CN102073303A

CN102073303A - Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines

Info

Publication number: CN102073303A
Application number: CN 201010603713
Authority: CN
Inventors: 顾寄南; 胡典传; 沈跃; 陈四杰; 师二产; 牛军燕; 许可诚; 王君; 谢娟娟
Original assignee: Jiangsu University
Current assignee: Jiangsu Tewei Machine Tool Manufacturing Co ltd
Priority date: 2010-12-24
Filing date: 2010-12-24
Publication date: 2011-05-25
Anticipated expiration: 2030-12-24
Also published as: CN102073303B

Abstract

A control method serving two CNC machine tool loading and unloading moving robots, which belongs to the technical field of industrial robot loading and unloading control systems, adopts a wireless 2D-CCD installed on the end effector of the robot to collect the position and shape video information of the workpiece, and converts the After the collected video information is collected and compressed, it is transmitted wirelessly, and the processed video signal is received by the wireless USB receiver, and the signal is transmitted to the main control computer through the USB interface, embedded microprocessor, and the processor is based on the recognition algorithm. Control the end effector to grab the workpiece. The invention can accurately identify and grab the workpiece through the recognition algorithm, and can realize accurate loading and unloading, thereby improving work efficiency and saving manpower.

Description

Serve two numerically-controlled machine loading and unloading mobile robots' control method

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

Existing intelligence machine human direct current generator generally all adopts single-chip microcomputer or DSP at a high speed etc. to control when driving, and the uniform machinery people often needs to realize separately function with a plurality of CPU.But along with the integrated degree requirement to intelligent robot is more and more higher, 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 as company limited of Shanghai Fa Nake robot adopts PLC to control exactly, and gets material level and put fixing.Put when not fixing when getting material level, 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 technical scheme that the present invention is adopted for achieving the above object 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 by 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, follow away axle and move to that hopper is other to stop, robot movement is to the top of hopper, wireless 2D-CCD starts the vertical workpiece of taking of beginning by infrared ray, start 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 control robot movement and continue to the another location to take; 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 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 determining to grasp object, end effector is adjusted attitude, at the centroid position place of workpiece grabbing workpiece.By 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 as follows: before formal material loading, select a blank as initial workpiece, by 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, finishing the feature of initial workpiece simultaneously demarcates, the material loading program that teaching is finished 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 by 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 by 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 by recognizer, and can realize accurate loading and unloading, has improved work efficiency, and has saved artificial.

Description of drawings

Figure 1 shows that the on-the-spot sketch of arranging.

Figure 2 shows that workpiece to be processed grasps flow process.

Figure 3 shows that the blanking flow process.

Figure 4 shows that 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, robot is installed on the walking axle, wireless 2D-CCD camera and transmission time laser distance sensor are installed on the end effector, the two ends of walking axle 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, this signal is sent to wireless receiver by serial communication protocol, wireless receiver is sent to Samsung S3C2440 ARM9 processor with the material loading signal by the serial ports end, the controller control robot follows away axle and moves to that hopper is other to stop, mechanical arm moves to the top of hopper, trigger wireless 2D-CCD by infrared ray and begin vertically to take workpiece, after handling, overcompression sends the picture that photographs to wireless receiver by radio communication, wireless receiver will compress good picture and be sent to controller by USB interface, controller is grabbed workpiece to be processed according to above-mentioned algorithm controls end effector, after extracting finishes, trigger by infrared ray, wireless 2D-CCD stops to take, and the transmission time laser distance sensor quits work simultaneously.Robot follows away axle and moves to numerically-controlled machine 1(or 2) the loading and unloading position, as shown in Figure 2.

Material loading.Follow away axle behind the end effector of robot grabbing workpiece and move to the numerically-controlled machine 1(or 2 that sends the material loading signal) the loading and unloading position, be installed in vision support 1(or 2) on wired 2D-CCD trigger by infrared ray and begin to take, transmission time laser distance sensor work simultaneously, by video and sensor the feature of workpiece is demarcated, calculate the deviate of workpiece physical location and teaching position, robot can realize the material loading of workpiece by deviate being compensated to initial material loading position, after robot finishes the material loading task, camera stops to take, and the transmission time laser distance sensor quits work.

Blanking.As numerically-controlled machine 1(or 2) when sending wireless blanking signal, this signal sends wireless receiver to by serial communication protocol, wireless receiver is connected with the serial ports end of Samsung S3C2440 ARM9 processor, Samsung S3C2440 ARM9 processor sends the blanking signal again to robot, robot follows away axle and moves to this lathe place, end effector grasps the workpiece that processes by the good track of planning, robot movement is to the blanking bench place, end effector is placed on the workpiece that grasps on the blanking bench, return initial point then, as shown in Figure 3.

Claims

1. The control method of the loading and unloading mobile robot serving two CNC machine tools is characterized in that the wireless 2D-CCD installed on the end effector of the robot is used to collect the position and shape video information of the workpiece, and the collected video information is passed through After the video is collected and compressed, the processed video signal is received by the wireless USB receiver through wireless transmission, and the signal is transmitted to the main control computer through the USB interface, embedded microprocessor, and the processor controls the end effector to grab according to the recognition algorithm. artifact.

2. The control method serving two CNC machine tools as claimed in claim 1, wherein the loading and unloading mobile robot is characterized in that the specific steps are:

A) Grabbing of the workpiece to be processed; the CNC machine tool sends out a feeding signal, which is transmitted to the wireless receiver through the serial port communication protocol, and the wireless receiver transmits the feeding signal to the processor, and the processor instructs the controller to control the robot to walk along the The axis moves to the side of the material box and stops, the manipulator moves to the top of the material box, the infrared triggers the wireless 2D-CCD to start vertically photographing the workpiece, and transmits the captured pictures to the wireless receiver, and the wireless receiver transmits the pictures to the controller. The controller controls the end effector to grasp the workpiece to be processed according to the recognition algorithm. When the grasping is completed, the wireless 2D-CCD stops shooting through the infrared trigger, and at the same time the transmission time laser distance sensor stops working; the robot moves along the walking axis to the CNC machine tool for loading and unloading Location;

B) Loading: The end effector of the robot grabs the workpiece and moves along the walking axis to the loading and unloading position of the CNC machine tool that sends out the loading signal. The wired 2D-CCD is triggered by infrared rays to start shooting, and the laser distance sensor works at the same time. Through video and The sensor calibrates the characteristics of the workpiece, and calculates the deviation value between the actual position of the workpiece and the teaching position. The robot realizes the loading of the workpiece by compensating the deviation value to the initial loading position. When the robot completes the loading task, the camera stops shooting , the transmission time laser distance sensor stops working;

C) Material blanking; when the CNC machine tool sends a wireless material blanking signal, the material blanking signal is transmitted to the wireless receiver through the serial port communication protocol, and the wireless receiver transmits the material blanking signal to the processor, and the processor then sends the material blanking signal to the robot. The robot moves to the machine tool along the walking axis, the end effector grabs the processed workpiece according to the planned trajectory, the robot moves to the unloading table, the end effector places the captured workpiece on the unloading table, and then returns to the origin .

3. As claimed in claim 1 or 2, the control method serving two CNC machine tools for loading and unloading mobile robots is characterized in that: the recognition algorithm is that the workpieces are placed in the material box in a disorderly manner, and when the robot moves to the material box Then the end effector moves to the top of the material box, the wireless 2D-CCD is triggered by infrared rays and starts to shoot the workpiece vertically, and compares the captured workpiece picture with the shape and area of the workpiece picture in the standard library, and the similarity When it reaches 80%, it can be used as the grabbing target, and at the same time start the transmission time laser distance sensor. If there is no workpiece in the captured picture whose similarity reaches 80%, control the manipulator to move to another position to continue shooting; if the captured picture There is only one workpiece with a similarity of 80%, then the robot moves to the workpiece and grabs the workpiece; if there are multiple workpieces with a similarity of 80%, the transmission time laser distance sensor measures the distance between each workpiece and the end. The workpiece with the smallest distance is taken as the grabbing object.