A method of positioning and coordinate system transformation of a mobile automated system based on a local reference hole on a product
An automation system and coordinate system conversion technology, applied in the field of mechanical processing, can solve the problems of large conversion workload and local area out-of-tolerance, and achieve the effects of low cost, simple operation, and avoiding machining out-of-tolerance
Active Publication Date: 2021-02-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0005] The purpose of the present invention is to solve the problem that the conversion between the existing product coordinate system and the coordinate system of the mobile automation system is heavy, and it is easy to cause the local area to be out of tolerance, and to invent a mobile automation system based on local reference holes to locate and Method of Coordinate System Transformation
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[0043] The present invention will be further described below in conjunction with accompanying drawing and embodiment.
[0044] Such as figure 1 shown.
[0045] A mobile automation system positioning and coordinate system conversion method on a product based on local reference holes. At least two reference holes (K holes) are arranged in each local area. First, by moving or installing the mobile automation system to the local system In the hole area, the reference hole is detected through the hole position detection device on the equipment (camera, laser line scanning and other types of detection devices can be used), so as to determine the spatial position of the reference hole in the equipment coordinate system; secondly, through Comparing the spatial position of the reference hole in the product coordinate system, the coordinate system homogeneous transformation matrix of the current equipment coordinate system and the product coordinate system can be solved, thereby determ...
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A mobile automation system positioning and coordinate system conversion method on a product based on local reference holes. The hole is detected to determine the spatial position of the reference hole in the equipment coordinate system; secondly, by comparing the spatial position of the reference hole in the product coordinate system, the coordinate system homogeneous transformation matrix of the current equipment coordinate system and the product coordinate system can be solved, Therefore, the position of the equipment coordinate system under the product coordinate system is determined (positioned); finally, the position of the processing point under the product coordinate system is transformed into the equipment coordinate system through the homogeneous transformation matrix of this coordinate system, so that it can be in the equipment coordinate system Under the system, process the processing points in the local area determined by the reference hole. The method of the invention is simple and easy, and has high processing precision.
Description
technical field [0001] The invention relates to a mechanical processing technology, especially a positioning technology for moving processing equipment in the middle of a machine, specifically a method for positioning and coordinate system conversion on a product based on a mobile automation system based on a local reference hole, which is used for light-duty The positioning of mobile automation systems (such as flexible track drilling systems, autonomous mobile automated drilling systems, and industrial robot arm drilling systems) on the surface of product components, and coordinate system conversion between product coordinate systems and equipment coordinate systems. Through this positioning method and coordinate transformation method, the position of the equipment in the product coordinate system can be located, and the processing points in the product coordinate system can be transformed into the equipment coordinate system, providing a basic algorithm for the deployment an...
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IPC IPC(8): G01B11/00
CPCG01B11/005
Inventor 王珉陶克梅陈文亮张浩伟赵亮潘劲伟陈樱利王威惠昊翀金霞鲍益东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS