CN103273495B - A kind of micro assemby real time demonstration based on OpenGL and collision detecting system - Google Patents
A kind of micro assemby real time demonstration based on OpenGL and collision detecting system Download PDFInfo
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- CN103273495B CN103273495B CN201310231966.1A CN201310231966A CN103273495B CN 103273495 B CN103273495 B CN 103273495B CN 201310231966 A CN201310231966 A CN 201310231966A CN 103273495 B CN103273495 B CN 103273495B
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Abstract
The invention discloses the online micro assemby real time demonstration of the micro-part of a kind of three-dimensional based on OpenGL and collision detecting system, this system comprises: the first main control system, second main control system, micro assemby part three-dimensional pose display module, system initialization module, micro-part A and the manual gesture stability module of micro-part B, the accurate display module of the pose relativeness of micro-part A and micro-part B.The present invention can micro-part orientation of Real-time Feedback on-line checkingi, and 360 degree of panoramas, convergent-divergents can observe the current confined state of micro element, collision detection can be carried out between zero device and manipulator simultaneously, prevent from bringing expendable serious consequence because collide between zero device, be with a wide range of applications and considerable economic results in society.
Description
Technical field
The invention belongs to the technical field that micro assemby and three-dimensional animation combine, especially a kind ofly can to show in real time the position of the micro element in micro assemby process and attitude and the system of collision detection.
Background technology
Micro assemby be by capturing exactly, locating, multiple micro-assembling parts becomes the technology of complicated micro-system by the operation such as aligning, the assembling work that main finger carries out tens microns of parts to mm size, MEMS (Micro-Electro-MechanicalSystems, MEMS) core content studied and hot subject, be with a wide range of applications and significance.Micro assemby technology can be widely used in the fields such as electronics, space flight, biology, semiconductor integrated circuit, is subject to the most attention of countries in the world.
The micro assemby robot system of Central China University of Science and Technology's application number designed by the patent application of 01252465.4, by Systematical control main frame, microoperation manipulator, vacuum micro-tool, form with the microscope of camera, can carry out automatically submillimeter level particulate objects and semi-automatic operation and assembling work, its positioning precision can reach 1-5 μm, 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, micron-sized precision component Complex Assembly cannot be completed.
Microoperation/the microassembly system of the fine intelligence manufacture that Nanjing Aero-Space University builds, by Systematical control main frame, microoperation manipulator, form with the two-way vision system of the CCD of microlens, the operation to the micro Process part in the microoperation/microassembly system of fine intelligence manufacture and assembling can be realized, there is certain realistic meaning and important researching value.But this degree of freedom in system is few, and operating space is little, 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 detection control.Therefore, its versatility and independence are restricted.
In a word, although have made some progress the assembling research work of micro parts both at home and abroad, but these technology are integrated digital prototyping system not, real-time tracking and display can not be carried out to the position orientation relation of zero device in assembling process, not consider because misoperation brings expendable serious consequence to arm end or zero device failure.
Summary of the invention
The object of the invention is to solve the defect that above-mentioned prior art exists, provide a kind of can the real time demonstration of the confined state of zero device and collision detecting system in the narrow and small assembly space of omnibearing displaying.This system can the position orientation relation of zero device in the reflection assembling process of real-time online, can prevent because of misoperation or the mutual collision that controls between the improper part caused, the damage of the part brought.
To achieve these goals, the online micro assemby real time demonstration of the micro-part of a kind of three-dimensional based on OpenGL that the present invention proposes and collision detecting system, it is characterized in that, this system comprises: the first main control system, the second main control system, micro assemby part three-dimensional pose display module 1, system initialization module 2, micro-part A and the manual gesture stability module 3 of micro-part B, the accurate display module 4 of the pose relativeness of micro-part A and micro-part B, wherein:
Described system initialization module 2 for read in micro element A and micro element B three-dimensional modeling data, determine threedimensional model initial pose in the system and control foundation and the disconnection of the communication system between the first main control system and the second main control system;
Described micro assemby part three-dimensional pose display module 1 is for the threedimensional model based on OpenGL Rendering display micro element A and micro element B, and the threedimensional model of described micro element A and micro element B carries out drawing according to the actual object size of micro element A and micro element B;
Described first main control system connects actual microassembly system device, for receiving the picture signal of actual micro element and carrying out image procossing to it, obtain the relative pose data between micro element, and then by communication protocol, described relative pose data are sent to described second main control system;
Described second main control system carries out action for the virtual micro element A in system according to described relative pose data-driven and micro element B, virtual micro element A is made to keep relative pose consistent, to reflect the relative pose relation between micro element A and micro element B in real time with micro element B with actual micro assemby part;
Described micro-part A and micro-part B manual gesture stability module 3 carry out adjustment and the control of manual attitude to micro-part A and micro-part B for the position orientation relation of micro-part A of expecting according to user and micro-part B;
The accurate display module 4 of described micro-part A and micro-part B pose relativeness is for according to the driving of described second main control system and/or the adjustment of described micro-part A and micro-part B manual gesture stability module 3 and the relative pose relation that controls between display micro-part A and micro-part B.
The present invention is complete, the system with versatility and practicality that the micro assemby robot of reality and 3-dimensional digital model machine Display Technique are combined, the position orientation relation reflecting zero device in assembling process intuitively can be facilitated, avoid the part damaged in collision because misoperation causes.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 the microassembly system of reality, adopt OpenGL three-dimensional animation technology to achieve and the real-time pose of assembly ware is shown; 2) by the TCP/IP network transmission protocol, remote monitoring assemble flow is achieved; 3) pose of real-time display Assembly part, can realize the monitoring to the collision that part causes because of misoperation.
Accompanying drawing explanation
Fig. 1 is the real-time display and the collision detecting system structural representation that the present invention is based on OpenGL.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the online micro assemby real time demonstration based on OpenGL of the present invention and collision detecting system structural representation, in figure: 1-micro assemby part three-dimensional pose display module; 2-system initialization module; The manual gesture stability module of 3-micro-part A and micro-part B; The accurate display module of the pose relativeness of 4-micro-part A and micro-part B; The micro-part A of 5-; The micro-part B of 6-; As shown in Figure 1, the described micro assemby real time demonstration based on OpenGL and collision detecting system comprise: the first main control system, second main control system, micro assemby part three-dimensional pose display module 1, system initialization module 2, micro-part A and the manual gesture stability module 3 of micro-part B, the accurate display module 4 of the pose relativeness of micro-part A and micro-part B, wherein:
Described first main control system connects actual microassembly system device, for receiving the picture signal of actual micro element and carrying out image procossing to it, obtain the relative pose data between micro element, and then obtain the control data controlling micro element translation and rotation on XYZ direction, and then by reliable communication protocol, such as TCP/IP transmission control protocol is by described relative pose data and control data, be sent to described second main control system, described second main control system is used for driving the virtual micro element A in described system and micro element B to carry out action according to described relative pose data and control data, virtual micro element A is made to keep relative pose consistent with micro element B with actual micro assemby part, to reflect the relative pose relation between micro element A and micro element B in real time, for the virtual display of described system provides platform,
Described micro assemby part three-dimensional pose display module 1 is for showing the threedimensional model of micro element A and micro element B based on OpenGL; Wherein, the threedimensional model of described micro element A and micro element B is all the actual object sizes according to micro element A and micro element B, the three-dimensional drawing software of PROE is adopted to carry out drawing, the model recycling rhinoceros software drawn out is converted to the form that VC software can carry out color applying drawing, in VC software, adopt OpenGL Rendering, micro element A and micro element B is carried out Three-dimensional Display; Meanwhile, described micro assemby part three-dimensional pose display module 1 also adds illumination in displayed scene, makes the drafting of scene truer;
Described system initialization module 2 is for reading in the three-dimensional modeling data of micro element A and micro element B, determine threedimensional model initial pose in the system, and control foundation and the disconnection of the communication system between the first main control system and the second main control system, such as open or close the COM1 between the first main control system and the second main control system, the foundation of described communication system adopts TCP/IP transmission control protocol, to receive micro element A and micro element B real physics position and posture and the real-time state being sent collision detection by the second main control system to the first main control system in real time,
Described micro-part A and micro-part B manual gesture stability module 3 carry out manual pose adjustment and control for the position orientation relation of micro-part A of expecting according to user and micro-part B to micro-part A and micro-part B, described adjustment and control comprise the convergent-divergent to micro-three-dimensional part model, and adjustment and control the translation of micro-part on XYZ tri-direction of principal axis and rotation;
The accurate display module 4 of described micro-part A and micro-part B pose relativeness is for according to the driving of described second main control system and/or the adjustment of described micro-part A and micro-part B manual gesture stability module 3 and the relative pose relation that controls between display micro-part A and micro-part B, to user to show intuitively, the parameter of described relative pose relation comprises the translation freedoms of micro-part A and micro-part B on XYZ direction and rotary freedom; The control data of control micro-part A that described first main control system sends and/or micro-part B translation and rotation on XYZ direction is sent to described second main control system, second main control system judges that micro-part A in described accurate display module and micro-part B can collide, second main control system will send command for stopping to the first main control system immediately, and described first main control system forces actual micro assemby Flow ends according to described command for stopping.
The present invention adopts OpenGL three-dimensional animation technology in VC software systems, achieves the comprehensive Real time displaying to the real-time pose state of Assembly part in micro assemby process; It also has collision checking function, can reflect the spatial pose relation in assemble flow between micro element intuitively.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the online micro assemby real time demonstration of the micro-part of the three-dimensional based on OpenGL and collision detecting system, it is characterized in that, this system comprises: the first main control system, second main control system, micro assemby part three-dimensional pose display module (1), system initialization module (2), the manual gesture stability module (3) of micro-part A and micro-part B, the accurate display module (4) of the pose relativeness of micro-part A and micro-part B, wherein:
Described system initialization module (2) for read in micro-part A and micro-part B three-dimensional modeling data, determine threedimensional model initial pose in the system and control foundation and the disconnection of the communication system between the first main control system and the second main control system, wherein, the foundation of the communication system between described first main control system and the second main control system and be broken as the COM1 opened or closed between the first main control system and the second main control system;
Described micro assemby part three-dimensional pose display module (1) is for showing the threedimensional model of micro-part A and micro-part B based on OpenGL Rendering, the threedimensional model of described micro-part A and micro-part B carries out drawing according to the actual object size of micro-part A and micro-part B;
Described first main control system connects actual microassembly system device, for receiving the picture signal of actual micro-part and carrying out image procossing to it, obtain the relative pose data between micro-part, and then obtain the control data controlling micro-part translation and rotation on XYZ direction, and then by communication protocol, described relative pose data and control data are sent to described second main control system;
Described second main control system is used for driving the virtual micro-part A in described system and micro-part B to carry out action according to described relative pose data and control data, virtual micro-part A is made to keep relative pose consistent with micro-part B with actual micro assemby part, to reflect the relative pose relation between micro-part A and micro-part B in real time, wherein, the parameter of described relative pose relation comprises the translation freedoms of micro-part A and micro-part B on XYZ direction and rotary freedom;
Described micro-part A and micro-part B manual gesture stability module (3) carries out adjustment and the control of manual attitude to micro-part A and micro-part B for the position orientation relation of micro-part A of expecting according to user and micro-part B;
The accurate display module (4) of described micro-part A and micro-part B pose relativeness is for according to the driving of described second main control system and/or the adjustment of described micro-part A and micro-part B manual gesture stability module (3) and the relative pose relation that controls between display micro-part A and micro-part B;
If according to described relative pose data and control data, described second main control system judges that micro-part A in described accurate display module and micro-part B can collide, second main control system will send command for stopping to the first main control system immediately, and described first main control system forces actual micro assemby Flow ends according to described command for stopping.
2. system according to claim 1, is characterized in that, described micro assemby part three-dimensional pose display module (1) also adds illumination in displayed scene, makes the drafting of scene truer.
3. system according to claim 1, it is characterized in that, the foundation of described communication system adopts TCP/IP transmission control protocol, to receive micro-part A and micro-part B real physics position and posture and the real-time state being sent collision detection by the second main control system to the first main control system in real time.
4. system according to claim 1, is characterized in that, describedly carries out the adjustment of manual attitude and control to micro-part A and micro-part B and comprises convergent-divergent to micro-three-dimensional part model, and adjustment and control the translation of micro-part on XYZ tri-direction of principal axis and rotation.
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| CN106127845B (en) * | 2016-06-28 | 2019-01-25 | 同济大学 | The online collision avoidance system partial model pose transform method of turn-milling complex machining center |
| 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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| CN102873523A (en) * | 2012-09-13 | 2013-01-16 | 中国科学院自动化研究所 | Device for detecting micro-devices on line during assembly based on micro-vision |
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| KR100483790B1 (en) * | 2002-03-22 | 2005-04-20 | 한국과학기술연구원 | Multi-degree of freedom telerobotic system for micro assembly |
| WO2005014240A1 (en) * | 2003-08-11 | 2005-02-17 | Mindready, Solutions Inc. | Micro-assembly and test station applied for the chip and bar tester application |
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| CN1418761A (en) * | 2002-12-10 | 2003-05-21 | 北京航空航天大学 | Robot system for micro-operation used for bio-medical engineering |
| CN1843712A (en) * | 2006-05-12 | 2006-10-11 | 上海大学 | Flexible and remote-controlled operation platform based on virtual robot |
| CN102120325A (en) * | 2010-01-08 | 2011-07-13 | 哈尔滨理工大学 | Novel remote operation far-end robot control platform and method |
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