CN104149103A - Electronic control system of robot - Google Patents
Electronic control system of robot Download PDFInfo
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- CN104149103A CN104149103A CN201410415728.0A CN201410415728A CN104149103A CN 104149103 A CN104149103 A CN 104149103A CN 201410415728 A CN201410415728 A CN 201410415728A CN 104149103 A CN104149103 A CN 104149103A
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Abstract
The invention discloses an electronic control system of a robot. The electronic control system comprises a mechanical arm fixed outside a distilling bucket and used for distilling-bucket loading operation, and is characterized by further comprising image collecting units for collecting image information of the surface layer of fermented grains in the distilling bucket, and the image collecting units transmit collected signals to a robot controller for controlling the mechanical arm to work. By means of the electronic control system of the robot, the hardware structure mode of a vision camera, an industrial personal computer and the robot controller is adopted, the structure is simplified, energy is saved, cost is reduced, the steam leaking position can be caught in real time, the robot can accurately and rapidly move to the assigned position for distilling-bucket loading, the good stability is achieved, the cost performance is quite high, and the electronic control system is suitable for field application in the wine making industry.
Description
Technical field
The present invention relates to industrial robot field, relate in particular to the electric-control system that is applied to wine manufacturing industry vision Zhuan Zhen robot.
Background technology
In alcoholic operation, it is one requisite operation that material loading, dress are discriminated, while packing the material of taking-up into Zhen bucket, will note: dress is discriminated and will be loosened, and action is brisk, it is even that upper vapour is wanted, for fear of running vapour, affect drinks quality, when dress Zhen Fangfa will note slightly seeing white vaporific wine vapour on wine unstrained spirits top layer, lid layer fermented material avoids running vapour quickly and accurately, if but grasp badly, easily press vapour.Brewery is used artificial loading, dress to discriminate at present, and because charging basket is huge, manual operation is extremely difficult, and reliability is low.
Summary of the invention
Technical problem to be solved by this invention is to realize a kind of vision dress that is applied to alcoholic industry to discriminate robot system.
To achieve these goals, the technical solution used in the present invention is: a kind of robot electric-control system, system is provided with to be fixed on discriminates the outer manipulator operating for filling Zhen of bucket, it is characterized in that: system is also provided with and gathers the image acquisition units of discriminating wine unstrained spirits top layer image information in bucket, described image acquisition units is delivered to the signal of collection to control the manual robot controller of doing of machinery.
Described image acquisition units is at least provided with two.
The control method of a kind of robot electric-control system:
Step 1, complete dress and discriminate after operation, image acquisition units Real-time Collection is discriminated a wine unstrained spirits top layer image information in bucket;
The image information that step 2, robot controller receive image acquisition units also judges whether to occur deflation phenomenon, when occurring that deflation phenomenon can carry out feed supplement above mechanical arm goes to deflation place;
Step 3, circulation step 2,3.
In described step 2, have deflation phenomenon when detecting, robot controller is converted to robot location target location, carries out movement locus planning and speed planning.
Robot system of the present invention adopts " vision camera+industrial computer+robot controller " hardware architecture form, structure is simplified, energy-saving and cost-reducing, the race vapour position that can capture in real time, mobile assigned address goes dress to discriminate quickly and accurately, have good stability, cost performance is very high, is suitable for the on-the-spot application of wine manufacturing industry.
Brief description of the drawings
Below the content that in description of the present invention, every width accompanying drawing is expressed is briefly described:
Fig. 1 is system module block diagram.
Detailed description of the invention
Robot electric-control system has and is fixed on that to discriminate bucket outer for filling a manipulator of discriminating operation, and manipulator is by robot controller control, and system also has can man-machine interactive operation panel, for user.
Because technological requirement robot motion track need to move along X, Y, Z direction, only need prolong Z direction rotation, therefore adopt four Zhou Shuan parallelogram sturcutre robots to realize track requirement.So robot selects test formula robot, through mobile camera Real-time Collection picture, move to fat assigned address.
Discriminate in bucket whether occur the phenomenon that becomes flat for detecting, discriminating, bucket is other is provided with at least two for gathering the image acquisition units of discriminating wine unstrained spirits top layer image information in bucket, conventionally symmetric design, thus can avoid, because manipulator blocks image acquisition units sight line, cannot finding the phenomenon that becomes flat.Image acquisition units can with adopt video heads or vision camera.Image acquisition units is delivered to the signal of collection to control the manual robot controller of doing of machinery.
Based on said system, the control method of robot electric-control system:
Step 1, complete dress and discriminate after operation, image acquisition units Real-time Collection is discriminated a wine unstrained spirits top layer image information in bucket;
The image information that step 2, robot controller receive image acquisition units also judges whether to occur deflation phenomenon, when occurring that deflation phenomenon can carry out feed supplement above mechanical arm goes to deflation place;
Step 3, circulation step 2,3.
Wherein in step 1 according to robot motion's position, the each motor torque of driver Real-time Feedback, to controller, obtains robot moment end moment, the next action of notice robot starts material loading, on expect discriminate cylinder after, camera catch in real time fat run vapour position, carry out image processing; In step 2, there is deflation phenomenon when detecting, robot controller is converted to robot location target location, carry out movement locus planning and speed planning, robot controller carries out kinematics interpolation to track simultaneously, judge track reliability, target location real-time interpolation is to driver reliably, driver is sent out pulse and is run to each race vapour position to motor with fastest response and speed.
Stone image in camera Real-time Collection fat, image when image processing software does not normally run the image comparison of Real-time Collection about vapour, in the time there is steam bubble, after IMAQ contrast, the position feedback of steam bubble under camera coordinate system to movement position process software.Movement position process software is converted into movement position robot coordinate system under by kinematics steam bubble position the position of steam bubble under camera coordinate system, and then transferring robot controller is arrived and specified steam bubble position by the servo robot motion of making.
Vision Zhuan Zhen robot belongs to typical electromechanical integration equipment, enterprise is enhanced productivity, increase economic benefit, ensure product quality, improve working conditions, optimize the contribution of operation layout huge, the advanced level of the quality and quantity mark enterprise production automation of its application.Controlling software systems is the of paramount importance parts of vision Zhuan Zhen robot, and the realization to robot dress Zhen alcoholic function and the guarantee of transaction capabilities play a part vital, are directly determining robot working effect and drinks quality.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or without improving, design of the present invention and technical scheme are directly applied to other occasion, all within protection scope of the present invention.
Claims (4)
1. a robot electric-control system, system is provided with to be fixed on discriminates the outer manipulator operating for filling Zhen of bucket, it is characterized in that: system is also provided with and gathers the image acquisition units of discriminating wine unstrained spirits top layer image information in bucket, described image acquisition units is delivered to the signal of collection to control the manual robot controller of doing of machinery.
2. robot according to claim 1 electric-control system, is characterized in that: described image acquisition units is at least provided with two.
3. a control method for robot electric-control system, is characterized in that:
Step 1, complete dress and discriminate after operation, image acquisition units Real-time Collection is discriminated a wine unstrained spirits top layer image information in bucket;
The image information that step 2, robot controller receive image acquisition units also judges whether to occur deflation phenomenon, when occurring that deflation phenomenon can carry out feed supplement above mechanical arm goes to deflation place;
Step 3, circulation step 2,3.
4. the control method of robot according to claim 3 electric-control system, it is characterized in that: in described step 2, have deflation phenomenon when detecting, robot controller is converted to robot location target location, carries out movement locus planning and speed planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410415728.0A CN104149103A (en) | 2014-08-21 | 2014-08-21 | Electronic control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410415728.0A CN104149103A (en) | 2014-08-21 | 2014-08-21 | Electronic control system of robot |
Publications (1)
| Publication Number | Publication Date |
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| CN104149103A true CN104149103A (en) | 2014-11-19 |
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Family Applications (1)
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| CN201410415728.0A Pending CN104149103A (en) | 2014-08-21 | 2014-08-21 | Electronic control system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415389A (en) * | 2016-01-08 | 2016-03-23 | 浙江理工大学 | Mechanical claw and control method |
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| CN101402199A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation |
| WO2009062244A1 (en) * | 2007-11-15 | 2009-05-22 | Southern Cross Cooperage Pty Ltd | An apparatus and method for shaving the inside of barrels |
| CN103101773A (en) * | 2013-01-18 | 2013-05-15 | 常州铭赛机器人科技有限公司 | Full-automatic retort installing system and retort installing method thereof |
| CN103101051A (en) * | 2013-01-18 | 2013-05-15 | 常州铭赛机器人科技有限公司 | Robot for steamer |
| CN203112798U (en) * | 2013-01-30 | 2013-08-07 | 四川宜宾岷江机械制造有限责任公司 | Full-automatic steamer feeding device for solid brewing grain groove |
| CN103264901A (en) * | 2013-05-21 | 2013-08-28 | 中国科学院自动化研究所 | Intelligent fully-automatic steamer-filling machine and steamer-filling and feeding-supplementing method thereof |
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- 2014-08-21 CN CN201410415728.0A patent/CN104149103A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009062244A1 (en) * | 2007-11-15 | 2009-05-22 | Southern Cross Cooperage Pty Ltd | An apparatus and method for shaving the inside of barrels |
| CN101402199A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation |
| CN103101773A (en) * | 2013-01-18 | 2013-05-15 | 常州铭赛机器人科技有限公司 | Full-automatic retort installing system and retort installing method thereof |
| CN103101051A (en) * | 2013-01-18 | 2013-05-15 | 常州铭赛机器人科技有限公司 | Robot for steamer |
| CN203112798U (en) * | 2013-01-30 | 2013-08-07 | 四川宜宾岷江机械制造有限责任公司 | Full-automatic steamer feeding device for solid brewing grain groove |
| CN103264901A (en) * | 2013-05-21 | 2013-08-28 | 中国科学院自动化研究所 | Intelligent fully-automatic steamer-filling machine and steamer-filling and feeding-supplementing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105415389A (en) * | 2016-01-08 | 2016-03-23 | 浙江理工大学 | Mechanical claw and control method |
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Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Applicant after: Eft intelligent equipment Limited by Share Ltd Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Applicant before: Anhui Effort Intelligent Equipment Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141119 |
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| RJ01 | Rejection of invention patent application after publication |