CN102120307A - System and method for grinding industrial robot on basis of visual information - Google Patents

System and method for grinding industrial robot on basis of visual information Download PDF

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CN102120307A
CN102120307A CN 201010603399 CN201010603399A CN102120307A CN 102120307 A CN102120307 A CN 102120307A CN 201010603399 CN201010603399 CN 201010603399 CN 201010603399 A CN201010603399 A CN 201010603399A CN 102120307 A CN102120307 A CN 102120307A
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workpiece
grinding
industrial robot
computer
video camera
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CN102120307B (en
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区志财
乔红
苏建华
张波
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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Abstract

The invention relates to a system and a method for grinding an industrial robot on the basis of visual information. In the system, the image of a workpiece is collected by a video camera; the workpiece is positioned by computer recognition; the movement locus points of a mechanical arm from the current position to a fetching position are planned on line to control the mechanical arm to fetch the workpiece; and then, the revolving speed and the revolving direction of an abrasive belt are controlled by a preset operation step of grinding so as to control the industrial robot to move the workpiece to an appointed position and gesture for grinding and polishing the workpiece. In the system, the video camera collects the image of the workpiece in real time; the workpiece is identified and positioned by the computer to control the mechanical arm to fetch the workpiece; the movement of the industrial robot and the running state of a grinder in the workpiece grinding operation are controlled; the data end of a computer is connected with the data end of the control cabinet of the industrial robot; output locus points controls the industrial robot to move; and the data end of the computer is connected with the data end of the grinder to control the grinder to start and stop and control the revolving speed and the revolving direction of the abrasive belt.

Description

A kind of industrial robot grinding system and method based on visual information
Technical field
The present invention relates to a kind of grinding system, particularly a kind of industrial robot grinding system and method based on visual information.
Background technology
In manufacturing industry, grinding-polishing is the operation of one key, and the quality of grinding has often determined the class of product.Traditional workpiece grinding mainly contains these three kinds of patterns of artificial grinding, special purpose machine tool grinding and Digit Control Machine Tool grinding.Yet artificial grinding workload is big, efficient is lower, and the homogeneity of workpiece processing is relatively poor; The special purpose machine tool versatility is bad, only is fit to produce in batches; The processing cost of Digit Control Machine Tool is higher.In addition, a large amount of dust of polishing departement have caused threat to workers'health.
Industrial robot has the automaticity height, flexibility is good, the operating space is little, can long-play, numerous advantages such as control able to programme, manufactured gradually industry is paid attention to and is used.Utilize robot to carry out the homogeneity that grinding had both guaranteed the product grinding, enhance productivity again, attracted researcher's concern.Document " the robot grinding experiment and the analysis of rough surface " (Ni Xiaobo, Jin Dewen, Zhang Ji river, Chinese mechanical engineering, 2004,15 (22): 1986-1989) analyzed tangential grinding force in the grinding process and the laterally origin cause of formation and the difference of grinding force; Document " based on the robot high-precision grinding modeling of SVM " (Yang Yang etc., robot, 2010,32 (2): 278-282) proposed a kind of grinding process modeling method that returns based on SVMs (SVM), improved in the robot grinding process control to stock removal; Document " the robot grinding system that is used for the complex space Machining of Curved Surface " (Hong Yunfei, Li Chengqun, negative super, Chinese mechanical engineering, 2006,150-153) a kind of robot grinding system that can be used for the complex space Machining of Curved Surface has been proposed.Patent CN101738981A has proposed a kind of method for grinding based on machine learning, in order to realize high-precision grinding action.These researchs then are to utilize fixture to cooperate the location on the workpiece grasping manipulation paying close attention in the point set in the meticulous control of grinding action.
Therefore, how to make up a kind of industrial robot grinding system that utilizes visual information, detect workpiece to be ground in real time, the tracing point of online planning mechanical paw from current location to next position can improve the flexibility and the intelligent degree of grinding action effectively.
Summary of the invention
In order to improve in the workpiece grinding process, it is intelligent that the flexibility of workpiece placement location, workpiece grasp, and the object of the present invention is to provide a kind of industrial robot grinding system and method based on visual information.This system is by the workpiece on video frequency pick-up head detection in real time and the positioning table, and online planning mechanical paw to the tracing point that grasps the some position, is realized the intellectuality of workpiece extracting from current location, has improved the flexibility of grinding action.This system is according to pre-set grinding action step, the tracing point of the position and attitude of the workpiece grinding of mechanical paw from the current location to the appointment in the online planning grinding operation, and control the rotating speed of milling drum in real time and turn to, finish the automatic grinding of workpiece.
In order to realize described purpose, the invention provides a kind of industrial robot grinding system based on visual information, described system comprises industrial robot, computer, mechanical paw, video frequency pick-up head, milling drum, and mechanical paw is installed on industrial robot, is used for grabbing workpiece; Directly over workbench, be fixed with video frequency pick-up head, be used for the workpiece image on the real-time collecting work platform; Graphics processing unit in the computer is connected with video frequency pick-up head by video signal cable; Computer identification and location workpiece, control mechanical paw grabbing workpiece, the state of the motion of the industrial robot in the grinding action of control workpiece and the operation of milling drum; The data terminal of computer is connected with the data terminal of the switch board of industrial robot, by the motion of output trajectory point control industrial robot; The data terminal of computer is connected with the data terminal of milling drum, the startup of control milling drum, stops with the rotating speed in abrasive band, turns to.
In order to realize described purpose, a second aspect of the present invention provides a kind of industrial robot method for grinding that uses described industrial robot grinding system based on visual information, may further comprise the steps:
Step S1: set up transformational relation between industrial robot coordinate system and the video frequency pick-up head coordinate system according to grasping calibration algorithm;
Step S2: the initial placing attitude of setting workpiece, collection is in the image of the workpiece diverse location in the video frequency pick-up head visual field in the initial placing attitude, utilize the Haar feature of traditional Haar feature extraction algorithm extraction workpiece, obtain the Haar features training collection of workpiece diverse location in the video frequency pick-up head visual field;
Step S3: workpiece is placed on the workbench according to initial placing attitude, and video frequency pick-up head is gathered image directly over workbench;
Step S4: the graphics processing unit of computer extracts the Haar feature to the workpiece image of input, and the Haar feature of extracting and the Haar feature of training set are done coupling, detects and the location workpiece;
Step S5: the extracting control module of computer is according to the positional information of the workpiece of graphics processing unit output, and online planning mechanical paw grasps movement locus point a little from the current location to the workpiece, control industrial robot to transport motivation tool paw grabbing workpiece;
Step S6: the grinding action control module of computer is according to predefined grinding step, the rotating speed in the abrasive band of milling drum in the k step grinding is set and turns to, and 1≤k≤N, N are the side numbers that workpiece needs grinding;
Step S7: the grinding action control module of computer is according to the position and attitude of workpiece in the predefined k step grinding, on-line computer tool paw goes on foot the movement locus point of grinding action appointed positions attitude from the current location attitude to k, the control robot moves to appointed positions to workpiece, k side of the sbrasive belt grinding workpiece of milling drum, 1≤k≤N;
Step S8: repeating step S6 and step S7 need the side of grinding to be ground up to all of workpiece;
Step S9: industrial robot is put into appointed positions to the good workpiece of grinding.
Beneficial effect of the present invention: industrial robot, computer, mechanical paw, video frequency pick-up head and milling drum have been formed the industrial robot workpiece grinding system based on visual information.Be installed in the video frequency pick-up head of workbench top, detect and locate workpiece in real time, realize selection, improved the flexibility of workpiece placement and the intellectuality that workpiece grasps the workpiece crawl position.The industrial robot grinding system has been realized the automatic grinding to workpiece, has guaranteed the homogeneity of workpiece grinding, has improved the efficient of workpiece grinding.Advantage of the present invention has:
A) under the vision guide, industrial robot identification workpiece calculates the crawl position in computer, compare with traditional teach mode, has improved the flexibility of industrial robot extracting process.
B) serial signal line of milling drum is connected with the data terminal of computer, computer according to each the step grinding action demand, regulate in real time the abrasive band rotating speed and turn to, guaranteed the quality of grinding.
C) described industrial robot grinding system based on visual information has stronger extensibility on hardware structure, as expanding establishment multirobot cooperation grinding system or the establishment industrial robot grinding system based on the various visual angles vision.
Description of drawings
Fig. 1 is the pie graph based on the industrial robot grinding system of visual information of the embodiment of the invention;
Fig. 2 is the structural representation of each unit of computer-internal of the embodiment of the invention;
The flow chart of the industrial robot method for grinding that the workpiece based on visual information of Fig. 3 embodiment of the invention grasps.
Critical piece explanation among the figure:
Industrial robot 1 industrial machine human body 11
Industrial robot switch board 12 computers 2
Graphics processing unit 21 workpiece grasp control module 22
Grinding action control module 23 data communication units 24
Serial communication unit 25 mechanical paws 3
Video frequency pick-up head 4 milling drums 5
Abrasive band 51 workbench 6
Workpiece 7 video camera head frames 8
The specific embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present invention is elaborated.
As shown in Figure 1, industrial robot grinding system based on visual information comprises industrial robot 1, computer 2, mechanical paw 3, video frequency pick-up head 4, milling drum 5, and described computer 2 comprises that graphics processing unit 21, workpiece grasp control module 22, grinding action control module 23, data communication units 24, serial communication unit 25.Mechanical paw 3 is installed on industrial robot 1, is used for grabbing workpiece; Directly over workbench, be fixed with video frequency pick-up head 4, be used for the workpiece image on the real-time collecting work platform; Graphics processing unit 21 in the computer 2 is connected with video frequency pick-up head 4 by video signal cable; Computer 2 identifications and location workpiece, control mechanical paw 3 grabbing workpieces, the state of the motion of the industrial robot 1 in the grinding action of control workpiece and the operation of milling drum 5; The data terminal of computer 2 is connected with the data terminal of the switch board 12 of industrial robot 1, by the motion of output trajectory point control industrial robot 1; The data terminal of computer 2 is connected with the data terminal of milling drum 5, the startup of control milling drum 5, stops with the rotating speed in abrasive band, turns to.
Industrial robot 1 comprises industrial machine human body 11 and industrial robot switch board 12.Industrial robot 1 is the solid high six-shaft industrial robot or the six-shaft industrial robot of other models.Video frequency pick-up head 4 is the DS-2CZ252P camera or the camera of other model.Milling drum 5 is the double end belt grinding machine or the belt grinding machine of other models.
Milling drum 5 carries frequency converter, has network control function, by the RS485 universal serial bus, the frequency converter of milling drum is connected with the serial communication unit 25 of computer 2.According to the serial order control word that frequency converter frequency is adjusted, computer 2 is according to required rotating speed and turn to, and sends corresponding control word to serial communication unit 25, thus tangible abrasive band rotating speed and the adjustment that turns to.Frequency converter is the universal frequency converter FR-E700 of Mitsubishi, the perhaps universal frequency converter of other models
Be depicted as the structural representation of computer 2 inner each unit of the embodiment of the invention as Fig. 2, wherein: computer 2 comprises that graphics processing unit 21, workpiece grasp control module 22, grinding action control module 23, data communication units 24 and serial communication unit 25, wherein: graphics processing unit 21 is connected with video frequency pick-up head 4, the image of video frequency pick-up head 4 inputs is carried out the crawl position of image processing, detection workpiece, location workpiece; Workpiece grasps control module 22 and links to each other with graphics processing unit 21, according to the workpiece crawl position of graphics processing unit 21 outputs, plans from the current location tracing point of workpiece crawl position on earth; The predefined workpiece of storage needs the rotating speed in the location of workpiece of N step correspondence of a grinding N side and attitude, abrasive band 51 and turns in the grinding action control module 23, planning goes on foot the tracing point of the position of grinding from mechanical paw 3 current locations to k, 1≤k≤N, set the grinding of k step the abrasive band rotating speed and turn to; One end of data communication units 24 grasps control module 22 with workpiece respectively and links to each other with grinding action control module 23, receives the movement locus point that workpiece grasps the mechanical paw 3 of control module 22 and 23 outputs of grinding action control module; The other end of data communication units 24 is connected with industrial robot 1, to the movement locus point of industrial robot 1 output mechanical paw 3, by the motion of industrial robot 1 control mechanical paw 3; One end of serial communication unit 25 is connected with grinding action control module 23, receives the milling drum control instruction of grinding action control module 23 outputs; The other end of serial communication unit 25 is connected with milling drum 5, and the control instruction of the milling drum 5 of grinding action control module 23 outputs is converted to serial signal, and the startup of control milling drum 5 stops to turn to the rotating speed in abrasive band 51.
Be depicted as the flow chart of the industrial robot method for grinding of a kind of industrial robot grinding system based on visual information of the embodiment of the invention as Fig. 3, this method for grinding comprises the steps:
Step S1: set up transformational relation between video frequency pick-up head coordinate system and the industrial robot coordinate system according to grasping calibration algorithm; Before workpiece 7 is grasped grinding action,, set the initial putting position that is suitable for grasping of industrial robot 1 according to the position of workbench 6 and the field range of video frequency pick-up head 4.
Step S2: the initial placing attitude of setting workpiece 7, collection is in the image of workpiece 7 diverse location in video frequency pick-up head 4 visual fields in the initial placing attitude, utilize the Haar feature of traditional Haar feature extraction algorithm extraction workpiece 7, obtain the Haar features training collection of workpiece 7 diverse location in video frequency pick-up head 4 visual fields; The initial placing attitude of described workpiece is the attitude that makes things convenient for mechanical paw to grasp.
Step S3: workpiece is placed on the workbench according to initial placing attitude, and video frequency pick-up head 4 is gathered the background image that includes workpiece directly over workbench;
Step S4: the workpiece image of 21 pairs of inputs of graphics processing unit of computer 2 extracts the Haar feature, and the Haar feature of extracting and the Haar feature of training set are done coupling, detects and the location workpiece;
Step S5: the extracting control module 22 of computer 2 is according to the positional information of the workpiece of graphics processing unit 21 outputs, online planning mechanical paw 3 grasps movement locus point a little from the current location to the workpiece, control industrial robot 1 mechanically moving paw 3 grabbing workpieces;
Step S6: the grinding action control module 23 of computer 2 is according to predefined grinding step, the rotating speed in the abrasive band 51 of milling drum 5 in the k step grinding is set and turns to, and 1≤k≤N, N are the side numbers that workpiece needs grinding; Preestablish and be the rotating speed in workpiece 7 residing positions and attitude when before graphics processing unit 21 detects workpiece, just setting 7 of workers and needing the order of N side of grinding, each side of grinding, abrasive band 51 and turn to.
Step S7: the grinding action control module 23 of computer 2 is according to the position and attitude of workpiece in the predefined k step grinding, the movement locus point of on-line computer tool paw 3 step grinding action appointed positions attitude from the current location attitude to k, control robot 1 moves to appointed positions to workpiece, k side of abrasive band 51 grinding work pieces of milling drum 5,1≤k≤N;
Step S8: repeating step S6 and step S7 need the side of grinding to be ground up to all of workpiece;
Step S9: industrial robot 1 is put into appointed positions to the good workpiece of grinding.
Grasp calibration algorithm and determine the step following (cylinder that needs a rule) of the transformational relation of industrial robot coordinate system and video frequency pick-up head coordinate system:
Step b1: the cylinder setting is placed on the workbench 6 of a level altitude, mobile cylinder is to different positions, video frequency pick-up head 4 is gathered the cylinder image of diverse location, in computer 2, utilize oval extraction algorithm to extract the profile of the cylinder end face of diverse location, and the coordinate Cn of cylinder end face center under video frequency pick-up head 4 coordinate systems of calculating diverse location, the number of times of different position, n 〉=1 for cylinder moves;
Step b2: operation industrial robot 1 motion, make the mechanical paw 3 of industrial robot 1 move to the cylinder top, and the center line of cylinder end face of each position and the center line of mechanical paw 3 are overlapped substantially, mechanical paw 3 front ends just contact with the cylinder end face, the pose Pn of industrial robot 1 when computer 2 reads and write down the diverse location cylinder from industrial robot 1 data terminal;
Step b3: according to the first pose P1, the second pose P2, the 3rd pose P3, the 4th pose P4 and the n pose Pn of the industrial robot 1 of coordinate C1, C2, C3, C4 and the Cn correspondence of cylinder end face center under the coordinate system of video frequency pick-up head 2, setting coordinate and pose is quadric corresponding relation, utilizes the quadratic surface approximating method to simulate the coordinate system of video frequency pick-up head 4 and the transformation relation between industrial robot 1 coordinate system.
The calculation procedure of workpiece crawl position selection algorithm following (with the tap is embodiment, and the crawl position is the circular hole of the water inlet end of tap):
Step c1: the gray-scale map modular converter of tap crawl position selection algorithm is to contain the tap gray-scale map of having powerful connections with the tap image transitions of having powerful connections that contains of the data terminal of video frequency pick-up head 4 input in computer 2;
Step c2: the canny edge extracting module of tap crawl position selection algorithm is carried out edge extracting to containing the tap gray-scale map of having powerful connections;
Step c3: the oval detection algorithm of tap crawl position selection algorithm carries out match to the edge of Canny operator extraction, obtains all ellipses in the image.
Step c4: the haar feature that the Haar feature extraction algorithm of tap crawl position selection algorithm is oval in advance;
Step c5: Haar feature that each that will obtain is oval and the Haar characteristic matching in the training set, judge whether ellipse is the circular hole of the water inlet end of tap.
Step c6: according to the oval information that coupling obtains, calculate oval center, this center is exactly the crawl position of tap.
The step of the movement locus point of on-line computer tool paw from current location to next position is as follows:
Steps d 1:, current location point and next location point are transformed in the joint coordinate system of industrial robot according to the joint coordinate system of industrial robot and the transformational relation of cartesian coordinate system;
Steps d 2: in joint coordinate system, according to " crossing the cubic polynomial interpolation algorithm of path point ", the movement locus point of calculating machine paw.
The above; only be the specific embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected, all should be encompassed within the protection domain of claims of the present invention.

Claims (7)

1.一种基于视觉信息的工业机器人磨削系统，其特征在于，系统包括工业机器人(1)、计算机(2)、机械手爪(3)、视频摄像头(4)、磨削机(5)，在工业机器人(1)上安装有机械手爪(3)，用来抓取工件；在工作台的正上方固定有视频摄像头(4)，用于实时采集工作台上的工件图像；计算机(2)中的图像处理单元(21)通过视频信号线与视频摄像头(4)连接；计算机(2)识别和定位工件，控制机械手爪(3)抓取工件，控制工件磨削操作中的工业机器人(1)的运动和磨削机(5)的运行的状态；计算机(2)的数据端与工业机器人(1)的控制柜(12)的数据端连接，通过输出轨迹点控制工业机器人(1)的运动；计算机(2)的数据端与磨削机(5)的数据端连接，控制磨削机(5)的启动、停止和砂带的转速、转向。1. A kind of industrial robot grinding system based on visual information, it is characterized in that, system comprises industrial robot (1), computer (2), manipulator claw (3), video camera (4), grinder (5), A mechanical claw (3) is installed on the industrial robot (1) to grab the workpiece; a video camera (4) is fixed directly above the workbench for real-time collection of images of the workpiece on the workbench; the computer (2) The image processing unit (21) in the device is connected to the video camera (4) through a video signal line; the computer (2) identifies and locates the workpiece, controls the manipulator claw (3) to grab the workpiece, and controls the industrial robot (1) in the workpiece grinding operation ) motion and the running state of the grinding machine (5); the data end of the computer (2) is connected with the data end of the control cabinet (12) of the industrial robot (1), and controls the industrial robot (1) by outputting track points Movement; the data end of the computer (2) is connected with the data end of the grinding machine (5) to control the start and stop of the grinding machine (5) and the rotational speed and steering of the abrasive belt. 2.根据权利要求1所述的基于视觉信息的工业机器人磨削系统，其特征在于，计算机(2)包括图像处理单元(21)、工件抓取控制单元(22)、磨削操作控制单元(23)、数据通信单元(24)和串行通信单元(25)，其中：图像处理单元(21)与视频摄像头(4)相连接，对视频摄像头(4)输入的图像进行图像处理、检测工件、定位工件的抓取位置；工件抓取控制单元(22)与图像处理单元(21)相连，根据图像处理单元(21)输出的工件抓取位置，规划从当前位置到工件抓取位置的轨迹点；磨削操作控制单元(23)中存储预先设定的工件需要磨削N个侧面的N个步骤对应的工件位置和姿态、砂带(51)的转速和转向，规划从机械手爪(3)当前位置到第k步磨削的位置的轨迹点，1≤k≤N，设定第k步磨削的砂带的转速和转向；数据通信单元(24)的一端分别与工件抓取控制单元(22)和磨削操作控制单元(23)相连，接收工件抓取控制单元(22)和磨削操作控制单元(23)输出的机械手爪(3)的运动轨迹点；数据通信单元(24)的另一端与工业机器人(1)连接，向工业机器人(1)输出机械手爪(3)的运动轨迹点，通过工业机器人(1)控制机械手爪(3)的运动；串行通信单元(25)的一端与磨削操作控制单元(23)连接，接收磨削操作控制单元(23)输出的磨削机控制指令；串行通信单元(25)的另一端与磨削机(5)连接，把磨削操作控制单元(23)输出的磨削机(5)的控制指令转换为串行信号，控制磨削机(5)的启动停止和砂带(51)的转速转向。2. The industrial robot grinding system based on visual information according to claim 1, wherein the computer (2) includes an image processing unit (21), a workpiece grabbing control unit (22), a grinding operation control unit ( 23), data communication unit (24) and serial communication unit (25), wherein: image processing unit (21) is connected with video camera (4), carries out image processing to the image input by video camera (4), detects workpiece 1. Locate the grasping position of the workpiece; the workpiece grasping control unit (22) is connected with the image processing unit (21), and plans the trajectory from the current position to the workpiece grasping position according to the workpiece grasping position output by the image processing unit (21) point; in the grinding operation control unit (23), the workpiece position and posture corresponding to the N steps corresponding to the N steps of grinding N sides are stored in the grinding operation control unit (23). ) from the current position to the position of the kth step of grinding, 1≤k≤N, set the rotational speed and steering of the grinding belt of the kth step of grinding; one end of the data communication unit (24) is respectively connected to the workpiece grasping control The unit (22) is connected with the grinding operation control unit (23), and receives the motion trajectory points of the manipulator jaw (3) output by the workpiece grasping control unit (22) and the grinding operation control unit (23); the data communication unit (24 ) is connected with the industrial robot (1), and the motion track point of the mechanical claw (3) is output to the industrial robot (1), and the motion of the mechanical claw (3) is controlled by the industrial robot (1); the serial communication unit (25 ) is connected with the grinding operation control unit (23), and receives the grinding machine control command output by the grinding operation control unit (23); the other end of the serial communication unit (25) is connected with the grinding machine (5), The control command of the grinding machine (5) outputted by the grinding operation control unit (23) is converted into a serial signal to control the start and stop of the grinding machine (5) and the rotation speed of the abrasive belt (51). 3.一种使用权利要求1所述基于视觉信息的工业机器人磨削系统的工业机器人磨削方法，其特征在于包括以下步骤：3. an industrial robot grinding method using the industrial robot grinding system based on visual information of claim 1, is characterized in that comprising the following steps: 步骤S1：根据抓取标定算法建立工业机器人坐标系与视频摄像头坐标系之间的转换关系；Step S1: Establish the conversion relationship between the coordinate system of the industrial robot and the coordinate system of the video camera according to the grab calibration algorithm; 步骤S2：设定工件的初始摆放姿态，采集处于初始摆放姿态中的工件在视频摄像头视场中不同位置的图像，利用传统的Haar特征提取算法提取工件的Haar特征，得到工件在视频摄像头视场中不同位置的Haar特征训练集；Step S2: Set the initial posture of the workpiece, collect images of the workpiece in the initial posture at different positions in the field of view of the video camera, use the traditional Haar feature extraction algorithm to extract the Haar feature of the workpiece, and obtain the workpiece in the video camera. Haar feature training set at different positions in the field of view; 步骤S3：把工件按照初始摆放姿态放在工作台上，视频摄像头从工作台正上方采集图像；Step S3: Put the workpiece on the workbench according to the initial posture, and the video camera collects images from directly above the workbench; 步骤S4：计算机的图像处理单元对输入的工件图像提取Haar特征，把提取的Haar特征与训练集的Haar特征做匹配，检测并定位工件；Step S4: The image processing unit of the computer extracts Haar features from the input workpiece image, matches the extracted Haar features with the Haar features of the training set, and detects and locates the workpiece; 步骤S5：计算机的抓取控制单元根据图像处理单元输出的工件的位置信息，在线规划机械手爪从当前位置到工件抓取点的运动轨迹点，控制工业机器人移动机械手爪抓取工件；Step S5: According to the position information of the workpiece output by the image processing unit, the grasping control unit of the computer plans online the movement track point of the manipulator claw from the current position to the workpiece grasping point, and controls the industrial robot to move the manipulator claw to grasp the workpiece; 步骤S6：计算机的磨削操作控制单元根据预先设定的磨削步骤，设置第k步磨削中磨削机的砂带的转速和转向，1≤k≤N，N是工件需要磨削的侧面数目；Step S6: The grinding operation control unit of the computer sets the rotation speed and steering direction of the abrasive belt of the grinding machine in the kth step of grinding according to the preset grinding steps, 1≤k≤N, N is the workpiece to be ground number of sides; 步骤S7：计算机的磨削操作控制单元根据预先设定的第k步磨削中工件的位置姿态，在线计算机械手爪从当前位置姿态到第k步磨削操作指定的位置姿态的运动轨迹点，控制机器人把工件移动到指定的位置，磨削机的砂带磨削工件的第k个侧面，1≤k≤N；Step S7: The grinding operation control unit of the computer calculates online the movement trajectory point of the manipulator claw from the current position and posture to the position and posture specified by the k-th grinding operation according to the preset position and posture of the workpiece in the k-th step of grinding, Control the robot to move the workpiece to the specified position, and the abrasive belt of the grinding machine grinds the kth side of the workpiece, 1≤k≤N; 步骤S8：重复步骤S6和步骤S7，直到工件的所有需要磨削的侧面都已被磨削；Step S8: Repeat steps S6 and S7 until all sides of the workpiece that need to be ground have been ground; 步骤S9：工业机器人把磨削好的工件放到指定的位置。Step S9: The industrial robot puts the ground workpiece on the designated position. 4.根据权利要求3所述的工业机器人磨削方法，其特征在于，所述预先设定是在图像处理单元检测工件之前就设定工件需要磨削的N个侧面的次序、磨削每个侧面时工件所处的位置和姿态、砂带的转速和转向。4. The industrial robot grinding method according to claim 3, wherein the preset is to set the order of the N sides of the workpiece to be ground before the image processing unit detects the workpiece, and grind each The position and attitude of the workpiece, the speed and direction of the abrasive belt when it is sideways. 5.根据权利要求3所述的工业机器人磨削方法，其特征在于，采用抓取标定算法确定工业机器人坐标系与视频摄像头坐标系的转换关系的步骤如下：5. The industrial robot grinding method according to claim 3, characterized in that, the step of determining the conversion relationship between the industrial robot coordinate system and the video camera coordinate system using a grab calibration algorithm is as follows: 步骤Sb1：将圆柱体竖立放置在一个固定高度的工作台上，移动圆柱体到不同的位置，视频摄像头采集不同位置的圆柱体图像，在计算机中利用椭圆提取算法提取不同位置的圆柱体顶面的轮廓，并计算不同位置的圆柱体顶面中心在视频摄像头坐标系下的坐标Cn，n≥1为圆柱体移动不同的位置的次数；Step Sb1: Place the cylinder upright on a workbench with a fixed height, move the cylinder to different positions, collect the images of the cylinder at different positions by the video camera, and use the ellipse extraction algorithm to extract the top surface of the cylinder at different positions in the computer , and calculate the coordinates Cn of the center of the top surface of the cylinder at different positions in the video camera coordinate system, n≥1 is the number of times that the cylinder moves to different positions; 步骤Sb2：操作工业机器人运动，使工业机器人的机械手爪移动到圆柱体上方，并使每个位置的圆柱体顶面的中心线和机械手爪的中心线基本重合，机械手爪前端与圆柱体顶面刚好接触，计算机从工业机器人的数据端读取并记录不同位置圆柱体时工业机器人的位姿Pn；Step Sb2: Operate the movement of the industrial robot so that the mechanical gripper of the industrial robot moves above the cylinder, and make the centerline of the top surface of the cylinder at each position basically coincide with the centerline of the robotic gripper, and the front end of the mechanical gripper and the top surface of the cylinder Just in contact, the computer reads and records the pose Pn of the industrial robot when the cylinder is in different positions from the data terminal of the industrial robot; 步骤Sb3：根据圆柱体顶面中心在视频摄像头的坐标系下的坐标C1、C2、C3、C4和Cn对应的工业机器人的第一位姿P1、第二位姿P2、第三位姿P3、第四位姿P4和第n位姿Pn，设定坐标与位姿是二次曲面的对应关系，利用二次曲面拟合方法拟合出视频摄像头的坐标系与工业机器人1坐标系之间的变换关系。Step Sb3: The first pose P1, the second pose P2, the third pose P3, For the fourth pose P4 and the nth pose Pn, set the corresponding relationship between the coordinates and the pose as a quadratic surface, and use the quadratic surface fitting method to fit the coordinate system of the video camera and the coordinate system of the industrial robot 1. transform relationship. 6.根据权利要求3所述的工业机器人磨削方法，其特征在于，所述工件的初始摆放姿态是方便机械手爪抓取的姿态。6. The industrial robot grinding method according to claim 3, characterized in that, the initial placement posture of the workpiece is a posture that is convenient for gripping by a mechanical claw. 7.根据权利要求3所述的工业机器人磨削方法，其特征在于，在线计算机械手爪从当前位置到下一个位置的运动轨迹点的步骤如下：7. The industrial robot grinding method according to claim 3, characterized in that the online calculation of the movement track point of the manipulator claw from the current position to the next position is as follows: 步骤d1：根据工业机器人的关节坐标系和笛卡尔坐标系的转换关系，把当前位置点和下一个位置点转换到工业机器人的关节坐标系中；Step d1: According to the conversion relationship between the joint coordinate system of the industrial robot and the Cartesian coordinate system, transform the current position point and the next position point into the joint coordinate system of the industrial robot; 步骤d2：在关节坐标系中，根据过路径点的三次多项式插值算法，计算机械手爪的运动轨迹点。Step d2: In the joint coordinate system, according to the cubic polynomial interpolation algorithm through the path point, calculate the movement track point of the manipulator claw.
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