CN110744549A - Intelligent assembly process based on man-machine cooperation - Google Patents
Intelligent assembly process based on man-machine cooperation Download PDFInfo
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- CN110744549A CN110744549A CN201911093707.0A CN201911093707A CN110744549A CN 110744549 A CN110744549 A CN 110744549A CN 201911093707 A CN201911093707 A CN 201911093707A CN 110744549 A CN110744549 A CN 110744549A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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Abstract
The invention discloses an intelligent assembly process based on man-machine cooperation; the man-machine cooperation intelligent assembly process comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, man-machine cooperation is carried out, and in addition, the system is used for carrying out assembly guidance on operators. The assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished. The patent also has the following advantages and beneficial effects; 1) the automatic identification of the types and the positions of the parts is realized, the parts are prevented from being taken by mistake, being taken more and being taken by mistake, and the assembly efficiency is improved; 2) man-machine cooperative assembly is adopted, the assembly problem is found in time, the loss is reduced, and the assembly efficiency and accuracy are improved; 3) the mechanical arm is anti-collision, and the safety of the assembly process is protected.
Description
Technical Field
The invention relates to the field of intelligent assembly, in particular to an intelligent assembly process based on man-machine cooperation.
Background
The conventional method mainly depends on workers to select and assemble parts of products to be assembled, takes long time and seriously reduces the efficiency and accuracy of part assembly. Meanwhile, the worker assembles the product often causes error in part assembly due to fatigue and carelessness, thereby causing failure in product assembly, and the re-inspection of the assembly error is time-consuming and inefficient, thus seriously affecting the product manufacturing and field efficiency; for the robot, although the accuracy and efficiency of assembling products can be ensured, the robot cannot be assembled according to requirements and cannot replace manual assembly when a complex assembly process is faced; in addition, in the assembling process of the traditional assembling system, the safety of the matched assembling personnel can not be ensured, and the cooperation of the robot and the machine is difficult to realize.
Disclosure of Invention
Therefore, in order to solve the above-mentioned disadvantages, the present invention provides an intelligent assembling process based on human-machine cooperation; the man-machine cooperation intelligent assembly process comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, man-machine cooperation is carried out, and in addition, the system is used for carrying out assembly guidance on operators. The assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished.
The invention is realized in such a way, and an intelligent assembling process based on man-machine cooperation is constructed, which is characterized in that: the man-machine cooperation intelligent assembly process comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, man-machine cooperation is carried out, and in addition, the system is used for carrying out assembly guidance on operators. The assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished;
the assembly process of the whole intelligent assembly process comprises the following steps:
1) part identification and positioning: determining the type and the position of a grabbed part through machine vision;
2) judging and early warning parts: when the part is not in the grabbing range, the part is wrong, and the part is lost, the automatic alarm is given;
3) receiving a taking command: an operator sends an operation command to the assembly system in a gesture, voice or various modes, and the assembly system converts the command into corresponding operation;
4) the assembly system takes parts: the assembly system picks a part corresponding to the command to an operator;
5) the assembly system guides manual assembly: the assembly system guides the assembly of an operator in a guide screen or AR glasses;
6) and (3) detection of an assembly process: carrying out process detection measurement on an assembly body assembled by an operator;
7) assembly judgment and early warning: if the measured data of the assembly body is not qualified, an alarm is automatically sent out, and an operator is required to reassemble the assembly body;
8) assembly code recognition: identifying assembly body code information so as to conveniently bind a detected data result;
9) data can be tracked and stored: and the detected data can be subjected to data binding with the corresponding number, so that the functions of traceability, storage and query are realized.
The invention has the following advantages: the invention provides an intelligent assembly process based on man-machine cooperation; the man-machine cooperation intelligent assembly process comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, man-machine cooperation is carried out, and in addition, the system is used for carrying out assembly guidance on operators. The assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished. The patent also has the following advantages and beneficial effects; 1) the automatic identification of the types and the positions of the parts is realized, the parts are prevented from being taken by mistake, being taken more and being taken by mistake, and the assembly efficiency is improved; 2) man-machine cooperative assembly is adopted, the assembly problem is found in time, the loss is reduced, and the assembly efficiency and accuracy are improved; 3) the mechanical arm is anti-collision, and the safety of the assembly process is protected.
Drawings
FIG. 1 is a flow chart of a human-machine collaboration assembly-only system;
fig. 2 is an assembly guidance flow chart.
Detailed Description
The present invention will be described in detail with reference to fig. 1-2, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an intelligent assembling process based on man-machine cooperation through improvement, and the process is used for finishing complex assembling processes such as assembling of small parts, thin sheets, flexible and deformed parts, easily-damaged parts, fine assembling of complex assembling spaces and the like in the man-machine cooperation mode.
Compared with the traditional interaction mode of a mouse and a keyboard, the natural man-machine interaction mode mainly comprises the following steps: voice control, gesture recognition, body posture recognition and face recognition. Because natural human-computer interaction has the characteristics of simplicity, easiness in use, smoothness and the like, particularly gesture interaction and voice interaction, gestures and voice of a person are used as input information of the interaction between the person and a machine, and an intermediate medium between the human and the machine is omitted.
Based on gesture recognition human-computer cooperation technology: gesture recognition originates from a natural human-computer interaction mode, which focuses on people and emphasizes barrier-free communication between users and machines in a human natural mode. The human hand has the advantages of naturalness, immediacy, directness, richness and the like as an input mode, so the efficient man-machine cooperation work is realized by adopting a gesture recognition method.
The man-machine cooperation technology based on the voice recognition comprises the following steps: the voice recognition method is adopted to assist in completing assembly operation, and a recommended part assembly sequence planning is adopted, so that operation errors of a user can be effectively reduced, and better user experience is brought.
The man-machine cooperation intelligent assembly system comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, and is used for mutual cooperation between man and machine, and in addition, the system is used for carrying out assembly guidance on operators. The assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished.
The assembly process of the whole intelligent assembly process comprises the following steps:
1) part identification and positioning: determining the type and the position of a grabbed part through machine vision;
2) judging and early warning parts: when the part is not in the grabbing range, the part is wrong, and the part is lost, the automatic alarm is given;
3) receiving a taking command: an operator sends an operation command to the assembly system in a gesture, voice or various modes, and the assembly system converts the command into corresponding operation;
4) the assembly system takes parts: the assembly system picks a part corresponding to the command to an operator;
5) the assembly system guides manual assembly: the assembly system guides the assembly of an operator in a guide screen or AR glasses;
6) and (3) detection of an assembly process: carrying out process detection measurement on an assembly body assembled by an operator;
7) assembly judgment and early warning: if the measured data of the assembly body is not qualified, an alarm is automatically sent out, and an operator is required to reassemble the assembly body;
8) assembly code recognition: identifying assembly body code information so as to conveniently bind a detected data result;
9) data can be tracked and stored: and the detected data can be subjected to data binding with the corresponding number, so that the functions of traceability, storage and query are realized.
Contact is inevitable to occur in the interaction process of personnel and the assembly system, and once the contact is too violent, the robot controlled by the assembly system stops moving so as to guarantee the safety of personnel and ensure the safe operation of man-machine cooperation.
The patent has the following advantages and beneficial effects;
1) the automatic identification of the types and the positions of the parts is realized, the parts are prevented from being taken by mistake, being taken more and being taken by mistake, and the assembly efficiency is improved;
2) man-machine cooperation assembly finds the assembly problem in time, reduces the loss, improves the efficiency and the degree of accuracy of assembly.
3) The mechanical arm is anti-collision, and the safety of the assembly process is protected.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (1)
1. An intelligent assembly process based on man-machine cooperation is characterized in that: the man-machine cooperation intelligent assembly process comprises a cooperation mode of gesture recognition, voice recognition or multiple information fusion, man-machine cooperation is carried out, and in addition, the system carries out assembly guidance on operators; the assembly guide is mainly a platform for establishing guide by means of an assembly body model, each part on the platform corresponds to a serial number, the guide is carried out according to an assembly process to guide details and cautions in assembly, and the assembly body is verified and prevented from errors after the assembly is finished;
the assembly process of the whole intelligent assembly process comprises the following steps:
1) part identification and positioning: determining the type and the position of a grabbed part through machine vision;
2) judging and early warning parts: when the part is not in the grabbing range, the part is wrong, and the part is lost, the automatic alarm is given;
3) receiving a taking command: an operator sends an operation command to the assembly system in a gesture, voice or various modes, and the assembly system converts the command into corresponding operation;
4) the assembly system takes parts: the assembly system picks a part corresponding to the command to an operator;
5) the assembly system guides manual assembly: the assembly system guides the assembly of an operator in a guide screen or AR glasses;
6) and (3) detection of an assembly process: carrying out process detection measurement on an assembly body assembled by an operator;
7) assembly judgment and early warning: if the measured data of the assembly body is not qualified, an alarm is automatically sent out, and an operator is required to reassemble the assembly body;
8) assembly code recognition: identifying assembly body code information so as to conveniently bind a detected data result;
9) data can be tracked and stored: and the detected data can be subjected to data binding with the corresponding number, so that the functions of traceability, storage and query are realized.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618550A (en) * | 2020-05-18 | 2020-09-04 | 上海交通大学 | Flexible matching system for augmented reality auxiliary assembly of missile cabin and monitoring method |
| CN112734945A (en) * | 2021-03-30 | 2021-04-30 | 上海交大智邦科技有限公司 | Assembly guiding method, system and application based on augmented reality |
| CN114453852A (en) * | 2022-02-16 | 2022-05-10 | 上海海事大学 | Method and system for controlling mechanical arm to assemble blade based on voice recognition |
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