CN103273495A - Micro-assembling real-time demonstrating and collision detection system based on open graphics library (OpenGL) - Google Patents
Micro-assembling real-time demonstrating and collision detection system based on open graphics library (OpenGL) Download PDFInfo
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- CN103273495A CN103273495A CN2013102319661A CN201310231966A CN103273495A CN 103273495 A CN103273495 A CN 103273495A CN 2013102319661 A CN2013102319661 A CN 2013102319661A CN 201310231966 A CN201310231966 A CN 201310231966A CN 103273495 A CN103273495 A CN 103273495A
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Abstract
The invention discloses a micro-assembling real-time demonstrating and collision detection system based on open graphics library (OpenGL). The micro-assembling real-time demonstrating and collision detection system comprises a first control main machine, a second control main machine, a micro-assembling part three-dimensional pose display module, a system initialization module, a micro-part A and micro-part B manual posture control module and a micro-part A and micro-part B pose relationship accurate display module. The micro-assembling real-time demonstrating and collision detection system can feed back on-line detected micro-part postures in real time, can enable users to observe the current assembling state of the micro-parts in a 360-degree full view and zooming mode, meanwhile can perform collision detection between parts and manipulators, prevents unrecoverable serious consequences caused by collision between the parts and has wide application prospects and considerable social and economic benefits.
Description
Technical field
The invention belongs to the technical field of little assembling and three-dimensional animation combination, especially a kind ofly can show system with collision detection in real time to the position of the micro element in little assembling process and attitude.
Background technology
Little assembling is by the technology that grasps exactly, locatees, operation such as aligning is assembled into a plurality of little parts complicated micro-system, mainly refer to tens microns assembling works of carrying out to the parts of mm size, be MEMS (Micro-Electro-Mechanical Systems, MEMS) Yan Jiu core content and hot subject are with a wide range of applications and significance.Little mounting technology can be widely used in fields such as electronics, space flight, biology, semiconductor integrated circuit, is subjected to the generally attention of countries in the world.
Central China University of Science and Technology's application number is 01252465.4 the designed little assembly robot system of patent application, constituted by system's main control system, microoperation manipulator, vacuum micro-tool, the microscope that has a camera, can carry out automatically and semi-automatic operation and assembling work the submillimeter level particulate objects, its positioning accuracy can reach 1-5 μ m, three-dimensional range of movement can reach 50-150mm, has certain application prospect and social economic effect.But this system can only operate submillimeter particulate objects, can't finish the complicated assembling of micron-sized precision component.
Microoperation/little assembly system that the fine intelligence that Nanjing Aero-Space University builds is made, constituted by system's main control system, microoperation manipulator, the two-way vision system that has a CCD of microlens, operation and the assembling of the little processing parts in microoperation/little assembly system that can realize fine intelligence is made have certain realistic meaning and important researching value.But this degree of freedom in system is few, and the operating space is little, and the two-way vision system is difficult to set up mutual pose transformational relation.In addition, this system does not have integrated digital prototyping system and power position to detect control.Therefore, its versatility and independence are restricted.
In a word, though the assembling research work to micro parts has obtained some progress both at home and abroad, but these technology are the integrated digital prototyping system not, can not carry out real-time tracking and demonstration to the position orientation relation of zero device in the assembling process, not consider because misoperation is brought expendable serious consequence to arm end or zero device failure.
Summary of the invention
The objective of the invention is to solve the defective that above-mentioned prior art exists, provide a kind of can the narrow and small assembly space of omnibearing displaying in real time demonstration and the collision detecting system of confined state of zero device.This system can the reflection assembling process of real-time online in the position orientation relation of zero device, can prevent because of misoperation or control mutual collision between the improper part that causes, the damage of the part that brings.
To achieve these goals, the online little assembling real time demonstration of a kind of three-dimensional little part based on OpenGL and collision detecting system that the present invention proposes, it is characterized in that, this system comprises: first main control system, second main control system, little Assembly part three-dimensional pose display module 1, system initialization module 2, little part A and the manual attitude control module 3 of little part B, the accurate display module 4 of the pose relativeness of little part A and little part B, wherein:
Described system initialization module 2 be used for reading in micro element A and micro element B three-dimensional modeling data, determine threedimensional model the initial pose of described system and control first main control system and second main control system between foundation and the disconnection of communication system;
Described little Assembly part three-dimensional pose display module 1 is used for playing up the threedimensional model that technology shows micro element A and micro element B based on OpenGL, and the threedimensional model of described micro element A and micro element B is to draw according to the actual object size of micro element A and micro element B;
Described first main control system connects actual little assembly system device, be used for receiving the picture signal of actual micro element and it being carried out image handle, obtain the relative pose data between the micro element, and then by communication protocol described relative pose data are sent to described second main control system;
Described second main control system is used for moving according to virtual micro element A and the micro element B of the described system of described relative pose data-driven, make virtual micro element A consistent with actual little Assembly part maintenance relative pose with micro element B, to reflect the relative pose relation between micro element A and the micro element B in real time;
The manual attitude control module 3 of described little part A and little part B is used for little part A and little part B being carried out adjustment and the control of manual attitude according to little part A of user's expectation and the position orientation relation of little part B;
The accurate display module 4 of described little part A and little part B pose relativeness is used for showing that according to the adjustment of the driving of described second main control system and/or described little part A and the manual attitude control module 3 of little part B and control the relative pose between little part A and the little part B concerns.
The present invention is complete, a system with versatility and practicality that little assembly robot of reality and 3-dimensional digital model machine Display Technique are combined, can make things convenient for the position orientation relation that reflects zero device in the assembling process intuitively, avoid the part damaged in collision that causes because of misoperation.Along with the fast development of MEMS, application prospect of the present invention and economic results in society are considerable.
The invention has the beneficial effects as follows: 1) based on little assembly system of reality, adopt OpenGL three-dimensional animation technology to realize the real-time pose of assembly ware is shown; 2) by the TCP/IP network transmission protocol, realized the remote monitoring assemble flow; 3) pose of real-time demonstration Assembly part can be realized the monitoring of collision that part is caused because of misoperation.
Description of drawings
Fig. 1 is real-time demonstration and the collision detecting system structural representation that the present invention is based on OpenGL.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is online little assembling real time demonstration and the collision detecting system structural representation based on OpenGL of the present invention, among the figure: the little Assembly part three-dimensional pose of 1-display module; The 2-system initialization module; The manual attitude control module of the little part A of 3-and little part B; The accurate display module of the pose relativeness of the little part A of 4-and little part B; The little part A of 5-; The little part B of 6-; As shown in Figure 1, described little assembling real time demonstration and collision detecting system based on OpenGL comprises: first main control system, second main control system, little Assembly part three-dimensional pose display module 1, system initialization module 2, little part A and the manual attitude control module 3 of little part B, the accurate display module 4 of the pose relativeness of little part A and little part B, wherein:
Described first main control system connects actual little assembly system device, be used for receiving the picture signal of actual micro element and it being carried out image handle, obtain the relative pose data between the micro element, and then the control data of controlled micro element translation and rotation on the XYZ direction, and then by reliable communication protocol, such as the TCP/IP transmission control protocol with described relative pose data and control data, be sent to described second main control system, described second main control system is used for moving according to virtual micro element A and the micro element B of described relative pose data and the described system of control data-driven, make virtual micro element A consistent with actual little Assembly part maintenance relative pose with micro element B, reflecting the relative pose relation between micro element A and the micro element B in real time, for the virtual demonstration of described system provides platform;
Described little Assembly part three-dimensional pose display module 1 is used for showing based on OpenGL the threedimensional model of micro element A and micro element B; Wherein, the threedimensional model of described micro element A and micro element B all is the actual object sizes according to micro element A and micro element B, adopt the three-dimensional drawing software of PROE to draw, the model recycling rhinoceros software of drawing out is converted to the form that VC software can carry out color applying drawing, in VC software, adopt OpenGL to play up technology, micro element A and micro element B are carried out Three-dimensional Display; Simultaneously, described little Assembly part three-dimensional pose display module 1 also adds illumination in displayed scene, make that the drafting of scene is truer;
Described system initialization module 2 is used for reading in the three-dimensional modeling data of micro element A and micro element B, determine the initial pose of threedimensional model in described system, and foundation and the disconnection of controlling the communication system between first main control system and second main control system, such as the COM1 that opens or closes between first main control system and second main control system, the TCP/IP transmission control protocol is adopted in the foundation of described communication system, to receive micro element A and micro element B real physics pose state in real time and real-time pass through second main control system to the state of first main control system transmission collision detection;
The manual attitude control module 3 of described little part A and little part B is used for according to little part A of user's expectation and the position orientation relation of little part B little part A and little part B being carried out manual attitude adjustment and control, described adjustment and control comprise the convergent-divergent to little three-dimensional part model, and adjust and control translation and the rotation of little part on XYZ three direction of principal axis;
The accurate display module 4 of described little part A and little part B pose relativeness is used for showing that according to the adjustment of the driving of described second main control system and/or described little part A and the manual attitude control module 3 of little part B and control the relative pose between little part A and the little part B concerns, give the user to show intuitively, the parameter of described relative pose relation comprises little part A and translation freedoms and the rotary freedom of little part B on the XYZ direction; The little part A of control that described first main control system sends and/or the little part B control data of translation and rotation on the XYZ direction are sent to described second main control system, little part A and little part B that second main control system is judged in the described accurate display module can bump, second main control system will send command for stopping to first main control system immediately, and described first main control system forces actual little assemble flow to stop according to described command for stopping.
The present invention adopts OpenGL three-dimensional animation technology in the VC software systems, has realized in little assembling process the comprehensive online demonstration to the real-time pose state of Assembly part; It also has collision checking function, can reflect the relation of the spatial pose between micro element in the assemble flow intuitively.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the online little assembling real time demonstration of the three-dimensional little part based on OpenGL and collision detecting system, it is characterized in that, this system comprises: first main control system, second main control system, little Assembly part three-dimensional pose display module 1, system initialization module 2, little part A and the manual attitude control module 3 of little part B, the accurate display module 4 of the pose relativeness of little part A and little part B, wherein:
Described system initialization module 2 be used for reading in micro element A and micro element B three-dimensional modeling data, determine threedimensional model the initial pose of described system and control first main control system and second main control system between foundation and the disconnection of communication system;
Described little Assembly part three-dimensional pose display module 1 is used for playing up the threedimensional model that technology shows micro element A and micro element B based on OpenGL, and the threedimensional model of described micro element A and micro element B is to draw according to the actual object size of micro element A and micro element B;
Described first main control system connects actual little assembly system device, be used for receiving the picture signal of actual micro element and it being carried out image handle, obtain the relative pose data between the micro element, and then the control data of controlled micro element translation and rotation on the XYZ direction, and then by communication protocol described relative pose data are sent to described second main control system;
Described second main control system is used for moving according to virtual micro element A and the micro element B of described relative pose data and the described system of control data-driven, make virtual micro element A consistent with actual little Assembly part maintenance relative pose with micro element B, to reflect the relative pose relation between micro element A and the micro element B in real time;
The manual attitude control module 3 of described little part A and little part B is used for little part A and little part B being carried out adjustment and the control of manual attitude according to little part A of user's expectation and the position orientation relation of little part B;
The accurate display module 4 of described little part A and little part B pose relativeness is used for showing that according to the adjustment of the driving of described second main control system and/or described little part A and the manual attitude control module 3 of little part B and control the relative pose between little part A and the little part B concerns.
2. system according to claim 1 is characterized in that, described little Assembly part three-dimensional pose display module 1 also adds illumination in displayed scene, make that the drafting of scene is truer.
3. system according to claim 1, it is characterized in that, the TCP/IP transmission control protocol is adopted in the foundation of described communication system, to receive micro element A and micro element B real physics pose state in real time and real-time pass through second main control system to the state of first main control system transmission collision detection.
4. system according to claim 1 is characterized in that, describedly little part A and little part B are carried out manual attitude adjustment and control comprises convergent-divergent to little three-dimensional part model, and adjust and control translation and the rotation of little part on XYZ three direction of principal axis.
5. system according to claim 1 is characterized in that, the parameter of described relative pose relation comprises little part A and translation freedoms and the rotary freedom of little part B on the XYZ direction.
6. system according to claim 1, it is characterized in that, if little part A and little part B that described second main control system is judged in the described accurate display module according to described relative pose data and control data can bump, second main control system will send command for stopping to first main control system immediately, and described first main control system forces actual little assemble flow to stop according to described command for stopping.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106127845A (en) * | 2016-06-28 | 2016-11-16 | 同济大学 | Turn-milling complex machining center online collision avoidance system partial model pose alternative approach |
| CN111679773A (en) * | 2020-05-08 | 2020-09-18 | 大连理工大学 | Windows-based feature measurement and display method |
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Cited By (4)
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| CN111679773A (en) * | 2020-05-08 | 2020-09-18 | 大连理工大学 | Windows-based feature measurement and display method |
| CN111679773B (en) * | 2020-05-08 | 2023-08-04 | 大连理工大学 | Feature measurement and display method based on windows |
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