Cantilever crane joint coordinate measuring method and device of hydraulic mechanical arm and computer equipment

Abstract

The invention belongs to the technical field of tunnel construction, and particularly relates to an arm support joint coordinate measuring method and device of a hydraulic mechanical arm and computer equipment. The method comprises the following steps: acquiring coordinates of a to-be-measured arm support joint in a to-be-measured area in a measurement coordinate system of a vision measurement device through the vision measurement device, and then acquiring coordinates of the to-be-measured arm support joint in a reference coordinate system according to a coordinate system conversion relation; according to the coordinate expansion of the to-be-measured arm support joint in the reference coordinate system, obtaining an accurate measurement range of the to-be-measured arm support joint; and according to the accurate measurement range, adjusting high-precision measurement equipment to enable the measurement range of the high-precision measurement equipment to be within the accurate measurement range, and completing accurate measurement of the coordinates of the arm support joint by the high-precision measurement equipment. The technical problem that in the prior art, arm frame joint coordinate measurement of a heavy hydraulic mechanical arm is long in time consumption is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a method, a device and a computer device for measuring the arm joint coordinates of a hydraulic mechanical arm. Background Art

[0002] The positioning error calibration of existing heavy-duty and complex hydraulic robotic arms requires comprehensive analysis of joint sensor data and deflection deformation data. This process uses distributed, autonomous computing equipment. Its execution process not only consumes a lot of human resources and material investment, but also consumes a lot of time costs, resulting in a long production and debugging cycle, making it difficult to quickly respond to market demand.

[0003] For example, the Chinese invention patent application with application publication number CN109262659A and application publication date 2019.01.25 discloses a zero-position calibration method for a robot arm joint sensor, which includes: installing at least two targets in parallel on a set end arm frame, and keeping the matching elements of the patterns of each target parallel; installing a light source on the robot arm carrying body; driving the movement of each joint of the robot arm so that the light beam of the light source passes through the axis of each target and the light spot overlaps with the pattern of each target; obtaining the posture of the target after adjusting the arm frame posture, and according to the relationship between the posture of the set end arm frame and the posture of the light source, obtaining the rotation angle of the rotating joint of the robot arm and the movement amount of the moving joint under the set end arm frame posture at this time. The above technical solution needs to drive the robot arm to move and meet a series of complex conditions before obtaining a more accurate arm frame joint measurement value. This process often requires multiple adjustments to meet the corresponding conditions, resulting in a complex and time-consuming measurement process. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device and computer equipment for measuring the arm joint coordinates of a hydraulic mechanical arm, so as to solve the technical problem that the arm joint coordinates of a heavy hydraulic mechanical arm are time-consuming to measure in the prior art.

[0005] In order to solve the above technical problems, the present invention provides a technical solution for a method for measuring the coordinates of a boom joint of a hydraulic mechanical arm: a method for measuring the coordinates of a boom joint of a hydraulic mechanical arm, the method comprising: obtaining the coordinates of a boom joint to be measured in a measurement coordinate system of a visual measuring device in a measurement area through a visual measuring device, and then obtaining the coordinates of the boom joint to be measured in a reference coordinate system according to a coordinate system conversion relationship; obtaining a precise measurement range of the boom joint to be measured according to the coordinate expansion of the boom joint to be measured in the reference coordinate system; adjusting a high-precision measuring device according to the precise measurement range so that the measurement range of the high-precision measuring device falls within the precise measurement range, and completing the precise measurement of the boom joint coordinates by the high-precision measuring device.

[0006] The beneficial effect of the above technical solution is that the technical solution of the method for measuring the arm joint coordinates of a hydraulic mechanical arm of the present invention belongs to an improved invention. When measuring the arm joint coordinates, the present invention first quickly obtains the preliminary measurement results of the arm joint coordinates to be measured by a visual measurement device, because the measurement accuracy of the image recognition method is low. Therefore, an accurate measurement range is determined according to the preliminary measurement results obtained by the visual measurement device, and within this accurate measurement range, a high-precision measurement device is used to measure again to obtain the accurate measurement coordinates of the arm joint to be measured. The present invention solves the technical problem of the time-consuming measurement of the arm joint coordinates of the heavy hydraulic mechanical arm in the prior art.

[0007] Furthermore, the coordinate system conversion relationship is obtained by the following method: taking any point in the area to be measured that does not move with the robot arm as a standard point and placing a calibration target at the standard point, the reference coordinate system is established with the standard point as the origin, and the conversion relationship from the measurement coordinate system of the visual measurement device to the reference coordinate system is obtained by matching the three-dimensional feature descriptor of the calibration target with the reference three-dimensional feature descriptor of the measurement coordinate system of the visual measurement device.

[0008] Furthermore, the reference coordinate system is established in the following manner: three-dimensional features of the calibration target are acquired through a visual measurement device, the plane where the calibration target is located is determined according to the three-dimensional features of the calibration target, the plane where the calibration target is located is taken as the xOy plane of the reference coordinate system, and the direction perpendicular to the xOy plane is the z-axis direction of the reference coordinate system.

[0009] Furthermore, the precise measurement range is obtained in the following manner: the precise measurement range is determined according to the coordinates of the boom joint to be measured in the reference coordinate system and a preset coordinate error confidence interval.

[0010] Further, a posture adjustment parameter of the high-precision measuring device is calculated according to the precise measurement range, and the high-precision measuring device adjusts its posture according to the posture adjustment parameter so that the measurement range of the high-precision measuring device falls within the precise measurement range.

[0011] Furthermore, the high-precision measurement equipment is a total station.

[0012] Furthermore, the visual measurement device is a binocular camera.

[0013] The present invention also provides a technical solution for a boom joint coordinate measuring device of a hydraulic mechanical arm, comprising a visual measuring device and a high-precision measuring device, wherein the visual measuring device is used to obtain the measurement coordinates of the boom joint to be measured in the measurement coordinate system of the visual measuring device in the measurement area to be measured; the high-precision measuring device is used to adjust its own measurement range according to the precise measurement range so that its own measurement range falls within the precise measurement range, and to accurately measure the boom joint coordinates;

[0014] The visual measuring device, high-precision measuring equipment or computing module obtains the coordinates of the arm joint to be measured in the reference coordinate system according to the measurement coordinates of the arm joint to be measured in the measurement coordinate system of the visual measuring device and the coordinate system conversion relationship; the visual measuring device, high-precision measuring equipment or computing module obtains the precise measurement range according to the coordinate expansion of the arm joint to be measured in the reference coordinate system; the computing module is connected to the visual measuring device and the high-precision measurement communication.

[0015] Furthermore, the coordinate system conversion relationship is obtained by the following method: taking any point in the area to be measured that does not move with the robot arm as a standard point and placing a calibration target at the standard point, the reference coordinate system is established with the standard point as the origin, and the conversion relationship from the measurement coordinate system of the visual measurement device to the reference coordinate system is obtained by matching the three-dimensional feature descriptor of the calibration target with the reference three-dimensional feature descriptor of the measurement coordinate system of the visual measurement device.

[0016] Furthermore, the reference coordinate system is established in the following manner: three-dimensional features of the calibration target are acquired through a visual measurement device, the plane where the calibration target is located is determined according to the three-dimensional features of the calibration target, the plane where the calibration target is located is taken as the xOy plane of the reference coordinate system, and the direction perpendicular to the xOy plane is the z-axis direction of the reference coordinate system.

[0017] Furthermore, the precise measurement range is obtained in the following manner: the precise measurement range is determined according to the coordinates of the boom joint to be measured in the reference coordinate system and a preset coordinate error confidence interval.

[0018] Further, a posture adjustment parameter of the high-precision measuring device is calculated according to the precise measurement range, and the high-precision measuring device adjusts its posture according to the posture adjustment parameter so that the measurement range of the high-precision measuring device falls within the precise measurement range.

[0019] Furthermore, the high-precision measurement equipment is a total station.

[0020] Furthermore, the visual measurement device is a binocular camera.

[0021] The present invention also provides a technical solution for a computer device: a computer device, comprising a processor, wherein the processor is used to execute a computer program to implement the arm joint coordinate measurement method of the hydraulic mechanical arm as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the composition of an embodiment of the arm joint coordinate measuring device of the hydraulic mechanical arm of the present invention;

[0023] Figure 2The present invention is a method flow chart of an embodiment of the arm joint coordinate measuring device of the hydraulic mechanical arm of the present invention. DETAILED DESCRIPTION

[0024] When measuring the arm joint coordinates, the present invention firstly uses a visual measuring device to quickly obtain the preliminary measurement results of the arm joint coordinates to be measured. Since the measurement accuracy of the image recognition method is low, an accurate measurement range is determined according to the preliminary measurement results obtained by the visual measuring device. Within this accurate measurement range, a high-precision measuring device is used to measure again to obtain the accurate measurement coordinates of the arm joint to be measured. The present invention solves the technical problem that the arm joint coordinates of a heavy hydraulic mechanical arm in the prior art are time-consuming to measure.

[0025] Embodiment of the arm joint coordinate measuring device of the hydraulic mechanical arm:

[0026] A device for measuring the arm joint coordinates of a hydraulic mechanical arm, such as Figure 1 As shown, the measuring device includes a measuring module, a computing module and a motion control module, wherein the measuring module includes a visual measuring device and a high-precision measuring device, the visual measuring device is used to obtain the coordinates of the arm frame joint to be measured in the area to be measured in the measuring coordinate system of the visual measuring device, and obtain the coordinates of the arm frame joint to be measured in the reference coordinate system according to the coordinate conversion relationship; the high-precision measuring device is used to complete the accurate measurement of the joint coordinates according to the measurement result of the visual measuring device;

[0027] Specifically, in this embodiment, the high-precision measurement device is a total station. In other implementations, the high-precision measurement device may also be other high-precision measurement devices such as a laser tracker or a measurement robot.

[0028] Specifically, in this embodiment, the visual measurement device is a binocular camera capable of acquiring three-dimensional image information.

[0029] The calculation module is used to determine the precise measurement range of the arm support joint to be measured according to the coordinates of the arm support joint to be measured in the reference coordinate system.

[0030] In other embodiments, the measuring device may not have a computing module, but a visual measuring device or a high-precision measuring device may be used to complete the coordinate conversion and determine the precise measurement range.

[0031] In other embodiments, the coordinate conversion between the reference coordinate system and the measurement coordinate system of the visual measurement device may be performed by a computing module or a high-precision measurement device.

[0032] The motion control module is used to adjust the high-precision measuring device so that the measuring range of the high-precision measuring device falls within the precise measuring range.

[0033] In this embodiment, a binocular camera is used to quickly measure the robotic arm, and the data is transmitted to a computing module after being parsed and processed. An image recognition algorithm is used to perform feature recognition on a specific marker (i.e., a target) in the image information and obtain the position information of the target. The computing module adds an error threshold based on the position information of the target to obtain a precise measurement range, and calculates the path attitude parameters (including rotation angle and pitch angle) required for the total station to adjust to the precise measurement range based on the spatial position relationship. The total station automatically adjusts its attitude based on the calculated parameters to complete precise measurement.

[0034] Combine the following Figure 2 The method for measuring the arm joint coordinates of the hydraulic mechanical arm in the measuring device of this embodiment is further described. After the measuring personnel set the target at the joint of the mechanical arm, they only need to control the measuring system integrated with the device to automatically complete the measuring operation, without having to adjust the total station to align with the target point many times, which significantly improves the measuring efficiency of the mechanical arm. Figure 2 As shown:

[0035] First, the automatic identification and tracking device calibration stage is carried out: after the trolley to be measured is parked, the trolley is adjusted, and the operator moves the trolley's mechanical arm to the measurement position, and the measuring device is arranged at an appropriate position around the trolley to ensure that the measuring point is within the scanning range of the measuring device, and tooling targets are set at the standard point and the measuring point of the trolley's mechanical arm to be measured. The standard point is any point in the area to be measured that does not move with the mechanical arm. In this embodiment, the measuring point of the trolley's mechanical arm to be measured is the joint of the mechanical arm frame, and a target is set at each joint.

[0036] Then the surveyor controls the measuring device to enter the automatic positioning calibration mode: the binocular camera automatically searches and identifies the calibration target at the standard point, and determines the two vectors on the calibration target plane that start from the standard point and are perpendicular to each other as the x-axis vector and the y-axis vector according to the image recognition algorithm combined with the target features. Specifically, the x-axis is the horizontal direction; then the x-axis vector and the y-axis vector are cross-multiplied to obtain the z-axis direction, thus establishing a reference coordinate system with the standard point as the coordinate origin. xyz .

[0037] For a visual measuring device, its coordinate system is generally a measurement coordinate system of the visual measuring device with itself as the origin and the corresponding measurement directions as the x, y, and z axes. x′y′z′ By matching the characteristic three-dimensional feature descriptor of the correction target with the three feature vectors of the corresponding reference three-dimensional feature descriptor placed on the xOz plane in the measurement coordinate system, the measurement coordinate system O of the visual measurement device can be obtained. x′y′z′ Transform to the base coordinate system O xyzThe RT matrix of the measured point is then obtained by the visual measurement device. The three-dimensional coordinate information P(x, y, z) of the measured point in the reference coordinate system can be obtained by the following calculation.

[0038]

[0039] Finally, the automatic identification and tracking device measurement stage: the measurement personnel control the measurement module to enter the measurement mode, the binocular camera (i.e., the visual measurement device) scans the area to be measured, and the calculation module uses the image recognition algorithm to determine whether there is a measurement target point in the area to be measured corresponding to the camera. If not, the corresponding camera indicator light sends a signal; if so, the image recognition algorithm is used to determine the target point to be measured in the measurement coordinate system O x′y′z′ The calculation module determines the precise measurement range of the target to be measured at each arm joint according to the position of the target to be measured in the reference coordinate system and the preset error confidence interval.

[0040] In this embodiment, the precise measurement range is obtained according to the error confidence interval. In three-dimensional space, the precise measurement range of this embodiment is a rectangular parallelepiped.

[0041] In other embodiments, the precise measurement range may also be a set of points whose Euclidean distance to the preliminary measurement result is less than a certain threshold, that is, in three-dimensional space, the precise measurement range is a cuboid or a sphere. This embodiment does not limit the method of obtaining the precise measurement range, as long as the actual coordinates of the arm joint can be ensured to be within the precise measurement range.

[0042] Subsequently, the calculation module calculates the attitude adjustment parameters (including rotation angle and pitch angle) required for the total station's measurement range to cover the center according to the center point of the precise measurement range. Then, the motion control module controls the total station to automatically adjust its attitude according to the attitude adjustment parameters to quickly complete the precise measurement. Finally, the calculation module counts the precise measurement results and the measurement is completed.

[0043] In other implementations, the center point coordinates of the precise measurement range in the reference coordinate system may be directly input into the motion control module, and the motion control module directly controls the movement of the total station so that the measurement range of the total station can cover the center point coordinate values.

[0044] Embodiment of the method for measuring the arm joint coordinates of a hydraulic mechanical arm:

[0045] A method for measuring the arm joint coordinates of a hydraulic mechanical arm, the method comprising: obtaining the coordinates of the arm joint to be measured in the measurement coordinate system of the visual measuring device in the measurement area by a visual measuring device, and then obtaining the coordinates of the arm joint to be measured in the reference coordinate system according to the coordinate system conversion relationship; obtaining the precise measurement range of the arm joint to be measured according to the coordinate expansion of the arm joint to be measured in the reference coordinate system; adjusting the high-precision measuring device according to the precise measurement range so that the measurement range of the high-precision measuring device falls within the precise measurement range, and completing the precise measurement of the arm joint coordinates by the high-precision measuring device. The specific method for measuring the arm joint coordinates of a hydraulic mechanical arm has been introduced in sufficient detail in the embodiment of the arm joint coordinate measuring device of the hydraulic mechanical arm, and will not be repeated here.

[0046] Computer device embodiments;

[0047] A computer device includes a processor, wherein the processor is used to execute a computer program to implement the above-mentioned method for measuring the arm joint coordinates of a hydraulic mechanical arm. The specific method for measuring the arm joint coordinates of a hydraulic mechanical arm has been introduced in sufficient detail in the above-mentioned embodiment of the arm joint coordinates measuring device of the hydraulic mechanical arm, and will not be repeated here.

[0048] The present invention has the following characteristics:

[0049] The present invention can realize the function of rapid tracking and measurement of the three-dimensional coordinates of specific markers on the mechanical arm by the measuring device, and can automatically complete the alignment and tracking of specific markers on the engineering mechanical arm through the measuring module and the computing module, thereby realizing rapid measurement of the target point, reducing the manual operation steps and time in the measurement stage, significantly improving the measurement efficiency and reducing the labor cost.

[0050] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for measuring the arm joint coordinates of a hydraulic mechanical arm, characterized in that: The method comprises: obtaining the coordinates of a boom joint to be measured in a measurement coordinate system of the visual measuring device in a measurement area by a visual measuring device, and then obtaining the coordinates of the boom joint to be measured in a reference coordinate system according to a coordinate system conversion relationship; obtaining a precise measurement range of the boom joint to be measured according to the coordinate expansion of the boom joint to be measured in the reference coordinate system; adjusting a high-precision measuring device according to the precise measurement range so that the measurement range of the high-precision measuring device falls within the precise measurement range, and completing the precise measurement of the boom joint coordinates by the high-precision measuring device.

2. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to claim 1, characterized in that: The coordinate system conversion relationship is obtained by the following method: any point in the area to be measured that does not move with the robot arm is used as a standard point and a calibration target is placed at the standard point, the reference coordinate system is established with the standard point as the origin, and the conversion relationship from the measurement coordinate system of the visual measurement device to the reference coordinate system is obtained by matching the three-dimensional feature descriptor of the calibration target with the reference three-dimensional feature descriptor of the measurement coordinate system of the visual measurement device.

3. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to claim 2, characterized in that: The reference coordinate system is established in the following manner: the three-dimensional features of the calibration target are acquired by a visual measurement device, the plane where the calibration target is located is determined according to the three-dimensional features of the calibration target, the plane where the calibration target is located is taken as the xOy plane of the reference coordinate system, and the direction perpendicular to the xOy plane is taken as the z-axis direction of the reference coordinate system.

4. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to claim 1, characterized in that: The precise measurement range is obtained in the following manner: the precise measurement range is determined according to the coordinates of the arm joint to be measured in the reference coordinate system and a preset coordinate error confidence interval.

5. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to claim 1, characterized in that: A posture adjustment parameter of the high-precision measuring device is calculated according to the precise measurement range, and the high-precision measuring device adjusts its posture according to the posture adjustment parameter so that the measurement range of the high-precision measuring device falls within the precise measurement range.

6. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to any one of claims 1 to 5, characterized in that: The high-precision measuring equipment is a total station.

7. The method for measuring arm joint coordinates of a hydraulic mechanical arm according to any one of claims 1 to 5, characterized in that: The visual measurement device is a binocular camera.

8. A device for measuring the arm joint coordinates of a hydraulic mechanical arm, characterized in that: It comprises a visual measuring device and a high-precision measuring equipment, wherein the visual measuring device is used to obtain the measurement coordinates of the arm support joint to be measured in the measurement coordinate system of the visual measuring device in the measurement area; the high-precision measuring equipment is used to adjust its own measurement range according to the precise measurement range so that its own measurement range falls within the precise measurement range, and to accurately measure the arm support joint coordinates; The visual measuring device, high-precision measuring equipment or computing module obtains the coordinates of the arm joint to be measured in the reference coordinate system according to the measurement coordinates of the arm joint to be measured in the measurement coordinate system of the visual measuring device and the coordinate system conversion relationship; the visual measuring device, high-precision measuring equipment or computing module obtains the precise measurement range according to the coordinate expansion of the arm joint to be measured in the reference coordinate system; the computing module is connected to the visual measuring device and the high-precision measurement communication.

9. The arm joint coordinate measuring device of the hydraulic mechanical arm according to claim 8, characterized in that: The coordinate system conversion relationship is obtained by the following method: any point in the area to be measured that does not move with the robot arm is used as a standard point and a calibration target is placed at the standard point, the reference coordinate system is established with the standard point as the origin, and the conversion relationship from the measurement coordinate system of the visual measurement device to the reference coordinate system is obtained by matching the three-dimensional feature descriptor of the calibration target with the reference three-dimensional feature descriptor of the measurement coordinate system of the visual measurement device.

10. The arm joint coordinate measuring device of the hydraulic mechanical arm according to claim 9, characterized in that: The reference coordinate system is established in the following manner: the three-dimensional features of the calibration target are acquired by a visual measurement device, the plane where the calibration target is located is determined according to the three-dimensional features of the calibration target, the plane where the calibration target is located is taken as the xOy plane of the reference coordinate system, and the direction perpendicular to the xOy plane is taken as the z-axis direction of the reference coordinate system.

11. The arm joint coordinate measuring device of the hydraulic mechanical arm according to claim 8, characterized in that: The precise measurement range is obtained in the following manner: the precise measurement range is determined according to the coordinates of the arm joint to be measured in the reference coordinate system and a preset coordinate error confidence interval.

12. The arm joint coordinate measuring device of the hydraulic mechanical arm according to claim 8, characterized in that: A posture adjustment parameter of the high-precision measuring device is calculated according to the precise measurement range, and the high-precision measuring device adjusts its posture according to the posture adjustment parameter so that the measurement range of the high-precision measuring device falls within the precise measurement range.

13. The arm joint coordinate measuring device of a hydraulic mechanical arm according to any one of claims 8 to 12, characterized in that: The high-precision measuring equipment is a total station.

14. The arm joint coordinate measuring device of a hydraulic mechanical arm according to any one of claims 8 to 12, characterized in that: The visual measurement device is a binocular camera.

15. A computer device comprising a processor, characterized in that: The processor is used to execute a computer program to implement the arm joint coordinate measurement method of the hydraulic mechanical arm as described in any one of claims 1 to 7.

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