CN102073303B - Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines - Google Patents
Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines Download PDFInfo
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- CN102073303B CN102073303B CN 201010603713 CN201010603713A CN102073303B CN 102073303 B CN102073303 B CN 102073303B CN 201010603713 CN201010603713 CN 201010603713 CN 201010603713 A CN201010603713 A CN 201010603713A CN 102073303 B CN102073303 B CN 102073303B
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Abstract
The invention relates to a method for controlling the feeding and discharging of a mobile robot serving two numerically controlled machines, belonging to the technical filed of the system for controlling the feeding and discharging of the industrial robot. The position video information and shape video information of a wireless 2D-CCD acquisition workpiece which is arranged on the end effector of the robot are adopted, and after the acquired video information is subjected to video acquisition and compression and then transmitted wirelessly, the processed video signal is received by a wireless USB (universal serial bus) receiver and transmitted to a master control computer through a USB interface, and the end effector is controlled to grab workpieces by an embedded microprocessor according to the recognition algorithm. The workpieces can be identified correctly and grabbed by adopting the recognition algorithm, and the correct feeding and discharging can be realized, thus the working efficiency can be improved, and the manual labor can be saved.
Description
Technical field
The invention belongs to industrial robot loading and unloading control system technical field; Its outstanding characteristics are that robot vision, wireless communication technology and sensor technology are incorporated in the robot control system, make industrial robot realize that intelligence grasps the workpiece that is placed on arbitrarily in the hopper and the operation of intelligent loading and unloading.
Background technology
When having intelligence machine human direct current generator now, generally all adopt single-chip microcomputer or DSP at a high speed etc. to control, and the uniform machinery people often need realize function separately with a plurality of CPU as driving.But along with the integrated degree requirement to intelligent robot is increasingly high, the controller of needs use single cpu satisfies the various actions requirement of robot, for example video acquisition, radio communication.
Along with the develop rapidly of The present computer technology and Internet technology, embedded system becomes one of the most popular technology of current I T industry.The ARM microprocessor becomes most widely used 32 flush bonding processors at present with the characteristic of its high-performance low-power-consumption, and built-in Linux also relies on its powerful advantages such as function and multitask real-time of increasing income to occupy the leading position of embedded OS.
The domestic loading and unloading machine National People's Congress all adopts PLC control at present, and a robot that serves five numerically-controlled machine loading and unloading that designs like company limited of Shanghai Fa Nake robot adopts PLC to control exactly, and gets material level and put fixing.When getting material level and cannot not put fixingly, and the workpiece placement location just needs to adopt machine vision technique and sensor technology to come guide tip actuator grabbing workpiece when disorderly and unsystematic.
Summary of the invention
The present invention will solve end effector to grasp the workpiece of placement and the accurately control problem of loading and unloading arbitrarily in the hopper automatically, and the present invention for realizing the technical scheme that above-mentioned purpose adopted is:
Respectively fixedly install a vision support on the next door of two numerically-controlled machines, wired 2D-CCD of a same model respectively is installed on the support; A wireless 2D-CCD and a transmission time laser distance sensor are installed on end effector of robot, and wireless communication standard is 802.11b or 802.11g; Adopt embedded microprocessor as controller, embedded OS is a linux system; The Wireless USB receiver is connected through USB with microprocessor, and Wireless USB receiver and embedded microprocessor are installed in the robot switch board.The wireless signal transmitter of a same model respectively is installed on two numerically-controlled machines, is used to send numerically-controlled machine loading and unloading instruction, adopt serial communication protocol, receiving port is RS-232, and embedded microprocessor is furnished with this port.
Receive the material loading request signal of numerically-controlled machine when robot after; Moving to the hopper side along walking axis stops; Robot movement is to the top of hopper, and wireless 2D-CCD starts the vertical workpiece of taking of beginning by infrared ray, starts the transmission time laser distance sensor simultaneously; The shape and the area of workpiece picture in taken workpiece picture and the java standard library are compared; Similarity reaches 80% and promptly can be used as the extracting target, if the similarity of neither one workpiece reaches 80% in the shot picture, then controls robot movement and continues to take to another position; If have only the similarity of a workpiece to reach 80% in the shot picture, then mechanical hand moves to this workpiece place and grasps this workpiece; If there is the similarity of a plurality of workpiece to reach 80%, then measure the distance between each workpiece and the end effector by the transmission time laser distance sensor, with the minimum workpiece of distance as grasping object.After confirming to grasp object, end effector is adjusted attitude, the grabbing workpiece at the centroid position place of workpiece.Through above technical scheme, solved the accurate extracting problem of the workpiece of placing arbitrarily in the hopper well.
Because workpiece is a blank, in the blank of same model batch, the size of blank has error, and behind the end effector grabbing workpiece, the flatness of position location and workpiece changes, and error will occur.In order to realize accurate material loading; Topical oil at scroll chuck is coated with lacquer the circle of coating two groups of different-diameters, every group of two circles, and equal diameters; Two circles that diameter is bigger are used for the demarcation of the image frame of wired 2D-CCD, and two less circles of diameter are used for the demarcation of transmission time laser distance sensor.Principle of work is following: before formal material loading; Select a blank as initial workpiece; Through wired 2D-CCD and transmission time laser distance sensor this workpiece picture point position in camera is demarcated with the relation of the taught point position of robot; Accomplish the characteristic of initial workpiece simultaneously and demarcate, the material loading program that teaching is accomplished is the material loading position of initial workpiece initial position, and this moment, workpiece material loading deviate was zero.Behind other workpiece of robot gripping, the position of setting circle and the flatness of workpiece change, and through wired 2D-CCD and transmission time laser distance sensor, robot can calculate location variation, and robot deposits deviate in the location register in.This moment, robot can be through compensating to deviate the material loading that initial position is realized workpiece.
The invention has the beneficial effects as follows that workpiece is placed in the hopper in a jumble, the present invention can accurately discern workpiece and grabbing workpiece through recognizer, and can realize accurate loading and unloading, has improved work efficiency, and has saved manual work.
Description of drawings
Shown in Figure 1 is the on-the-spot sketch of arranging.
Shown in Figure 2ly be that workpiece to be processed grasps flow process.
Shown in Figure 3 is the blanking flow process.
Shown in Figure 4 is the system principle structural drawing.
Among the figure, 1-lathe A, 2-lathe B, 3-hopper, 4-robot ambulation axle, 5-robot, 6-guardrail, the wireless 2D-CCD of 7-, 8-transmission time laser distance sensor, 9-vision support A, 10-vision support B, 11-robot switch board, 12-main control computer.
Embodiment
Shown in the on-the-spot arrangenent diagram of Fig. 1; Two numerically-controlled machines are arranged in a side of robot ambulation axle; The loading and unloading platform is laid in the centre position of two numerically-controlled machines, and robot is installed on the walking axis, and wireless 2D-CCD camera and transmission time laser distance sensor are installed on the end effector; The two ends of walking axis respectively are provided with a safety barrier, and a vision support respectively has been installed near the scroll chuck of two numerically-controlled machines.Embedded microprocessor adopts Samsung S3C2440 ARM9; Embedded OS is a linux system; Wireless 2D-CCD adopts the U.S. original-pack Linksys WVC210 Remote-controlled; Its wireless communication standard is 802.11b or 802.11g, and embodiment comprises extracting, material loading and the blanking of workpiece to be processed.
The extracting of
workpiece to be processed.Numerically-controlled machine 1 (or 2) sends the material loading signal, and this signal is sent to wireless receiver through serial communication protocol, and wireless receiver is sent to Samsung S3C2440 ARM9 processor with the material loading signal through the serial ports end; The controller control robot moves to the hopper side along walking axis and stops; Mechanical arm moves to the top of hopper, triggers wireless 2D-CCD by infrared ray and begins vertically to take workpiece, sends the picture that photographs to wireless receiver through after the processed compressed through radio communication; Wireless receiver will compress good picture and be sent to controller through USB interface; Controller is grabbed workpiece to be processed according to above-mentioned algorithm controls end effector, after extracting finishes, triggers through infrared ray; Wireless 2D-CCD stops to take, and the transmission time laser distance sensor quits work simultaneously.Robot moves to numerically-controlled machine 1 (or 2) loading and unloading position along walking axis, and is as shown in Figure 2.
material loading.Move to numerically-controlled machine 1 (or 2) the loading and unloading position of sending the material loading signal along walking axis behind the end effector of robot grabbing workpiece; The wired 2D-CCD that is installed on the vision support 1 (or 2) is begun to take by the infrared ray triggering; Transmission time laser distance sensor work is demarcated the characteristic of workpiece through video and sensor simultaneously, calculates the deviate of workpiece physical location and teaching position; Robot can realize the material loading of workpiece through compensating to deviate initial material loading position; After robot accomplished the material loading task, camera stopped to take, and the transmission time laser distance sensor quits work.
blanking.When numerically-controlled machine 1 (or 2) sends wireless blanking signal; This signal sends wireless receiver to through serial communication protocol, and wireless receiver is connected with the serial ports end of Samsung S3C2440 ARM9 processor, and Samsung S3C2440 ARM9 processor is redispatched the blanking signal to robot; Robot moves to this lathe place along walking axis; End effector grasps the workpiece that processes by the good track of planning, and robot movement is to the blanking bench place, and end effector is placed on the workpiece that grasps on the blanking bench; Return initial point then, as shown in Figure 3.
Claims (2)
1. serve the mobile robot's of two numerically-controlled machine loading and unloading control method; It is characterized in that; The wireless 2D-CCD that employing is installed on the end effector of robot gathers the position of workpiece and the video information of shape; After the video information process video acquisition that is collected, compression,, receive the processed video signal by the Wireless USB receiver through wireless transmission; And sending signal the embedded microprocessor of main control computer to through USB interface, processor is according to recognizer control end effector grabbing workpiece; Concrete steps are:
A) extracting of workpiece to be processed:Numerically-controlled machine sends the material loading signal, and the material loading signal is sent to the Wireless USB receiver through serial communication protocol, and the Wireless USB receiver is sent to processor with the material loading signal; Processor instruction controller control robot moves to the hopper side along walking axis and stops, and mechanical arm moves to the top of hopper, triggers wireless 2D-CCD by infrared ray and begins vertically to take workpiece; Start the transmission time laser distance sensor simultaneously; Send the picture that photographs to the Wireless USB receiver, the Wireless USB receiver is sent to the processor instruction controller with picture, and the processor instruction controller is grabbed workpiece to be processed according to recognizer control end effector; After extracting finishes; Trigger through infrared ray, wireless 2D-CCD stops to take, and the transmission time laser distance sensor quits work simultaneously; Robot moves to numerically-controlled machine loading and unloading position along walking axis;
B) material loading:Move to the numerically-controlled machine loading and unloading position of sending the material loading signal along walking axis behind the end effector of robot grabbing workpiece; The wired 2D-CCD that is installed on the vision support is begun to take by the infrared ray triggering; Transmission time laser distance sensor work is demarcated the characteristic of workpiece through video and sensor simultaneously, calculates the deviate of workpiece physical location and teaching position; Robot realizes the material loading of workpiece through compensating to deviate initial material loading position; After robot accomplished the material loading task, wired 2D-CCD stopped to take, and the transmission time laser distance sensor quits work;
C) blanking:When numerically-controlled machine sent wireless blanking signal, the blanking signal sent the Wireless USB receiver to through serial communication protocol, and the Wireless USB receiver is sent to processor with the blanking signal; Processor is redispatched the blanking signal to robot; Robot moves to this lathe place along walking axis, and end effector grasps the workpiece that processes by the good track of planning, and robot movement is to the blanking bench place; End effector is placed on the workpiece that grasps on the blanking bench, returns initial point then.
2. serve the mobile robot's of two numerically-controlled machine loading and unloading control method according to claim 1; It is characterized in that: said recognizer does; Workpiece is placed in the hopper desultorily, when robot movement is other to hopper, stops, and end effector moves to the hopper top then; Wireless 2D-CCD triggers the vertical workpiece of taking of beginning by infrared ray; The shape and the area of the picture of workpiece in taken workpiece picture and the java standard library are compared, and similarity reaches 80% and promptly can be used as the extracting target, starts the transmission time laser distance sensor simultaneously; If the similarity of neither one workpiece reaches 80% in the shot picture, then control robot movement and continue to take to another position; If have only the similarity of a workpiece to reach 80% in the shot picture, then mechanical hand moves to this workpiece place and grasps this workpiece; If there is the similarity of a plurality of workpiece to reach 80%, then measure the distance between each workpiece and the end effector by the transmission time laser distance sensor, with the minimum workpiece of distance as grasping object.
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| CN 201010603713 CN102073303B (en) | 2010-12-24 | 2010-12-24 | Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines |
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| CN102423786A (en) * | 2011-11-15 | 2012-04-25 | 江苏山湖电缆有限公司 | Feeder of wireless network numerical control punching machine |
| CN102514002B (en) * | 2011-12-29 | 2015-07-08 | 江苏大学 | Monocular vision material loading and unloading robot system of numerical control lathe and method thereof |
| CN103105823A (en) * | 2012-12-26 | 2013-05-15 | 江苏大学 | System and method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups |
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| CN109655730A (en) * | 2017-10-12 | 2019-04-19 | 北京信息科技大学 | A kind of probe station automatic positioning equipment |
| WO2020065950A1 (en) * | 2018-09-28 | 2020-04-02 | 株式会社Ｆｕｊｉ | Machine tool and processing machine line |
| JP2020179453A (en) * | 2019-04-25 | 2020-11-05 | セイコーエプソン株式会社 | Control method for robot system and robot system |
| CN112756915B (en) * | 2020-12-29 | 2022-05-27 | 陕西斯瑞新材料股份有限公司 | Method for processing grooved contact product |
| CN114131614A (en) * | 2021-12-24 | 2022-03-04 | 深圳市道元实业有限公司 | Robot control method, device, computer equipment and medium |
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Application publication date: 20110525 Assignee: Changzhou Hidea Machinery Co.,Ltd. Assignor: Jiangsu University Contract record no.: 2015320000286 Denomination of invention: Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines Granted publication date: 20121219 License type: Exclusive License Record date: 20150424 |
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Effective date of registration: 20190325 Address after: 225200 Longchuan Industrial Park, Jiangdu District, Yangzhou City, Jiangsu Province Patentee after: Jiangsu Tewei Machine Manufacturing Co., Ltd. Address before: No. 301, Xuefu Road, Jingkou District, Zhenjiang, Jiangsu Province Patentee before: Jiangsu University |
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