A single-line laser joint point laser precise positioning method, system and storage medium

Abstract

The single-line laser combined with point laser precise positioning method provided by the present invention scans the outline of the target object through the single-line laser radar and the steering gear before the robot arm trajectory planning, and generates point cloud data. The point cloud can be processed to obtain the three-dimensional coordinate information of the corner point or edge of the target object. The robot arm carries the point laser to a specified small range for precise positioning, and the robot arm motion trajectory is planned according to the precisely positioned three-dimensional coordinates, with an accuracy of millimeter level. The required device only needs to use the existing low-cost hardware to control the steering gear to rotate and read the single-line laser radar and point laser data. The process is simple and easy to achieve the purpose of finding the three-dimensional coordinates of the target object in a large range and accurately planning the robot arm movement.

Description

Technical Field

[0001] The invention relates to the technical field of a method for accurately positioning a mechanical arm within a large range. Background Art

[0002] At present, in the process of large-scale motion path planning of the robotic arm, the three-dimensional coordinates of the distant target point need to be known. The three-dimensional coordinates can be obtained through a multi-eye camera, but the camera is greatly affected by the external ambient light, and the error of the three-dimensional coordinate points obtained at a long distance is large. The three-dimensional coordinates can be obtained by scanning the target with a line structured light or surface structured light sensor, but the field of view of a single-line laser is small and the accuracy is poor at a long distance. The three-dimensional coordinates can also be obtained by scanning the target with a multi-line laser radar, but the cost of a multi-line laser radar is high. The depth information of a single point can be obtained through a point laser, but it is difficult to obtain the three-dimensional coordinates of the target point, and the field of view is small.

[0003] Therefore, in the process of large-scale motion path planning of the robotic arm, there is still a lack of a low-cost method to accurately locate the three-dimensional coordinates of the target point. Summary of the invention

[0004] The purpose of the present invention is to provide a single-line laser radar combined with a point laser precise positioning method, system and storage medium to at least solve one or more problems in the prior art.

[0005] The technical solution of the present invention is as follows: the single-line laser radar has a wide scanning range and high accuracy, but it can only scan the position on one line and cannot scan the entire object contour. The use of a servo in conjunction with a single-line laser radar can scan the target object in a large range, and then use a point laser to accurately locate it in a small range. The servo can rotate 360°, and the laser radar is installed on the servo. By rotating the servo, the scanning position and scanning angle of the laser radar can be changed to obtain the entire target object contour. Finally, the target object contour information is transmitted to the robotic arm, and the robotic arm carries the point laser to the specified position for precise positioning, thereby guiding the movement of the robotic arm.

[0006] In a first aspect, a single-line laser joint point laser precise positioning method provided by an embodiment of the present invention comprises:

[0007] S1, calibrate the position relationship between the single-line laser radar and the rotary servo;

[0008] S2, calibrate the positional relationship between the single-line laser radar, the steering system and the robotic arm;

[0009] S3, calibrating the position relationship between the point laser and the robotic arm;

[0010] S4, the rotating servo carries the single-line laser radar to scan the target object and obtains the coordinates P of each corner point of the target object in the robot arm coordinate system i ;

[0011] S5, based on coordinate P i , the robot arm moves with the point laser to a certain plane of the target object;

[0012] S6, point laser measures three or more non-collinear points on the plane and converts them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0;

[0013] S7, repeat S6 until the plane equations of all planes on the target object are obtained;

[0014] S8, calculating the intersection points between the planes to obtain the precise three-dimensional coordinates of each corner point of the target object;

[0015] S9, the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

[0016] One of the other feasible solutions of the first aspect provided by the embodiment of the present invention is that the calibration of the position relationship between the single-line laser radar and the rotary steering gear comprises the following steps:

[0017] S101, fixing the plane calibration plate in front of the single-line laser radar and the rotary servo system;

[0018] S102, setting the rotation angle of the rotary servo to θ1, and recording the point cloud of the single-line laser radar at this angle on the plane calibration plate;

[0019] S103, change the rotation angle of the rotary servo to θ i , record θ i The point cloud of a single-line laser radar projected onto a flat calibration plate at an angle;

[0020] S104, repeating step S103 until 6-10 groups of point cloud data corresponding to different rotation angles are collected;

[0021] S105, in the coordinate system of the rotating servo, nonlinear optimization is performed on the same plane according to all point cloud data of the single-line laser radar to obtain a rotation offset relationship from the single-line laser radar coordinate system to the rotating servo coordinate system.

[0022] According to another feasible solution of the first aspect provided by an embodiment of the present invention, the calibration of the position relationship between the single-line laser radar, the steering gear system and the mechanical arm comprises the following steps:

[0023] S201, fixing a plane calibration plate in front of the single-line laser radar and the rotary servo system;

[0024] S202, move the robot arm so that the end of the robot arm contacts the plane calibration plate, and record the coordinates P of the end of the robot arm at this position in the robot arm coordinate system. C1 ;

[0025] S203, repeat step S202 N times, and record the coordinate points P of the end of the robot arm at different points on the plane calibration plate C2 , P C3 , to P CN ;

[0026] S204, by P C1 -P CN , use the least square method to fit the equation of the plane calibration plate in the robot coordinate system: Ax+By+Cz+D=0;

[0027] S205, use the rotary servo and the single-line laser radar system to scan the plane calibration plate and record all point cloud data on the plane calibration plate;

[0028] S206, according to the point cloud data and the plane equation: Ax+By+Cz+D=0, the rotation offset position relationship between the single-line laser radar and the rotary servo system coordinate system and the robotic arm coordinate system is calculated.

[0029] Another feasible solution of the first aspect provided by the embodiment of the present invention is that the position relationship calibration between the point laser and the robot arm comprises the following steps:

[0030] S301, moving the robotic arm so that the end of the robotic arm contacts the plane calibration plate;

[0031] S302, record the position P of the end of the robot arm in the robot arm coordinate system d1 ;

[0032] S303, adjust the robot arm posture, repeat step S302 until the positions P of more than 5 points are recorded d2 , P d3 , P d4 , P d5 ;

[0033] S304, according to the positions of all points recorded in steps S302 and S303, fitting the equation of the plane calibration plate in the robot arm coordinate system: Ax+By+Cz+D=0;

[0034] S305, the robot moves and the laser spot is hit on the flat calibration plate;

[0035] S306, record the three-dimensional coordinate point P of the laser at the position pointi laser

[0036] S307, adjust the robot arm posture, repeat steps S305 and S306 until more than 10 three-dimensional coordinate points P are recorded 1 laser ~P 10 laser ;

[0037] S308, according to all the three-dimensional coordinate points P recorded in step S307 i laser And the plane equation Ax+By+Cz+D=0, calculate the position relationship between the point laser and the robot arm coordinate system.

[0038] Another feasible solution of the first aspect provided by the embodiment of the present invention is that the coordinates P of each corner point of the target object in the robot arm coordinate system are i The target object is scanned by the rotating servo with a single-line laser radar to obtain the contour point cloud of the target object, and the contour point cloud of the target object is processed to obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i .

[0039] Another feasible solution of the first aspect provided by the embodiment of the present invention is five:

[0040] S6, point laser measures three or more non-collinear points on the plane, and converts them into the robot arm coordinate system through rigid body transformation as P b1 ~P bn , use the least squares method to find P b1 ~P bn Perform plane fitting to obtain the plane equation: Ax+By+Cz+D=0; S7, measure other planes on the target object in turn to obtain the plane equations of each plane; S8, calculate the intersection points between the planes to obtain the precise three-dimensional coordinates of each corner point of the target object.

[0041] The single-line laser combined with point laser precise positioning method provided by an embodiment of the present invention comprises the following steps: 1) installing a single-line laser radar on a servo, changing the scanning position and scanning angle of the single-line laser radar by rotating the servo, obtaining the entire target object contour and generating point cloud data, processing the point cloud to obtain three-dimensional coordinate information of feature points such as corner points and / or edges of the target object, and finally transmitting the coordinate information of the target object contour to a robotic arm; 2) the robotic arm carries the point laser to a designated area for precise positioning, and guides the movement of the robotic arm according to the precisely positioned three-dimensional coordinates.

[0042] In a second aspect, an embodiment of the present invention provides a single-line laser joint point laser precise positioning system, comprising:

[0043] A first calibration unit, used to calibrate the positional relationship between the single-line laser radar and the rotary servo;

[0044] The second calibration unit is used to calibrate the positional relationship between the single-line laser radar, the steering gear system and the robotic arm;

[0045] A third calibration unit is used to calibrate the positional relationship between the point laser and the robotic arm;

[0046] The single-line laser radar scanning unit is used to: enable the rotary servo to carry the single-line laser radar to scan the target object and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i ;

[0047] Coarse positioning unit, used for: based on coordinates P i , the robot arm moves with the point laser to a certain plane of the target object;

[0048] The point laser scanning unit is used to measure three or more non-collinear points on a plane moved by the rough positioning unit using a point laser, and convert them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0;

[0049] The global scanning unit repeats the point laser scanning unit function until the plane equations of all planes on the target object are obtained;

[0050] The precise positioning unit is used to calculate the intersection points between the planes and obtain the precise three-dimensional coordinates of each corner point of the target object;

[0051] The moving route determination unit is used for: the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

[0052] In one of another practicable solutions of the second aspect provided by an embodiment of the present invention, the first calibration unit includes the following modules:

[0053] Module 1 is used to fix the flat calibration plate in front of the single-line laser radar and the rotary servo system;

[0054] Module 2 is used to: set the rotation angle of the rotary servo to θ1, and record the point cloud of the single-line laser radar on the plane calibration plate at this angle;

[0055] Module 3: Change the rotation angle of the rotary servo to θ i , let θ i The point cloud of a single-line laser radar projected onto a flat calibration plate at an angle;

[0056] Module 4 is used to: repeat the functions of module 3 until 6-10 sets of point cloud data corresponding to different rotation angles are collected;

[0057] Module five is used to: in the coordinate system of the rotating servo, according to all the point cloud data of the single-line laser radar on the same plane, perform nonlinear optimization to obtain the rotation offset relationship from the single-line laser radar coordinate system to the rotating servo coordinate system.

[0058] According to another practicable solution of the second aspect provided by the embodiment of the present invention, the second calibration unit includes the following modules:

[0059] Module 1 is used to fix the flat calibration plate in front of the single-line laser radar and the rotary servo system;

[0060] Module 2 is used to: move the robot arm so that the end of the robot arm touches the plane calibration plate, and record the coordinates P of the end of the robot arm at this position in the robot arm coordinate system. C1 ;

[0061] Module 3 is used to: repeat the function of module 2 N times, and record the coordinate points P of the end of the robot arm at different points on the plane calibration plate C2 , P C3 , to P CN ;

[0062] Module 4 is for: C1 -P CN , use the least square method to fit the equation of the plane calibration plate in the robot coordinate system: Ax+By+Cz+D=0;

[0063] Module 5 is used to: scan the plane calibration plate using the rotary servo and single-line laser radar system, and record all point cloud data on the plane calibration plate;

[0064] Module six is ​​used to calculate the rotational offset position relationship between the single-line laser radar and rotary servo system coordinate system and the robotic arm coordinate system based on the point cloud data and the plane equation: Ax+By+Cz+D=0.

[0065] According to another feasible solution of the second aspect provided by the embodiment of the present invention, the third calibration unit includes the following modules:

[0066] Module 1 is used to: move the robotic arm so that the end of the robotic arm contacts the flat calibration plate;

[0067] Module 2 is used to record the position P of the end of the robot arm in the robot arm coordinate system. d1 ;

[0068] Module 3 is used to adjust the robot arm posture and repeat the function of module 2 until the positions of more than 5 points are recorded. d2 , P d3 , P d4 , P d5 ;

[0069] Module 4 is used to fit the equation of the plane calibration plate in the robot arm coordinate system according to the positions of all points recorded in modules 2 and 3: Ax+By+Cz+D=0;

[0070] Module 5 is used for the robot to move and project the laser onto the flat calibration board;

[0071] Module 6 is used to record the three-dimensional coordinate point P of the laser at the position point i laser

[0072] Module 7 is used to adjust the robot arm posture and repeat the functions of modules 5 and 6 until more than 10 three-dimensional coordinate points P are recorded. 1 laser ~P 10 laser ;

[0073] Module 8: All three-dimensional coordinate points P recorded in module 7 i laser And the plane equation Ax+By+Cz+D=0, calculate the position relationship between the point laser and the robot arm coordinate system.

[0074] Another feasible solution of the second aspect provided by the embodiment of the present invention is that the single-line laser radar scanning unit is to scan the target object with the single-line laser radar by rotating the steering gear to obtain the contour point cloud of the target object, process the contour point cloud of the target object, and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i .

[0075] In a third aspect, an embodiment of the present invention provides a device or terminal for single-line laser junction point laser precise positioning, comprising one or more processors and a storage device; the storage device is used to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement a single-line laser junction point laser precise positioning method as described in any one of the first aspects above.

[0076] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a single-line laser junction point laser precise positioning method as described in any one of the first aspects above.

[0077] The letters indicating times or quantities appearing in this patent, such as i, N, n, etc., are all integers greater than 1, and the specific quantities and sizes are determined in combination with the reasonable range required for each method step or unit / module.

[0078] Beneficial effects of the present invention:

[0079] 1. The present invention uses a single-line laser radar and a rotary servo to perform rough positioning of the target object, and then combines it with a point laser for fine positioning, with an accuracy of up to the millimeter level.

[0080] 2. Using the existing single-line laser radar, rotary servo combination and point laser for non-contact measurement, the three-dimensional coordinates of the target object can be found in a large range, achieving the purpose of planning the movement of the robotic arm.

[0081] 3. The single-line laser combined with point laser precise positioning method and system provided by the embodiment of the present invention is easy to control, and each step and unit / module can be independently controlled. The process of controlling the steering gear to rotate and read the single-line laser radar and point laser data is simple and easy to implement.

[0082] The single-line laser combined with point laser precise positioning method and system, or device and equipment provided in the embodiments of the present invention can find the three-dimensional coordinates of the target object in a large range by using only existing low-cost hardware, thereby achieving the purpose of accurately planning the movement of the robotic arm.

[0083] The following is an exemplary description of the embodiments and principles of the present invention in conjunction with the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 Schematic diagram of the working state of the device when the single-line laser combined with the point laser precise positioning system of the embodiment locates the target object 6.

[0085] Figure 2 This is a schematic diagram of the working status of the equipment when calibrating the position relationship between the single-line laser radar and the steering gear combination and the robotic arm in the embodiment.

[0086] Figure 3 This is a schematic diagram of the working status of the equipment when calibrating the position relationship between the laser sensor and the robotic arm in the embodiment.

[0087] Figure 4 This is a schematic diagram of the working status of the equipment when calibrating the position relationship between the single-line laser radar and the rotary servo in the embodiment.

[0088] Figure 5 This is a flow chart of an embodiment of a method for accurately positioning a target object 6 using a single-line laser combined with a point laser.

[0089] Figure 6 The figure is a flow chart for calibrating the position relationship between the single-line laser radar 1 and the rotary servo 2.

[0090] Figure 7 This is a flow chart for calibrating the position relationship between the single-line laser radar, the steering system and the robotic arm 5.

[0091] Figure 8 The figure is a flow chart for calibrating the position relationship between the point laser 4 and the robot arm 5.

[0092] Reference numerals:

[0093] 1 single-line laser radar, 2 rotary servo, 3 bracket, 4 point laser sensor, 5 mechanical arm, 6 rectangular wooden block, 7 flat calibration board DETAILED DESCRIPTION

[0094] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0095] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0096] The embodiment provides a method for guiding the movement of a robotic arm by using a laser radar to scan three-dimensional objects and combining it with a point laser for precise positioning. Before planning the trajectory of the robotic arm, the contour of the target object is scanned by a single-line laser radar and a servo, and point cloud data is generated. The three-dimensional coordinate information of the corner points or edges of the target object can be obtained by processing the point cloud. The robotic arm carries the point laser to a specified small area for precise positioning, and the movement trajectory of the robotic arm is planned based on the precisely positioned three-dimensional coordinates.

[0097] A single-line laser radar cooperates with a steering gear to scan the target object contour in a large range and a point laser accurately locates in a small range. The coarse positioning method is realized by a single-line laser radar and a steering gear system for generating an object contour point cloud, and the fine positioning method is realized by a point laser system combined with a robotic arm.

[0098] The single-line laser joint point laser precise positioning method provided by the embodiment of the present invention includes:

[0099] S1, calibrate the position relationship between the single-line laser radar and the rotary servo;

[0100] S2, calibrate the positional relationship between the single-line laser radar, the steering system and the robotic arm;

[0101] S3, calibrating the position relationship between the point laser and the robotic arm;

[0102] S4, the rotating servo carries the single-line laser radar to scan the target object and obtains the coordinates P of each corner point of the target object in the robot arm coordinate system i ;

[0103] S5, based on coordinate P i , the robot arm moves with the point laser to a certain plane of the target object;

[0104] S6, point laser measures three or more non-collinear points on the plane and converts them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0;

[0105] S7, repeat S6 until the plane equations of all planes on the target object are obtained;

[0106] S8, calculating the intersection points between the planes to obtain the precise three-dimensional coordinates of each corner point of the target object;

[0107] S9, the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

[0108] One of the preferred implementations of the calibration of the position relationship between the single-line laser radar and the rotary steering gear includes the following steps:

[0109] S101, fixing the plane calibration plate in front of the single-line laser radar and the rotary servo system;

[0110] S102, setting the rotation angle of the rotary servo to θ1, and recording the point cloud of the single-line laser radar at this angle on the plane calibration plate;

[0111] S103, change the rotation angle of the rotary servo to θ i , record θ i The point cloud of a single-line laser radar projected onto a flat calibration plate at an angle;

[0112] S104, repeating step S103 until 6-10 groups of point cloud data corresponding to different rotation angles are collected;

[0113] S105, in the coordinate system of the rotating servo, nonlinear optimization is performed on the same plane according to all point cloud data of the single-line laser radar to obtain a rotation offset relationship from the single-line laser radar coordinate system to the rotating servo coordinate system.

[0114] The calibration of the position relationship between the single-line laser radar, the steering system and the mechanical arm, one of the preferred implementation schemes, includes the following steps:

[0115] S201, fixing a plane calibration plate in front of the single-line laser radar and the rotary servo system;

[0116] S202, move the robot arm so that the end of the robot arm contacts the plane calibration plate, and record the coordinates P of the end of the robot arm at this position in the robot arm coordinate system. C1 ;

[0117] S203, repeat step S202 N times, and record the coordinate points P of the end of the robot arm at different points on the plane calibration plate C2 , P C3 , to P CN ;

[0118] S204, by P C1 -P CN , use the least square method to fit the equation of the plane calibration plate in the robot coordinate system: Ax+By+Cz+D=0;

[0119] S205, use the rotary servo and the single-line laser radar system to scan the plane calibration plate and record all point cloud data on the plane calibration plate;

[0120] S206, according to the point cloud data and the plane equation: Ax+By+Cz+D=0, the rotation offset position relationship between the single-line laser radar and the rotary servo system coordinate system and the robotic arm coordinate system is calculated.

[0121] The calibration of the position relationship between the point laser and the robot arm, in one preferred embodiment, comprises the following steps:

[0122] S301, moving the robotic arm so that the end of the robotic arm contacts the plane calibration plate;

[0123] S302, record the position P of the end of the robot arm in the robot arm coordinate system d1 ;

[0124] S303, adjust the robot arm posture, repeat step S302 until the positions P of more than 5 points are recorded d2 , P d3 , P d4 , P d5 …;

[0125] S304, according to the positions of all points recorded in steps S302 and S303, fitting the equation of the plane calibration plate in the robot arm coordinate system: Ax+By+Cz+D=0;

[0126] S305, the robot moves and the laser spot is hit on the flat calibration plate;

[0127] S306, record the three-dimensional coordinate point P of the laser at the position pointi laser

[0128] S307, adjust the robot arm posture, repeat steps S305 and S306 until more than 10 three-dimensional coordinate points P are recorded 1 laser ~P 10 laser …;

[0129] S308, according to all the three-dimensional coordinate points P recorded in step S307 i laser And the plane equation Ax+By+Cz+D=0, calculate the position relationship between the point laser and the robot arm coordinate system.

[0130] The coordinates P of each corner point of the target object in the robot coordinate system i The target object is scanned by the rotating servo with a single-line laser radar to obtain the contour point cloud of the target object, and the contour point cloud of the target object is processed to obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i .

[0131] In the embodiment, the single-line laser combined with point laser precise positioning method has various preferred solutions for each step, such as S6, the point laser measures three or more non-collinear points on the plane, and converts them into the robot arm coordinate system through rigid body transformation as P b1 ~P bn , use the least squares method to find P b1 ~P bn Perform plane fitting to obtain the plane equation: Ax+By+Cz+D=0. For example, in S7, measure other planes on the target object in turn to obtain the plane equations of each plane. For example, in S8, calculate the intersection points between each plane to obtain the precise three-dimensional coordinates of each corner point of the target object.

[0132] The single-line laser combined with point laser precise positioning method provided in the embodiment includes the following steps: 1) installing the single-line laser radar on the servo, changing the scanning position and scanning angle of the single-line laser radar by rotating the servo, obtaining the entire target object contour and generating point cloud data, processing the point cloud to obtain the three-dimensional coordinate information of feature points such as corner points and / or edges of the target object, and finally transmitting the coordinate information of the target object contour to the robotic arm; 2) the robotic arm carries the point laser to the specified area for precise positioning, and guides the movement of the robotic arm according to the precisely positioned three-dimensional coordinates.

[0133] refer to Figure 1 , taking a rectangular wooden block 6 as the target object, the goal is to obtain each corner point of the wooden block, but the target object is not limited to a rectangular wooden block. Figure 6 The figure is a flow chart for calibrating the position relationship between the single-line laser radar 1 and the rotary servo 2. Figure 7 The figure is a flow chart for calibrating the position relationship between the single-line laser radar, the steering gear system and the robotic arm 5. Figure 8 The figure is a flow chart for calibrating the position relationship between the point laser 4 and the robot arm 5.

[0134] like Figure 5 As shown in the process, the rotary servo 2 drives the single-line laser radar 1 to rotate, and the single-line laser radar 1 scans the wooden block 6 in real time to obtain the overall contour point cloud of the wooden block 6. By processing the point cloud, the three-dimensional coordinates of the 8 corner points of the wooden block 6 are calculated with an accuracy of centimeters. The robotic arm 5 carries the point laser 4 to measure three or more points on each plane of the wooden block 6 and fits the equations of each plane. The intersection between the planes is the precise three-dimensional coordinate of the corner point of the wooden block 6, with an accuracy of up to 1mm. According to the coordinates of the corner points of the wooden block 6, the robotic arm 5 can plan the motion path, such as walking along the edge of the wooden block.

[0135] At the same time, the present invention also provides an embodiment of a single-line laser combined with a point laser precise positioning system, including:

[0136] A first calibration unit, used to calibrate the positional relationship between the single-line laser radar and the rotary servo;

[0137] The second calibration unit is used to calibrate the positional relationship between the single-line laser radar, the steering gear system and the robotic arm;

[0138] A third calibration unit is used to calibrate the positional relationship between the point laser and the robotic arm;

[0139] The single-line laser radar scanning unit is used to: enable the rotary servo to carry the single-line laser radar to scan the target object and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i ;

[0140] Coarse positioning unit, used for: based on coordinates P i , the robot arm moves with the point laser to a certain plane of the target object;

[0141] The point laser scanning unit is used to measure three or more non-collinear points on a plane moved by the rough positioning unit using a point laser, and convert them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0;

[0142] The global scanning unit repeats the point laser scanning unit function until the plane equations of all planes on the target object are obtained;

[0143] The precise positioning unit is used to calculate the intersection points between the planes and obtain the precise three-dimensional coordinates of each corner point of the target object;

[0144] The moving route determination unit is used for: the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

[0145] The first calibration unit preferably includes the following modules:

[0146] Module 1 is used to fix the flat calibration plate in front of the single-line laser radar and the rotary servo system;

[0147] Module 2 is used to: set the rotation angle of the rotary servo to θ1, and record the point cloud of the single-line laser radar on the plane calibration plate at this angle;

[0148] Module 3: Change the rotation angle of the rotary servo to θ i , let θ i The point cloud of a single-line laser radar projected onto a flat calibration plate at an angle;

[0149] Module 4 is used to: repeat the functions of module 3 until 6-10 sets of point cloud data corresponding to different rotation angles are collected;

[0150] Module five is used to: in the coordinate system of the rotating servo, according to all the point cloud data of the single-line laser radar on the same plane, perform nonlinear optimization to obtain the rotation offset relationship from the single-line laser radar coordinate system to the rotating servo coordinate system.

[0151] The second calibration unit preferably includes the following modules:

[0152] Module 1 is used to fix the flat calibration plate in front of the single-line laser radar and the rotary servo system;

[0153] Module 2 is used to: move the robot arm so that the end of the robot arm touches the plane calibration plate, and record the coordinates P of the end of the robot arm at this position in the robot arm coordinate system. C1 ;

[0154] Module 3 is used to: repeat the function of module 2 N times, and record the coordinate points P of the end of the robot arm at different points on the plane calibration plate C2 , P C3 , to P CN ;

[0155] Module 4 is for: C1 -P CN , use the least square method to fit the equation of the plane calibration plate in the robot coordinate system: Ax+By+Cz+D=0;

[0156] Module 5 is used to: scan the plane calibration plate using the rotary servo and single-line laser radar system, and record all point cloud data on the plane calibration plate;

[0157] Module six is ​​used to calculate the rotational offset position relationship between the single-line laser radar and rotary servo system coordinate system and the robotic arm coordinate system based on the point cloud data and the plane equation: Ax+By+Cz+D=0.

[0158] The third calibration unit preferably includes the following modules:

[0159] Module 1 is used to: move the robotic arm so that the end of the robotic arm contacts the flat calibration plate;

[0160] Module 2 is used to record the position P of the end of the robot arm in the robot arm coordinate system. d1 ;

[0161] Module 3 is used to adjust the robot arm posture and repeat the function of module 2 until the positions of more than 5 points are recorded. d2 , P d3 , P d4 , P d5 ;

[0162] Module 4 is used to fit the equation of the plane calibration plate in the robot arm coordinate system according to the positions of all points recorded in modules 2 and 3: Ax+By+Cz+D=0;

[0163] Module 5 is used for the robot to move and project the laser onto the flat calibration board;

[0164] Module 6 is used to record the three-dimensional coordinate point P of the laser at the position point i laser

[0165] Module 7 is used to adjust the robot arm posture and repeat the functions of modules 5 and 6 until more than 10 three-dimensional coordinate points P are recorded. 1 laser ~P 10 laser ;

[0166] Module 8: All three-dimensional coordinate points P recorded in module 7 i laser And the plane equation Ax+By+Cz+D=0, calculate the position relationship between the point laser and the robot arm coordinate system.

[0167] The single-line laser radar scanning unit is to scan the target object with the single-line laser radar by rotating the steering gear to obtain the contour point cloud of the target object, process the contour point cloud of the target object, and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i .

[0168] The single-line laser radar and steering gear system includes a single-line laser radar 1 and a rotating steering gear 2, the single-line laser radar 1 is installed on the rotating steering gear 2, and the rotating steering gear 2 is installed on the bracket 3; the point laser system includes a point laser 4, which is installed at the end position of the mechanical arm 5.

[0169] For example, a single-line laser radar with a scanning range of 0.05m-10m and a scanning angle of -120°~120° and a rotary servo with an angular resolution of 0.25° are selected, and the single-line laser radar is installed on the rotary servo. A rectangular wooden block with a length of 1m and a width of 1.5m is placed 2m away from the single-line laser radar. The rotary servo rotates about 50° with the single-line laser radar, and the single-line laser radar completes the scanning of the wooden block and stores the scanned point cloud. By calculating the normal vector of each point in the point cloud, the overall edge contour and corner points of the wooden block can be obtained. Through rigid body transformation, the positions of these feature points in the robotic arm coordinate system can be obtained.

[0170] For example, a point laser with a measurement range of 0.1m-0.8m is installed on the robot arm, and a rectangular wooden block with a length of 1m and a width of 1.5m is placed 1m away from the robot arm. The robot arm with the point laser measures three non-collinear points on the first surface of the rectangular wooden block, and converts their coordinates to the robot arm coordinate system. Through the least squares method, the plane equation of the first surface can be calculated: A1x+B1y+C1z+D1=0. The same method is used to obtain the plane equations of the other surfaces of the wooden block: A i x+B i y+C i z+D i = 0. By calculating the corner points and intersection lines between the planes, we can get the edges and corner points of the wood block.

[0171] Obviously, the single-line laser combined with point laser precise positioning system of the present invention is realized by the following parts: single-line laser radar steering system and point laser sensor measurement system. The single-line laser radar steering system measures the contour information of the long-distance target object, and the point laser sensor measurement system measures the precise position information of the target object, thereby guiding the robot arm to perform precise path planning. Figure 1-5The system can realize the rough positioning of single-line laser radar and steering system and the precise positioning of target objects by point laser. First, 1) the position relationship between single-line laser radar 1 and rotary steering gear 2 is calibrated; 2) the position relationship between single-line laser radar and steering gear system and robotic arm 5 is calibrated; 3) the position relationship between point laser 4 and robotic arm 5 is calibrated; secondly, the rotary steering gear 2 carries the single-line laser radar 1 to scan the wooden block 6 to obtain the contour point cloud of the wooden block 6; the contour point cloud of the wooden block 6 is processed to obtain the coordinates P1~P8 of the 8 corner points of the wooden block 6 in the coordinate system of the robotic arm 5; based on P1~P8, the robotic arm 5 moves with the point laser 4 to a certain plane of the wooden block 6; the point laser 4 measures three or more non-collinear points on the plane and converts them to P in the coordinate system of the robotic arm 5. b1 ~P bn ; for P b1 ~P bn Perform plane fitting to obtain the plane equation: Ax+By+Cz+D=0; finally, the point laser 4 repeatedly measures three or more non-collinear points on the plane and converts them into the coordinate system of the robot 5 as P b1 ~P bn ; for P b1 ~P bn Perform plane fitting to obtain the plane equation: Ax+By+Cz+D=0, until the plane equations of all planes on the wooden block 6 are obtained; calculate the intersection points between the planes to obtain the precise three-dimensional coordinates of the corner points of the wooden block 6; the robotic arm 5 obtains the position of the wooden block 6 in the coordinate system of the robotic arm 5 based on the three-dimensional coordinates of the corner points of the wooden block 6, and plans the walking path to be completed.

[0172] For those skilled in the art, in the single-line laser combined point laser precise positioning method provided in the embodiment, some preferred technical solutions, steps or means can be selected one by one or in combination according to the technical purpose in practical application. In the single-line laser combined point laser precise positioning system provided, the optimization of each unit or module can also be selected one by one or in combination.

[0173] In addition, an embodiment of the present invention provides a device or terminal for implementing a single-line laser joint point laser precise positioning method, comprising one or more processors and a storage device; the storage device is used to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement a single-line laser joint point laser precise positioning method as described in any one of the first aspects above. It may also include a communication interface for communicating with other devices or communication networks.

[0174] At the same time, the present invention also provides an embodiment of a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, it implements a single-line laser joint point laser precise positioning method as described in any one of the first aspects above.

[0175] Those skilled in the art will appreciate that all or part of the steps provided in the above-mentioned embodiment method can be implemented by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one of the steps in the method or a combination thereof.

[0176] The above is an example of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A single-line laser joint point laser precise positioning method, comprising: S1, calibrate the position relationship between the single-line laser radar and the rotary servo; S2, calibrate the positional relationship between the single-line laser radar, the steering system and the robotic arm; S3, calibrating the position relationship between the point laser and the robotic arm; S4, the rotating servo drives the single-line laser radar to scan the target object and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i ; S5, based on coordinate P i , the robot arm moves with the point laser to a certain plane of the target object; S6, point laser measures three or more non-collinear points on the plane and converts them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0; S7, repeat S6 until the plane equations of all planes on the target object are obtained; S8, calculating the intersection points between the planes to obtain the precise three-dimensional coordinates of each corner point of the target object; S9, the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

2. The single-line laser joint point laser precise positioning method according to claim 1, characterized in that: The calibration of the position relationship between the single-line laser radar and the rotary steering gear comprises the following steps: S101, fixing the plane calibration plate in front of the single-line laser radar and the rotary servo system; S102, setting the rotation angle of the rotary servo to θ1, and recording the point cloud of the single-line laser radar at this angle on the plane calibration plate; S103, change the rotation angle of the rotary servo to θ i , record θ i The point cloud of a single-line laser radar projected onto a flat calibration plate at an angle; S104, repeating step S103 until 6-10 groups of point cloud data corresponding to different rotation angles are collected; S105, in the coordinate system of the rotating servo, nonlinear optimization is performed on the same plane according to all point cloud data of the single-line laser radar to obtain a rotation offset relationship from the single-line laser radar coordinate system to the rotating servo coordinate system.

3. The single-line laser joint point laser precise positioning method according to claim 1, characterized in that: The calibration of the position relationship between the single-line laser radar, the steering gear system and the mechanical arm includes the following steps: S201, fixing a plane calibration plate in front of the single-line laser radar and the rotary servo system; S202, move the robot arm so that the end of the robot arm contacts the plane calibration plate, and record the coordinates P of the end of the robot arm at this position in the robot arm coordinate system. C1 ; S203, repeat step S202 N times, and record the coordinate points P of the end of the robot arm at different points on the plane calibration plate C2 , P C3 , to P CN ; S204, by P C1 -P CN , use the least squares method to fit the equation of the plane calibration plate in the robot coordinate system: Ax+By+Cz+D=0; S205, use the rotary servo and the single-line laser radar system to scan the plane calibration plate and record all point cloud data on the plane calibration plate; S206, according to the point cloud data and the plane equation: Ax+By+Cz+D=0, the rotation offset position relationship between the single-line laser radar and the rotary servo system coordinate system and the robotic arm coordinate system is calculated.

4. The single-line laser joint point laser precise positioning method according to claim 1, characterized in that: The calibration of the position relationship between the point laser and the robotic arm comprises the following steps: S301, moving the robotic arm so that the end of the robotic arm contacts the plane calibration plate; S302, record the position P of the end of the robot arm in the robot arm coordinate system d1 ; S303, adjust the robot arm posture, repeat step S302 until the positions P of more than 5 points are recorded d2 , P d3 , P d4 , P d5 ; S304, according to the positions of all points recorded in steps S302 and S303, fitting the equation of the plane calibration plate in the robot arm coordinate system: Ax+By+Cz+D=0; S305, the robot moves and the laser spot is hit on the flat calibration plate; S306, record the three-dimensional coordinate point P of the laser at the position point i laser S307, adjust the robot arm posture, repeat steps S305 and S306 until more than 10 three-dimensional coordinate points P are recorded 1 laser ~P 10 laser ; S308, according to all the three-dimensional coordinate points P recorded in step S307 i laser And the plane equation Ax+By+Cz+D=0, calculate the position relationship between the point laser and the robot arm coordinate system.

5. The single-line laser joint point laser precise positioning method according to claim 1, characterized in that: The S6, point laser measurement of three or more non-collinear points on the plane, through rigid body transformation into the robot arm coordinate system is P b1 ~P bn , use the least squares method to find P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0.

6. The single-line laser joint point laser precise positioning method according to claim 1, characterized in that: The above-mentioned S8 calculates the intersection points between the planes to obtain the accurate three-dimensional coordinates of each corner point of the target object.

7. A single-line laser combined with a point laser precise positioning system, comprising: A first calibration unit, used to calibrate the positional relationship between the single-line laser radar and the rotary servo; The second calibration unit is used to calibrate the positional relationship between the single-line laser radar, the steering gear system and the robotic arm; A third calibration unit is used to calibrate the positional relationship between the point laser and the robotic arm; The single-line laser radar scanning unit is used to: enable the rotary servo to carry the single-line laser radar to scan the target object and obtain the coordinates P of each corner point of the target object in the robot arm coordinate system. i ; Coarse positioning unit, used for: based on coordinates P i , the robot arm moves with the point laser to a certain plane of the target object; The point laser scanning unit is used to measure three or more non-collinear points on a plane moved by the rough positioning unit using a point laser, and convert them into the robot arm coordinate system as P b1 ~P bn , for P b1 ~P bn Perform plane fitting and obtain the plane equation: Ax+By+Cz+D=0; The global scanning unit repeats the point laser scanning unit function until the plane equations of all planes on the target object are obtained; The precise positioning unit is used to calculate the intersection points between the planes and obtain the precise three-dimensional coordinates of each corner point of the target object; The moving route determination unit is used for: the robot arm obtains the position of the target object in the robot arm coordinate system according to the precise three-dimensional coordinates of each corner point of the target object, and plans the walking path to be completed.

8. A device or terminal for single-line laser junction point laser precise positioning, comprising one or more processors and a storage device; the storage device is used to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the single-line laser junction point laser precise positioning method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, which, when executed by a processor, implements a single-line laser joint point laser precise positioning method as described in any one of claims 1 to 6.

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