基于机器人的空间坐标测量技术研究现状及发展趋势

李明富; 马建华; 张玉彦

doi:10.13433/j.cnki.1003-8728.2014.1212

基于机器人的空间坐标测量技术研究现状及发展趋势

doi: 10.13433/j.cnki.1003-8728.2014.1212

1.
湘潭大学机械工程学院, 湘潭 411105

基金项目:

湖南省教育厅资助科研项目(12C0396)

湖南省自然科学基金委员会与湘潭市政府自然科学联合基金重点项目(12JJ8010)

湖南科技大学湖南省机械设备健康维护重点实验室开放基金项目(201205)资助

详细信息

作者简介:
李明富(1979- ),讲师,博士,硕士生导师,研究方向为智能机器人和机械测试技术,lmfwo1mf2000@163.com。

计量
- 文章访问数: 218
- HTML全文浏览量: 77
- PDF下载量: 3
- 被引次数: 0
出版历程
- 收稿日期: 2013-03-30
- 刊出日期: 2014-12-05

The State and Development Tendency of the Space Coordinate Measuring Technology Via Robots

1.
School of Mechanical Engineering, Xiangtan University, Xiangtan 411105

摘要

摘要: 三坐标测量机、经纬仪、激光扫描仪、在线视觉测量等空间坐标测量系统逐渐在逆向工程中得到应用,但是复杂测量任务对测量范围、测量精度、测量环境的要求越来越高,现有技术已不能很好地满足工业需求.在介绍国内外学者提出的基于机器人的空间坐标测量方法的基础上,利用机器人的高柔性、高效率以及可搭载多种传感器等优点,解决测量任务中范围大、环境复杂、自动化要求高等问题.对基于机器人的空间坐标测量技术研究进行了系统综述,阐述了基于机器人的空间坐标测量技术研究现状,并分析了其技术理论与应用研究中的困难和解决方法.基于多机器人的组合式空间坐标测量代表了未来发展的方向之一.
- 坐标测量 /
- 机器人 /
- 精密测量 /
- 逆向工程
Abstract: The space coordinate measuring systems such as coordinate measuring machine,electronic theodolite,laser scanner and online visual measuring are gradually applied to reverse engineering,but as the demand of measuring range,accuracy and measuring environment to increase highly,the existing technology can not meet the industrial demand. Therefore,the space coordinate measuring system via industrial robot takes advantage of the high flexibility,high efficiency,and equipping with a variety of sensors to satisfy the large scale and automatic measuring in complex environment. In this paper,the systematic review about the space coordinate measuring technology via robots is conducted,and the state of space coordinate measuring technology via robots is elaborated,then the difficulties and solutions in the technical theory and application is analyzed,and it is one of the tendency of development that the combinative space coordinate measuring methods via multi-robot.
- computer aided design /
- coordinate measuring /
- coordinate measuring machines /
- industrial robots

HTML全文

参考文献(55)

[1]	Kjellander J A P,Mohamed Rahayem.An integrated platform for 3D measurement with geometric: reverse engineering[J]Computer-Aided Design and Applications,2009,6 (6):877-887
[2]	Li Y D,Gu P H.Free-form sudace inspectaion techniques state of the art review[J]Computer-Aided Design, 2004,36(13):1395-1417
[3]	Giovanna Sansoni,Marco Trebeschi,Franco Docchio State-of-the-art and applications of 3D imaging sensors in industry[J].Cultural Heritage,Medicine,and Criminal Investigation,2009,9 (1);568-601
[4]	叶声华,郑继贵,张滋黎,等大空间坐标尺寸测量研究的现状与发展[J]计量学报,2008,29(4A);1-6 Ye S H,Zhu J G,Zhang Z L,et al.Status and development of large-scale coordinate measurement research[J].Actaa Metrologica Sinica,2008,29 (4A):1-6(in Chinese)
[5]	熊志基于双目立体视觉的大尺寸测量系统的研究[D] 秦皇岛:燕山大学,2006 Xiong Z.Research on large-scale measuring system based on stereo computer vision[D]Qinhuangdao: Yanshan University,2006(in Chinese)
[6]	王永强基于约束算法的大尺寸三维视觉测量方法研究[D]北京:北京邮电大学, 2007 Wang Y Q.Research on Videogrammetry for large-scale 3D surface based on constraint algorithm[D]Beijing ; Beijing University of Posts and Telecommunications, 2007(in Chinese)
[7]	张国雄坐标测量技术发展方向[J]红外与激光工程,2008,37(s):1-5 Zhang G X.Development orientations of coordinet measuing tecniques[J].Infrared and Laser Engineering, 2008,37(s):1-5(in Chinese)
[8]	王学影,岩君芳,叶树亮,等关节臂式坐标测量机系统关键技术研究[J]中国计量学院学报,2010,21 (1):12-15 Wang X Y,Yan J F,Ye S L,et al.Reseach on the key technology of articulate arm flexible CMMs[J]Journal of China University of Metrology,2010,21(1):12-15 (in Chinese)
[9]	程文涛,于连栋,费业泰-种关节式坐标测量机的建模及其标定[J]中国科学技术大学学报,2011,41 (5);439-444 Cheng WT,Yu L D,Fei Y T.Kinematic model and calibration of an articulated arm coordinate measuring machine[J]Journal of University of Seience and Technology of China,2011,41(5):439-444(in Chinese)
[10]	程文涛,于连栋,费业泰关节式坐标测量机参数识别算法研究[J]中国科学技术大学学报,2011,41(1); 45-49 Cheng wT,Yu L D,Fei Y T.Study on parameter identification algorithms for articulated arm coordinate measuring machine [J].Journal of University of Science and Technology of China,2011,41(1):45-49(in Chinese)
[11]	胡毅,费业泰,程文涛关节式坐标测量机热变形误差及修正[J]机械工程学报,2011,47(24):15-19 Hu Y,Fei Y T,Cheng W T.Thermal deformation error and correctaion for articulated arm coordinate-measuring machines[J[.Journal of Mechanical Engineering,2011, 47(24):15-19(in Chinese)
[12]	高贯斌,王文,林铿,等基于RBF神经网络的关节转角误差补偿[J]机械工程学报,2010,46(12);20-24 C an(;B,Wangw,Lin K,et al.Error compensation of joint angles based on rbf neural networks[J[.Journal of Mechanical Engineering,2010,46(12):20-24(in Chinese)
[13]	李红强,高贯斌新型关节臂坐标测量机的设计[J] 机电工程技术,2012,41(8);117-120 Li H Q,Gan G B.The design of a new articulated arm coordinate measuring machine[J]Faculty of Mechanical and Electarical Engineering,2012,41(8): 117-120(in Chinese)
[14]	Brosed F J,Santolaria J,Aguilar J J,et al.Laser triangulation sensor and six axes anthropomorphic: robot manipulator modelling for the measurement of complex geometry productas[J]Robotic、and Computer-Integrated Manufactauring,2012,28 ; 660-671
[15]	Soren Larsson,Kjellander J A P.Motion control and data capturing for laser scanning with an industrial robot[J Robotic、and Autonomous Systems,2006,54:153-460
[16]	Kjellander J A P,Rahayem M.Planar segmentation of data from a laser profile scanner mounted on an industrial robot[J].Int J A击Manuf Techno1,2009,45:181-190
[17]	Gong C H,Yuan J X,Ni J.A self-calibration method for robotic measurement system[J].Transactaions of the ASME,2000,122:174-181
[18]	Gong C H,Yuan J X,Ni J.Nongeometric error identification and compensation for robotic system by inverse calibration[J].International Journal of Machine Tools&Manufacture,2000,40;2119-2137
[19]	郑继贵,郭磊,刘常杰,等基于机器人的柔性电子检具测量系统[J]光学精密工程,zo11,19(8):1787-1793 Zhu J G,Guo L,Liu C J,et al.Measurement system of flexible elecaronic: c:hec:king fixture on robot[J]Optic、 and Precision Engineering,2011,19(8):1787-1793(in Chinese)
[20]	陈钢,贾庆轩,李彤,等基于误差模型的机器人运动学参数标定方法与实验[J]机器人,2012,34(6);680-688 Chen G,Jia Q X,Li T,et al.Calibration method and experiments of robot kinematict、parameters based on error model[J]Robot,2012,34(6):680-688(in Chinese)
[21]	吴德烽,李爱国,马孜,等三维表面扫描机器人系统本体标定新方法[J]机械工程学报,2011,47(17);9-14 Wu D F,Li A G,Ma Z,et al.Novel approach to calibrate main body of a three-dimensional scanning robotic system[J].Journal of Mechanical Engineering, 2011,47(17);9-14(in Chinese)
[22]	吴德烽,李爱国三维表面扫描机器人误差建模与补偿方法[J]机械工程学报,2012,48(13);61-67 Wu D F,Li A G.Error modeling and compensation approach for three-dimensional surface scanning robot [J Journal of Mechanical Engineering,2012,48(13);61-67 (in Chinese)
[23]	Wu D F,Ma Z,Li A G,et al.A novel approach to calibrate a structaured light vision sensor in a robot based 3D measurement system[C]//2010 International Conference on Modelling,Identification and Control, July 17-19,Okayama University,Okayama City, Piscataway,NJ;IEEE Service Center,2010;298-303
[24]	Santolaria J,Pastor J J,Brosed F J,et al.A one-step intrinsic: and extrinsic: calibration method for laser line scanner operation in coordinate measuring machines [J] Measurement Science and Technology,2009,20 ; 07-12
[25]	Santolaria J,Guillomia D,Cajal C,et al.Modelling and calibration technique of laser triangulation sensors for integration in robot arms and articulated arm coordinate measuring machines[J].Sensors,2009,9 :7374-7396
[26]	Santolaria J,Aguilar Juan-Jose,Yague Jose-Antonio,et al.Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm〔oordinate measuring machines[J]Precision Engineering,2008,32;251-268
[27]	Watanabe A,Sakakibara S,Ban K,et al.Autonomous visual measurement for accurate setting of work pieces in robotic cells[J].Annals of the CIRP,2005,54(1):13-18
[28]	Watanabe A,Sakakibara S,Ban K,et al.A kinematict calibration method for industrial robots using autonomous visual measurement[J]CIRP Annals-Manufactauring Technology,2006,55 (1):1-6
[29]	刘常杰,段宇,王-,等机器人柔性坐标测量系统现场校准技术研究[J]机械工程学报,2010,(18);1-6 Liu C J,Duan Y,Wang Y,et al.Study on the field calibration technology of robot flexible coordinate measurement system[J]Journal of Mechanical Engineering,2010,18:1-6(in Chinese)
[30]	王-,刘常杰,杨学友,等工业机器人视觉测量系统的在线校准技术[J]机器人,2011,(3);299-302 Wang Y,Liu C J,Yang X Y,et al.Online calibration of visual measurement system based on industrial robot [J Robot,2011,(3);299-302(in Chinese)
[31]	王-,刘常杰,任永杰,等工业坐标测量机器人定位误差补偿技术[J]机械工程学报,2011,47(15);31-36 Wang Y,Liu C J,Ren Y J,et al.Compensation for positioning error of industrial coordinate measurement robot [J]Journal of Mechanical Engineering,2011,47 (15):31-36(in Chinese)
[32]	Larsson S,Kjellander J A P.Path planning for laser scanning with an industrial robot[J]Robotic、and Autonomous Systems,2008,615-624
[33]	Reinhart G,Tekouo W Automatic: programming of robot-mounted 3D optical scanning devices to easilymeasure parts in high-variant assembly[J]CIRP Annul-Manufactauring Technology,2009,58;25-28
[34]	Chen L C,Lin G C.An integrated reverse engineering approach to reconstructaing free-form surfaces[J] Computer Integrated Manufactauring Systems,1996,10 (1)49-60
[35]	Carbone V,Caroc:oi M,Savio E,et al.Combination of a vision system and a coordinate measuring machine for the reverse engineering of freeform surfaces[J] Advanced Manufactauring Technology,2001,17;263-271
[36]	何雪明,李成刚,胡于进,等三坐标测量机测量路径的曲率连续自适应规划[J]清华大学学报,2007,47 (S2):1835-1839 He X M,Li C G,Hu Y J,et al.Continuous curvature adaptive planning of the measuring path for CMM[J] Journal of Tsinghua University,2007,47(S2):1835-1839(in Chinese)
[37]	卢科青,王文,陈子辰未知自由曲面数字化自适应采样方法[J]机械工程学报,2010,46(9):143-150 Lu K Q,WangW,Chen Z C.Adaptive sampling of digitizing for the unknown free-form surface based on front path detectaing[J]Journal of Mec:hanic:al Engineening,2010,46(9:143-150(in Chinese)
[38]	Rahayem M.An industrial robot as part of an automatic system for geometric: reverse engineering[J]Robot Manipulators,2008,(1);441-458
[39]	Rahayem M R,Johan A P K.Quadric: segmentation and fitting of data captured by a laser profile scanner mounted on an industrial robot[J]Int J Adv Manuf Technol,2011,52:155-169
[40]	Kuo C C,Yau H T.A delaunay-based region-growing approach to surface reconstructaion from unorganized points [J].Computer-Aided Design,2005,37:825-835
[41]	Sansoni G,Docchio F.Three-dimensional optical measurements and reverse engineering for automotive applications[J]Rohotic、and Computer-Integrated Manufactauring,2004,20 ; 359-367
[42]	Sansoni G,Docchio F.In-field performance of an optical digitizer for the reverse engineering of free-form surfaces[J].Int J Adv Manuf Technol,2005,26:1353-1361
[43]	解则晓,徐尚,李绪勇逆向工程中三维点云数据精确拼接方法[J]中国机械工程,2009,20 (13); 1577-1581 Xie Z X,Xu S,Li X Y.A fine registration method for 3D point ctaouds in reverse engineering[J]China Mechanical Engineering,2009,20(13):1577-1581(in Chinese)
[44]	龙玺,钟约先,李仁举,等结构光三维扫描测量的三维拼接技术[J]清华大学学报,2002,42(4);477-480 Long X,Zhong Y X,Li R J,et al.3-D surface integration in structaured light 3-D scanning [J].Journal of Tsinghua University,2002,42(4):477-480(in Chinese)
[45]	罗先波,钟约先,李仁举三维扫描系统中的数据配准技术[J]清华大学学报,2004,44(8);1104-1106 Luo X B,Zhong Y X,Li R J.Data registration in 3-D scanning systems[J]Journal of Tsinghua University, 2004,44(8):1104-1106(in Chinese)
[46]	Besl P J,Mckay N D.A method for registration of 3-(1 shapes[J[.IEEE Transactaions on Pattern Analysis and Machine Intelligence,1992,14(2);239-256
[47]	解则晓,徐尚三维点云数据拼接中ICP及其改进算法综述[J]中国海洋大学学报,2010,40(1);99-103 Xie Z X,Xu S.A survey on the ICP algorihm and its variants in registration 3 D point ctaouds[J].Periodical of Ocean University of China,2010,40(1):99-103(in Chinese)
[48]	Li ZW,Shi Y S,Wang C J,et al.A prototype system for high precision 3D measurement based on grating method[Rj.Beijing; Wang,Y.T.,2007
[49]	Chang H,Choi J,Kim M.Experimental research of probabilistic: localization of service robots using range image data and indoor CPS system[J].IEEE Conference on Emerging Technologies&Factaory Automation,2006, 1(3):510-516
[50]	Ren T Q,Zhu J G,Guo Y B,et al.Artificial feature-based multiview registration method for three-dimensional free-form objecta modeling[J]Optical Engineering,2010,49 (5)
[51]	任同群,赵悦含,龚春忠,等自由曲面测量的三维散乱点云无约束配准[J]光学精密工程,2013,21(5): 1234-1243 Ren T Q,Zhao Y H,Gong C Z,et al.Unconstrained registration of 3-D scattered point ctaouds for free-form shape measurement[J]Optic、and Precision Engineering,2013,21(5):1234-1243(in Chinese)
[52]	刘建伟,梁晋,梁新合,等大尺寸工业视觉测量系统[J] 光学精密工程,2010,18(1);126-134 Liu JW,Liang J,Liang X H,et al.Industrial vision measuring system for large dimension work-pieces[J] Optict、and Precision Engineering,2010,18(1):126-134 (in Chinese)
[53]	Rabbani T,Dijkman S,Frank V D H,et al.An integrated approach for modelling and global registration of point ctaouds[J]ISPRS Journal of Photogrammetry&Remote Sensing,2007,61:355-370
[54]	孟凡文,吴禄慎用继承与优化算法精密拼接无序点云[J]光学精密工程,2009,17(4);825-831 Meng FW,Wu L S.Registration of unorganized point ctaouds by inheriting and optimizing algorithm [J].Optic、 and Precision Engineering,2009,17(4):825-831(in Chinese)
[55]	邵杰,张爱武,王书民,等三维激光点云与CCD影像融合的研究[J]中国激光,2013,40(5);1-8 Shao J> Zhang AW,Wang S M,et al.Research on fusion of 3D laser point ctaouds and CCD image[J] Chinese Journal of Lasers,2013,40(5):1-8(in Chinese)