域的点云数据获得特征区域的点云数据；Module M2.1: Obtain the point cloud data of the characteristic area based on the point cloud data of the area to be assembled;
模块M2.2：对特征区域的点云数据进行滤波处理、聚类分析得到各个类别的位置，包括：轴孔、槽特征和形态特征，完成对六轴调姿台坐标系和相机坐标系的识别与标定。Module M2.2: Perform filtering and clustering analysis on the point cloud data of the characteristic area to obtain the positions of each category, including: shaft holes, slot features and morphological features, and complete the calculation of the six-axis posture adjustment table coordinate system and the camera coordinate system. Identification and calibration.
具体地，所述模块M3采用：对聚类分析后的特征区域的点云数据进行特征提取获取特征区域内的第一待装配件的装配用特征向量；根据装配用特征向量得到运动的过渡点；Specifically, the module M3 adopts: performing feature extraction on the point cloud data of the characteristic area after cluster analysis to obtain the assembly feature vector of the first component to be assembled in the feature area; and obtaining the transition point of the motion according to the assembly feature vector. ;
所述第一待装配件的装配用特征向量为装配过程中轴插入的方向；The assembly feature vector of the first component to be assembled is the direction of shaft insertion during the assembly process;
所述装配用特征向量通过对轴孔特征的识别，提取出轴孔的孔心，将两个轴孔的孔心相连得到装配用特征向量，并且以上方的孔心为运动目标点；The assembly feature vector extracts the hole center of the shaft hole by identifying the characteristics of the shaft hole, connects the hole centers of the two shaft holes to obtain the assembly feature vector, and uses the upper hole center as the motion target point;
基于第一待装配件的装配用特征向量获得第一待装配件的姿态信息；从起点到过渡点运动的过程中将六轴调姿台姿态调整为第一待装配件的姿态，从而确定运动的过渡点。The attitude information of the first part to be assembled is obtained based on the assembly feature vector of the first part to be assembled; during the movement from the starting point to the transition point, the attitude of the six-axis posture adjustment table is adjusted to the attitude of the first part to be assembled, thereby determining the movement transition point.
所述模块M3采用：基于过渡点将整个运动过程分成两个阶段；第一阶段是从起点运动到过渡点的过程，完成六轴台姿态上的变化，而第二阶段是从过渡点运行到目标点，完成六轴台位置的变化，进而完成装配的过程。把运动分成两个阶段可以提高装配的精度和稳定性。具体地，通过获取第一待装配件的装配用特征向量获得其姿态信息，在起点到过渡点的过程中将自身姿态调整为与目标姿态相同的姿态，之后在过渡点到目标点的运动过程中只需要沿一个方向平移完成装配对接。The module M3 uses: the entire motion process is divided into two stages based on the transition point; the first stage is the process of moving from the starting point to the transition point, completing the change in the posture of the six-axis table, and the second stage is running from the transition point to The target point is used to complete the position change of the six-axis table, thereby completing the assembly process. Dividing the movement into two stages can improve the accuracy and stability of the assembly. Specifically, the posture information of the first component to be assembled is obtained by obtaining the assembly feature vector, and its posture is adjusted to the same posture as the target posture in the process from the starting point to the transition point, and then during the movement process from the transition point to the target point Only translation in one direction is required to complete assembly and docking.
具体地，所述模块M3采用：对运动起点和过渡点以及过渡点和目标点分别采用运动均匀插值的方法得到路径点，这些路径点描述了从起点到目标点的运动路径，以实现平滑的运动过渡；再对路径点通过逆运动学反解，将路径点转化为对应的关节角度或坐标值，以便控制系统执行相应的运动。Specifically, the module M3 adopts: the motion uniform interpolation method is used for the motion starting point and transition point as well as the transition point and the target point respectively to obtain path points. These path points describe the motion path from the starting point to the target point to achieve smooth motion. Motion transition; then use inverse kinematics to convert the path points into corresponding joint angles or coordinate values, so that the control system can execute the corresponding motion.
具体地，所述模块M4采用：从起点运动到过渡点完成六轴调姿台姿态上的变化；Specifically, the module M4 adopts: completing the change in the posture of the six-axis posture adjustment platform from the starting point movement to the transition point;
从过渡点运动到目标点完成六轴台位置的变化，进而完成装配的过程。The movement from the transition point to the target point completes the change in the position of the six-axis table, thereby completing the assembly process.
实施例2Example 2
实施例2是实施例1的优选例Embodiment 2 is a preferred example of Embodiment 1
如图1-4所示，本发明提供了一种基于点云的装配特征识别与六轴台运动控制系统，系统中，激光相机安装在单自由度垂直滑轨上，实现垂直移动和扫描区域调整，以便于覆盖整个待装配区域。在装配时，激光相机在垂直导轨上运动，移动过程中扫描特征区域，获取待装配件点云数据。通过点云预处理，滤除噪声信息，提取有效点云数据，如待装配区域的轴、孔、槽信息等。通过点云数据聚类和特征识别，实现装配目标的精确定位和方向识别；具体地，通过激光相机识别第一待装配件上的单耳铰接座孔心位置，以及通过第一单耳铰接座孔心8-1、第二单耳铰接座孔心8-2相连得到的装配向量。接着，通过点云数据进行六轴调姿台坐标系和相机坐标系的标定，完成从世界坐标系到测量坐标系的标定。通过特征提取得到装配区域内的特征向量，用于获得运动的过渡点。运动分为两阶段：第一阶段：起点到过渡点，即六轴台做姿态上的调整；第二阶段：过渡点到目标点，即六轴台做位置上的调整；最后使得第一单耳铰接座孔心8-1和第二单耳铰接座孔心8-2分别与第一双耳铰接座孔心9-1、第二双耳铰接座孔心9-2实现无碰撞对接，进而完成装配。在这个过程中，通过运动插值和逆运动学求解得到轴的进给量，实现平滑运动；相机不断反馈待装配件的位姿信息，沿预定路径移动到目标点，实现无碰装配。该方法结合激光相机扫描和点云处理，特征识别和六轴台运动控制，实现高精度、高效率的装配过程。激光相机滑轨移动可调整扫描区域，提供灵活装配范围。运动插值和逆运动学求解路径点得到每一次运动各轴的进给量，包括关节角信息和位置信息，保证平滑精确运动，减少装配误差，直到完成装配。As shown in Figures 1-4, the present invention provides a point cloud-based assembly feature recognition and six-axis stage motion control system. In the system, the laser camera is installed on a single-degree-of-freedom vertical slide rail to realize vertical movement and scanning area. Adjust so that the entire area to be assembled is covered. During assembly, the laser camera moves on the vertical guide rail, scanning the characteristic area during the movement to obtain point cloud data of the parts to be assembled. Through point cloud preprocessing, noise information is filtered out and valid point cloud data is extracted, such as axis, hole, slot information of the area to be assembled, etc. Through point cloud data clustering and feature recognition, the precise positioning and direction identification of the assembly target is achieved; specifically, the laser camera is used to identify the hole center position of the single-ear hinge seat on the first component to be assembled, and the first single-ear hinge seat is identified through the laser camera. The assembly vector obtained by connecting the hole center 8-1 and the second single-ear hinge seat hole center 8-2. Then, the six-axis posture adjustment platform coordinate system and the camera coordinate system are calibrated through the point cloud data, and the calibration from the world coordinate system to the measurement coordinate system is completed. The feature vector in the assembly area is obtained through feature extraction, which is used to obtain the transition point of motion. The movement is divided into two stages: the first stage: from the starting point to the transition point, that is, the six-axis platform adjusts the posture; the second stage: from the transition point to the target point, that is, the six-axis platform adjusts the position; finally, the first single The hole center 8-1 of the ear hinge seat and the hole center 8-2 of the second single-ear hinge seat are respectively connected with the hole center 9-1 of the first binaural hinge seat and the hole center 9-2 of the second binaural hinge seat to achieve collision-free docking. Then complete the assembly. In this process, the feed amount of the axis is obtained through motion interpolation and inverse kinematics solution to achieve smooth motion; the camera continuously feeds back the pose information of the parts to be assembled, and moves to the target point along the predetermined path to achieve collision-free assembly. This method combines laser camera scanning and point cloud processing, feature recognition and six-axis stage motion control to achieve a high-precision and efficient assembly process. The laser camera slide rail moves to adjust the scanning area, providing a flexible assembly range. Motion interpolation and inverse kinematics solve path points to obtain the feed amount of each axis of each movement, including joint angle information and position information, ensuring smooth and accurate motion and reducing assembly errors until the assembly is completed.
该系统的方法以激光相机获得的点云信息作为输入量，通过聚类分析和特征提取，以识别装配区域内待装配件1的特征向量，这里得到装配中心和装配面的法向量为特征向量。将特征向量输入和目标点输入系统得到，运动路径上的过渡点，该过渡点沿着特征向量向外延伸到合适距离，即从起点到过渡点运动的过程中将六轴调姿台姿态调整为第一待装配件的姿态，从而确定运动的过渡点。因此，将运动路径分解为两阶段，一阶段为开始点向过渡点运动，另一阶段为过渡点向目标点运动。接着分别将两段路径的起始点和终点输入系统，根据运动插值的方法，输出路径的离散点。将这些离散点的位置信息输入系统进行逆运动学求解，输出各个轴对应的进给量。驱动各轴电机运动，直到装配完成。The method of this system uses the point cloud information obtained by the laser camera as input, and uses cluster analysis and feature extraction to identify the feature vector of the component 1 to be assembled in the assembly area. Here, the normal vector of the assembly center and the assembly surface is obtained as the feature vector. . Input the feature vector and target point into the system to obtain the transition point on the motion path. The transition point extends outward along the feature vector to an appropriate distance, that is, the posture of the six-axis posture adjustment table is adjusted during the movement from the starting point to the transition point. is the posture of the first component to be assembled, thereby determining the transition point of motion. Therefore, the motion path is decomposed into two stages, one stage is the movement from the starting point to the transition point, and the other stage is the movement from the transition point to the target point. Then the starting points and end points of the two paths are input into the system respectively, and the discrete points of the path are output according to the motion interpolation method. The position information of these discrete points is input into the system for inverse kinematics solution, and the feed amount corresponding to each axis is output. Drive each axis motor to move until the assembly is completed.
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", The orientations or positional relationships indicated by "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the device referred to. Or elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the application.
本领域技术人员知道，除了以纯计算机可读程序代码方式实现本发明提供的系统、装置及其各个模块以外，完全可以通过将方法步骤进行逻辑编程来使得本发明提供的系统、装置及其各个模块以逻辑门、开关、专用集成电路、可编程逻辑控制器以及嵌入式微控制器等的形式来实现相同程序。所以，本发明提供的系统、装置及其各个模块可以被认为是一种硬件部件，而对其内包括的用于实现各种程序的模块也可以视为硬件部件内的结构；也可以将用于实现各种功能的模块视为既可以是实现方法的软件程序又可以是硬件部件内的结构。Those skilled in the art know that in addition to implementing the system, device and each module provided by the present invention in the form of pure computer-readable program code, the system, device and each module provided by the present invention can be implemented by logically programming the method steps. The same program is implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system, device and each module provided by the present invention can be regarded as a kind of hardware component, and the modules included in it for implementing various programs can also be regarded as structures within the hardware component; Modules for realizing various functions are regarded as either software programs that implement methods or structures within hardware components.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.
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| CN202311586152.XACN117600824A (en) | 2023-11-27 | 2023-11-27 | Point cloud-based assembly feature identification and six-axis table motion control method and system |
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