CN-120926906-B - Method and system for adaptively tracking and correcting actual morphology detection path by point laser

CN120926906BCN 120926906 BCN120926906 BCN 120926906BCN-120926906-B

Abstract

The invention provides a method and a system for adaptively tracking and correcting an actual morphology detection path by point laser, comprising an execution mechanism, a laser, an end execution tool and a camera, wherein the method comprises the following steps of collecting 3D point cloud data on the surface of a target object to generate a walking path and a pose set A in a first coordinate system; the method comprises the steps of converting a pose set A into an actuator tail end motion track B in a first coordinate system, enabling the actuator tail end to walk along the actuator tail end motion track B, obtaining the distance between a laser and the surface of a target object, generating a walking path and a pose set E in the first coordinate system, converting an actuator tail end motion track F in the first coordinate system, enabling the actuator tail end to walk along the actuator tail end motion track F, and adaptively tracking and correcting the path according to the actual morphology, wherein the method can be used for correcting the actuator tail end motion track and always keeping a proper working distance between a tail end executing tool and the surface of the target object.

Inventors

WANG CHUNMEI
GE JUNYAN

Assignees

南京景曜智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250819

Claims (10)

1. The method for adaptively tracking and correcting the actual morphology detection path by using the point laser comprises an executing mechanism, a laser, an end executing tool and a camera, wherein the laser and the end executing tool are rigidly arranged at the end of the executing mechanism, the laser is used for acquiring the distance between a laser projection origin and the surface of a target object, and the laser and the end executing tool are driven by the executing mechanism to move, and the method is characterized by comprising the following steps: s1, starting the camera, and collecting 3D point cloud data of the surface of a target object; S2, generating a walking path and a pose set A { A 1 ,A 2 ......A n } in a first coordinate system through a path planning module according to the 3D point cloud data acquired in the S1 step and a preset process requirement, wherein i=1, 2. The pose Ai comprises a position coordinate and a gesture direction norm m , and the preset process requirement comprises a preset working gesture of the end execution tool and a preset working requirement distance d m1 ; S3, converting the pose set A into an actuating mechanism tail end motion track B { B 1 ,B 2 ......B n } in a first coordinate system through a conversion relation H 1 between the laser and an actuating mechanism tail end coordinate system and a preset walking required distance d m2 of the laser, wherein the preset walking distance d m2 is a preset anti-collision distance or a safety distance; S4, controlling the actuating mechanism to drive the actuating mechanism to move along the moving track B at the tail end of the actuating mechanism, so that the laser emission origin of the laser device moves along a path and a pose set C { C 1 ,C 2 ......C n } (A i +ABSnorm m *d m2 ) is a laser path C i ; S5, compensating according to the difference between the distance d i and the preset working distance requirement d m1 , adjusting the pose A i to be the pose E i , generating a walking path and a pose set in a first coordinate system E{E 1 ,E 2 ......E n };E i =A i +ABSnorm m *（d m2 +d m1 -d i ）; S6, converting the walking path and the pose set E into an actuator end motion track F { F 1 ,F 2 ......F n } in a first coordinate system through a conversion relation H2 between the end execution tool and an actuator end coordinate system; s7, controlling the executing mechanism to drive the executing mechanism to walk along the moving track F of the executing mechanism end, so that the end executing tool walks along the walking path and the pose set E { E 1 ,E 2 ......E n }.
2. A method for adaptively tracking and correcting an actual profile detection path by a spot laser as in claim 1, the method is characterized in that the first coordinate system is an actuator base coordinate system.
3. The method of adaptive tracking correction of an actual topography detection path by a spot laser as set forth in claim 1, further comprising the steps of, between said S5 step and said S6 step: Returning the generated walking path and pose set E to the step S3 as a new walking path and pose set A, and obtaining a new actuating mechanism tail end motion track B, a new laser emission origin along the path and pose set C and a new distance d i according to the step S3-S4 according to the new walking path and pose set A; The relationship between the new distances d i and d m2 +d m1 is calculated: if the ABS (d m2 +d m1 -d i ) is less than or equal to a first threshold value, taking the walking path and the pose set E as the walking path and the pose set of the execution end of the final end execution tool, and entering the step S6; If the ABS (d m2 +d m1 -d i ) is greater than the first threshold value, entering the step S5, generating a new walking path and a pose set E according to the step S5, and repeating the steps until entering the step S6.
4. The method for adaptively tracking and correcting an actual profile detection path by using a point laser according to claim 1, wherein the conversion relation between the laser and the end coordinate system of the actuator in the step S3 is obtained by calibration in advance.
5. The method for adaptively tracking and correcting an actual profile detection path by using a point laser according to claim 4, wherein the conversion relation between the laser and an end coordinate system of an actuator is calibrated in advance by the following method: sa1 sets a mark point TA on the laser projection plate; The Sa2 controls the actuating mechanism to drive the laser to move through the tail end of the actuating mechanism, so that a laser point projected by the laser falls to a marking point TA, the position is an initial position P 0 , the tail end central point coordinate Q 0 of the actuating mechanism in a second coordinate system at the moment and a conversion matrix H 0 between the tail end coordinate system of the actuating mechanism and the second coordinate system are recorded; Sa3 controls the actuating mechanism to drive the laser to translate to M different positions P j (j=1, 2.. Fwdarw.M), M is more than or equal to 1, and the laser is kept to be projected at a marking point TA at each position P j (j is more than or equal to 1); The Sa4 fits and obtains the direction norm 1 of the laser projection direction of the laser in a second coordinate system according to the end center coordinate set Q { Q j } j is larger than or equal to 0 }; sa5 is combined with the rotation matrix in the H j to obtain the direction norm 2 of the laser projection direction in the end coordinate system of the actuating mechanism; sb1 sets a mark point TB on the laser projection plate; Sb2 controls the actuating mechanism to adjust the gesture position of the end mechanism of the actuating mechanism, so that the laser point projected by the laser falls on a marking point TB, the distance d between the origin of the laser projection and the marking point TB when the laser point falls on the marking point TB is obtained, and the coordinate W of the marking point TB in the end coordinate system of the current actuating mechanism is obtained; sb3 calculates the coordinate QS of the laser projection origin in the end coordinate system of the executing mechanism according to the direction norm 2 , the distance d and the coordinate W, and obtains the conversion relationship H 1 between the laser and the end coordinate system of the executing mechanism based on the direction norm 2 and the coordinate QS of the laser projection origin in the end coordinate system of the executing mechanism.
6. The method of claim 1, wherein the step S2 further comprises fitting a reference target plane M using the 3D point cloud data collected in the step S1.
7. The method for adaptively tracking and correcting the actual morphology detection path by using the point laser according to the invention as set forth in claim 1, wherein the laser projection direction of the laser is consistent with the extending and lifting direction of the end-effector, the distance g between the origin of the laser emission and the end-effector in the extending and lifting direction of the end-effector is known, after the distance d i is measured in step S4, the movement track of the end of the effector is adjusted to be Bw { Bw 1 ,Bw 2 ......Bw n }, the origin of the laser emission is driven to walk along Cw, and Bw i =B i +ABSnorm m *（d m1 +g-d i , according to the relation between the distance d i and the distance g and the preset working requirement distance d m1 .
8. The method for adaptively tracking and correcting an actual morphology detection path by using point laser according to claim 7, wherein the method is characterized in that an execution end of an end execution tool walks along the path and the pose set E by controlling a motion track of an end of an execution mechanism to be Bw and driving the execution end of the end execution tool to walk along the execution end along the path and the pose set E.
9. The method for adaptively tracking and correcting the actual morphology detection path by using the point laser according to claim 7, wherein the method is characterized in that when the motion track of the tail end executing tool is Bw, a virtual point L i with a distance g from the laser origin in the laser projection direction is obtained, and the motion track of the tail end of the executing tool corresponding to the motion of the tail end of the executing tool along the path and the pose set E is calculated according to the relative position deviation between the virtual point L i and the executing end of the tail end executing tool.
10. A system for adaptively tracking and correcting an actual profile detection path by using a point laser according to any one of claims 1 to 9, comprising: an actuator; The laser is rigidly arranged at the tail end of the actuating mechanism; An end effector rigidly mounted to an end of the actuator; The camera is used for acquiring 3D point cloud data of the surface of the target object; the path planning module is used for generating a walking path and a pose set; the control system is used for controlling the actuating mechanism to drive the tail end of the actuating mechanism to move; And the data processing module is used for processing and calculating the data.

Description

Method and system for adaptively tracking and correcting actual morphology detection path by point laser Technical Field The invention belongs to the field of robot path planning, and particularly relates to a method and a system for adaptively tracking and correcting an actual morphology detection path by point laser. Background Industrial robot systems, such as plasma cutting robots, combine the automation and accuracy of plasma cutting techniques with robots that drive plasma cutting tools to move along planned paths, providing efficient and accurate cutting solutions for modern industrial manufacturing. Plasma cutting is high to the distance requirement, and the too big distance leads to plasma gun head arc break, and the too little distance can take place gun head collision condition, influence the life and the cutting progress of instrument. In the actual cutting execution process, in order to avoid the influence of the neglected distance between the gun head and the cutting plane caused by the uneven surface to be cut on the cutting effect, an attempt is made to additionally install a laser sensor on the robot, and a robot control system automatically adjusts the height of the cutting head according to the feedback of the sensor so as to adapt to the uneven surface of the material. The laser cutting coordinate adjustment interpolation method as disclosed in patent document CN118951398a monitors the cutting position in real time, and adjusts the cutting head height according to the pipe cutting position height. The prior art has the problem of untimely response. If the robot moves at a fast speed, and the sensor measures the distance and feeds back to the control system at a speed which does not keep up with the cutting speed, delays may occur, resulting in collisions, and in some high speed situations, the sensor may not be able to sense the fluctuation of the plane in time. The sensor is arranged to deviate to a certain angle in the walking direction, and the height position information of the target point is obtained in advance before the end tool reaches the target position, so that time is reserved for the robot adjustment path, but the sensor only can measure the distance in a single direction, so that the pre-judging path adjustment mode is only suitable for the walking path moving along the deviation direction of the sensor and can be limited in the practical application process. Disclosure of Invention The invention aims to solve the problems and provides a method and a system for adaptively tracking and correcting an actual morphology detection path by point laser, wherein the method and the system are used for adaptively tracking and correcting the tail end movement track of an executing mechanism, and in the actual task execution process, the tail end movement track of the executing mechanism is controlled to drive a tail end executing tool to walk along a corrected walking path and a gesture, so that the tail end executing tool always keeps a proper working distance with the surface of a target object. The invention solves the problem, adopts the technical proposal that the method for self-adaptively tracking and correcting the actual morphology detection path by point laser comprises an actuating mechanism, a laser, an end actuating tool and a camera, wherein the laser and the end actuating tool are rigidly arranged at the end of the actuating mechanism, the laser is used for acquiring the distance between the laser projection origin and the surface of a target object, and the laser and the end actuating tool are driven by the actuating mechanism to move, and the method comprises the following steps: s1, starting the camera, and collecting 3D point cloud data of the surface of a target object; S2, generating a walking path and a pose set A { A 1,A2......An } in a first coordinate system through a path planning module according to the 3D point cloud data acquired in the S1 step and a preset process requirement, wherein i=1, 2. The pose Ai comprises a position coordinate and a gesture direction norm m, and the preset process requirement comprises a preset working gesture of the end execution tool and a preset working requirement distance d m1; S3, converting the pose set A into an actuating mechanism tail end motion track B { B 1,B2......Bn } in a first coordinate system through a conversion relation H 1 between the laser and an actuating mechanism tail end coordinate system and a preset walking required distance d m2 of the laser, wherein the preset walking distance d m2 is a preset anti-collision distance or a safety distance; S4, controlling the actuating mechanism to drive the actuating mechanism to move along the moving track B at the tail end of the actuating mechanism, so that the laser emission origin of the laser device moves along a path and a pose set C { C 1,C2......Cn } (A i+ABSnormm*dm2) is a laser path C i; S5, compensating according to the difference between the distance d