{"defaultlang":"zh","titlegroup":{"articletitle":[{"lang":"zh","data":[{"name":"text","data":"工业机器人单目视觉对准技术研究"}]},{"lang":"en","data":[{"name":"text","data":"Research on industrial robot alignment technique with monocular vision"}]}]},"contribgroup":{"author":[{"name":[{"lang":"zh","surname":"雷","givenname":"金周","namestyle":"eastern","prefix":""},{"lang":"en","surname":"LEI","givenname":"Jin-zhou","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":"1"}],"role":["first-author"],"bio":[{"lang":"zh","text":["雷金周(1988-), 男, 河南信阳人, 2014年于河南科技大学获得学士学位, 主要研究方向为视觉测量。E-mail:charmlei1988@163.com"],"graphic":[],"data":[[{"name":"text","data":"雷金周(1988-), 男, 河南信阳人, 2014年于河南科技大学获得学士学位, 主要研究方向为视觉测量。E-mail:"},{"name":"text","data":"charmlei1988@163.com"}]]}],"email":"charmlei1988@163.com","deceased":false},{"name":[{"lang":"zh","surname":"曾","givenname":"令斌","namestyle":"eastern","prefix":""},{"lang":"en","surname":"ZENG","givenname":"Ling-bin","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff2","text":"2"}],"role":[],"deceased":false},{"name":[{"lang":"zh","surname":"叶","givenname":"南","namestyle":"eastern","prefix":""},{"lang":"en","surname":"YE","givenname":"Nan","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":"1"}],"role":["corresp"],"corresp":[{"rid":"cor1","lang":"zh","text":" 叶南(1982-), 男, 安徽芜湖人, 2004年、2011年于南京航空航天大学分别获学士、博士学位, 主要从事机器视觉检测、三维数字化测量、逆向工程方面的研究工作。E-mail:yen@nuaa.edu.cn  YE Nan E-mail:yen@nuaa.edu.cn  ","data":[{"name":"text","data":" 叶南(1982-), 男, 安徽芜湖人, 2004年、2011年于南京航空航天大学分别获学士、博士学位, 主要从事机器视觉检测、三维数字化测量、逆向工程方面的研究工作。E-mail:yen@nuaa.edu.cn  YE Nan E-mail:yen@nuaa.edu.cn  "}]}],"email":"yen@nuaa.edu.cn","deceased":false}],"aff":[{"id":"aff1","intro":[{"lang":"zh","label":"1","text":"南京航空航天大学 机电学院, 江苏 南京 210016","data":[{"name":"text","data":"南京航空航天大学 机电学院, 江苏 南京 210016"}]},{"lang":"en","label":"1","text":"Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China","data":[{"name":"text","data":"Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"}]}]},{"id":"aff2","intro":[{"lang":"zh","label":"2","text":"上海宇航系统工程研究所, 上海 201109","data":[{"name":"text","data":"上海宇航系统工程研究所, 上海 201109"}]},{"lang":"en","label":"2","text":"Shanghai aerospace system engineering institution, Shanghai 201109, China","data":[{"name":"text","data":"Shanghai aerospace system engineering institution, Shanghai 201109, China"}]}]}]},"abstracts":[{"lang":"zh","data":[{"name":"p","data":[{"name":"text","data":"针对工业机器人精确对准问题，提出了一种基于单目视觉的工业机器人对准技术。该技术把工业机器人与单目视觉测量技术相结合，根据特制的手眼标定板，快速建立单目视觉测量系统与机器人上对准轴之间的手眼关系和对准的基准位姿；在对准环节，通过单目视觉系统获取工件目标的姿态，然后根据已有的手眼关系和基准位姿，求解在机器人基坐标系下机器人末端的对准轴的位置调整量，迭代调整机器人末端位姿，从而实现了机械人末端的对准轴与工件目标的精确对准。实验结果表明：在测量距离约是150 mm处，对准平均精度优于0.2°。"}]}]},{"lang":"en","data":[{"name":"p","data":[{"name":"text","data":"Aiming at the problem of precise alignment of industrial arm, an industrial robot alignment method based on monocular vision is proposed. Combining the industrial robot with monocular vision measurement and a specialized hand-eye calibration panel, the method is able to quickly establish the hand-eye relationship between the camera coordinate system and the alignment axis on the robot's end-effector. In the alignment stage, the attitude of the workpiece is obtained by monocular vision system, and then according to the existing hand-eye relationship and datum posture, the position and orientation between the alignment axis and the workpiece of the alignment axis are evaluated. The experimental results show that the average precision of the alignment is better than 0.2° under the measuring distance of 150 mm."}]}]}],"keyword":[{"lang":"zh","data":[[{"name":"text","data":"位置对准"}],[{"name":"text","data":"单目视觉"}],[{"name":"text","data":"位姿求解"}],[{"name":"text","data":"手眼标定"}],[{"name":"text","data":"工业机器人"}]]},{"lang":"en","data":[[{"name":"text","data":"position alignment"}],[{"name":"text","data":"monocular vision"}],[{"name":"text","data":"pose solution"}],[{"name":"text","data":"hand-eye calibration"}],[{"name":"text","data":"industrial robots"}]]}],"highlights":[],"body":[{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"1"}],"title":[{"name":"text","data":"引言"}],"level":"1","id":"s1"}},{"name":"p","data":[{"name":"text","data":"工业机器人对准技术是工业机器人实现对接、装配、抓取、钻孔等功能的技术基础"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"blockXref","data":{"data":[{"name":"xref","data":{"text":"1","type":"bibr","rid":"b1","data":[{"name":"text","data":"1"}]}},{"name":"text","data":"-"},{"name":"xref","data":{"text":"4","type":"bibr","rid":"b4","data":[{"name":"text","data":"4"}]}}],"rid":["b1","b2","b3","b4"],"text":"1-4","type":"bibr"}},{"name":"text","data":"]"}]},{"name":"text","data":"。实现工业机器人对准，通常采用两种办法：第一种是采用示教或离线编程的方式调节工业机器人末端执行器每次以固定的姿态到达同一个固定的位置，通过调节工件的位姿，与工业机器人末端执行器对准"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"5","type":"bibr","rid":"b5","data":[{"name":"text","data":"5"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"；第二种是给工业机器人末端安装位姿测量传感器，通过测量工件位置和姿态，调节工业机器人末端执行器的姿态并与工件对准。前者高度依靠机器人精度，对工件位置和姿态要求严格，存在累计误差，常用于喷漆，简单抓取等低精度的场合。后者通过调节工业机器人末端与工件对准，对工件位姿要求低，更加灵活实用。常见对工件位姿测量方法有陀螺仪导向、激光标靶导向和视觉测量"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"6","type":"bibr","rid":"b6","data":[{"name":"text","data":"6"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"。陀螺仪的测量精度受机械加工和装配、振动、累计误差等影响，需要定期校准，稳定性差，测量精度低，常作为辅助测量。激光标靶导向法主要使用激光标靶和全站仪对工件的位姿测量，具有测量效率高、范围广、精度高等优点，但要联合全站仪，结构复杂"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"7","type":"bibr","rid":"b7","data":[{"name":"text","data":"7"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"。视觉测量技术是建立在计算机视觉研究基础上的一门新兴技术"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"8","type":"bibr","rid":"b8","data":[{"name":"text","data":"8"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"，具有非接触、精度高、实时性强等优点，因此把工业机器人对准技术与视觉测量技术相结合已成为工业机器人应用研究的热点之一。"}]},{"name":"p","data":[{"name":"text","data":"单目视觉测量是利用视觉传感器获取工件特征点的图像，然后结合视觉测量原理，估计三维物体的位置和姿态，其结构简单，视场大、无需立体匹配"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"9","type":"bibr","rid":"b9","data":[{"name":"text","data":"9"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"。把单目视觉测量和工业机器人相结合，组成工业机器人视觉系统，使机器人具备一定的环境认知能力，增强了工业机器人柔性，具有重要研究意义"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"10","type":"bibr","rid":"b10","data":[{"name":"text","data":"10"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"。根据相机与工业机器人的位置关系，机器人视觉系统可以分为：Eye-in-Hand和Eye-to-Hand。相机安装在机械臂本体之外的固定位置，且相机不随机械臂运动的视觉系统称为Eye-to-Hand式手眼系统，这种方式已经研究很多而且技术成熟。相机安装在机械臂末端，并随机械臂一起运动的视觉系统称为Eye-in-Hand式手眼系统，该方式具有测量误差小，视野不受阻挡等优点，是工业机器人视觉应用领域的关键内容，也是难点。常见的Eye-in-Hand式手眼标定方法有：通过控制工业机器人末端变换至不同的位置，拍摄同一个靶标实现手眼标定"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"12","type":"bibr","rid":"b12","data":[{"name":"text","data":"12"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"，或者借助辅助相机作为中转，实现手眼的标定"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"13","type":"bibr","rid":"b13","data":[{"name":"text","data":"13"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"；前者标定的精度易受工业机器人精度和回程误差影响，后者借助辅助相机，对辅助相机摆放位置有限制。Zhu等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"14","type":"bibr","rid":"b14","data":[{"name":"text","data":"14"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"采用高精度的手眼标定板和稳定的椭圆提取方法，根据弱透视原理，实现相机的标定和手眼标定，搭建一个实用单目视觉工业机器人钻孔系统，并获得较好的钻孔精度。"}]},{"name":"p","data":[{"name":"text","data":"本文提出了一种基于单目视觉的工业机器人对准技术。该技术采用Eye-in-Hand方式，利用特制的手眼标定板，获得了工业机器人末端执行器与相机之间的手眼关系，并在此基础上，利用N点透视(PNP)原理，解算出工业机器人末端与工件对准时的位姿。与一般的基于视觉的工业机器人对准方法相比，本文方法获得手眼关系时不需要辅助相机或者多次变换工业机器人至不同的位置，因此该对准技术更加灵活，更适合工厂的实际应用。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2"}],"title":[{"name":"text","data":"系统组成及技术原理"}],"level":"1","id":"s2"}},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2.1"}],"title":[{"name":"text","data":"系统软硬件组成"}],"level":"2","id":"s2-1"}},{"name":"p","data":[{"name":"text","data":"基于单目视觉的工业机器人对准系统主要由工业机器人、相机、对准轴、对准目标(含有对准孔和对准参考板)、标定板及对准位姿计算处理软件等构成，如"},{"name":"xref","data":{"text":"图 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2","type":"table","rid":"Table2","data":[{"name":"text","data":"表 2"}]}},{"name":"text","data":"中可以看出，在6次机械臂末端的对准中，前5次工件目标的姿态角和3个轴向偏移量逐渐逼近基准对准位置，在第6次对准环节中，仅沿着对准轴坐标系"},{"name":"italic","data":[{"name":"text","data":"X"},{"name":"sub","data":[{"name":"text","data":"a"}]}]},{"name":"text","data":"轴方向调整机械臂末端，逼近基准对准位姿。由于本文允许对准孔与对准轴在对准时有1 mm的误差，而且对准轴沿"},{"name":"italic","data":[{"name":"text","data":"Z"},{"name":"sub","data":[{"name":"text","data":"a"}]}]},{"name":"text","data":"轴方向可以伸缩，因此本文机械臂末端对准轴经过第6次的调整，实现了对准要求。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"5.2"}],"title":[{"name":"text","data":"测量精度验证实验"}],"level":"2","id":"s5-2"}},{"name":"p","data":[{"name":"text","data":"为验证位姿测量的精度，本文采用北京衡工HGRM282千分尺转台，将手眼标定板安装在高精度的转台上，调整手眼标定板法向与相机光轴方向初始方向近似一致，如"},{"name":"xref","data":{"text":"图 9","type":"fig","rid":"Figure9","data":[{"name":"text","data":"图 9"}]}},{"name":"text","data":"所示。每隔约0.1°转动一次转台，并记录对应的手眼标定板法向测量读数。选择夹角的初始角约5°和10°时转台读数与测量数据，如下"},{"name":"xref","data":{"text":"图 10","type":"fig","rid":"Figure10","data":[{"name":"text","data":"图 10"}]}},{"name":"text","data":"和"},{"name":"xref","data":{"text":"图 11","type":"fig","rid":"Figure11","data":[{"name":"text","data":"图 11"}]}},{"name":"text","data":"所示(彩图见期刊电子版)。其中蓝色曲线代表是精密转台测量的数据，红色曲线代表位姿测量的方法获得的数据。绿色曲线表示两者偏差值。"}]},{"name":"fig","data":{"id":"Figure9","caption":[{"lang":"zh","label":[{"name":"text","data":"图9"}],"title":[{"name":"text","data":"精度验证实验"}]},{"lang":"en","label":[{"name":"text","data":"Fig 9"}],"title":[{"name":"text","data":"Accuracy verification experiment"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707796&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707796&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707796&type=middle"}]}},{"name":"fig","data":{"id":"Figure10","caption":[{"lang":"zh","label":[{"name":"text","data":"图10"}],"title":[{"name":"text","data":"起始夹角是5°时测量读数与转台读数"}]},{"lang":"en","label":[{"name":"text","data":"Fig 10"}],"title":[{"name":"text","data":"Measuring readings and turntable readings at 5° starting angle"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707801&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707801&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707801&type=middle"}]}},{"name":"fig","data":{"id":"Figure11","caption":[{"lang":"zh","label":[{"name":"text","data":"图11"}],"title":[{"name":"text","data":"起始夹角是10°时测量读数与转台读数"}]},{"lang":"en","label":[{"name":"text","data":"Fig 11"}],"title":[{"name":"text","data":"Measuring readings and turntable readings at 10° starting angle"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707806&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707806&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1707806&type=middle"}]}},{"name":"p","data":[{"name":"text","data":"实验数据表明，实际测量转动的夹角读数接近转台读数，仍存在误差，主要是提取像素坐标时和手眼标定板与对准轴的装配时存在误差；但是基于单目视觉的工业机器人对准系统测量精度可控制在0.2°以内，该精度可以满足基于单目视觉的工业机器人对准系统测量的需求。"}]}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"6"}],"title":[{"name":"text","data":"结论"}],"level":"1","id":"s6"}},{"name":"p","data":[{"name":"text","data":"本文提出了一种基于单目视觉的工业机器人对准技术。该对准技术实现了对工件目标姿态的求解，精确获取了工业机器人末端执行器坐标系和相机坐标系之间的手眼关系、对准参考板的中心位置，给出了工业机器人末端与工件对准时的基准位姿，并搭建了基于单目视觉的工业机器人对准的系统。为了验证系统，搭建了基于单目视觉的工业机器人对准装置，并利用高精度的精密转台验证了测量精度。实验结果表明，在测量距离是150 mm处时，对准系统的精度优于0.2°。如何在较复杂背景下提高图像处理算法鲁棒性和位姿测量的精度是本文接下来要步研究的问题之一。"}]}]}],"footnote":[],"reflist":{"title":[{"name":"text","data":"参考文献"}],"data":[{"id":"b1","label":"1","citation":[{"lang":"zh","text":[{"name":"text","data":"熊有伦.机器人技术基础[M].武汉:华中科技大学出版社, 1996."}]},{"lang":"en","text":[{"name":"text","data":"XUN Y L. 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