CN106041946B - Image-processing-based robot polishing production method and production system applying same - Google Patents
Image-processing-based robot polishing production method and production system applying same Download PDFInfo
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- CN106041946B CN106041946B CN201610342544.5A CN201610342544A CN106041946B CN 106041946 B CN106041946 B CN 106041946B CN 201610342544 A CN201610342544 A CN 201610342544A CN 106041946 B CN106041946 B CN 106041946B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
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Abstract
The invention relates to the field of polishing machinery, in particular to an image-processing-based robot polishing production method and a production system applying the same. The production method comprises the following steps that (1) a workpiece image is obtained; (2) the workpiece image is processed and recognized; (3) a trail file is generated; and (4) automatic polishing is achieved through the trail file. According to the production system, a software trigger method is used for controlling an industrial camera to take a picture for the surface of a workpiece needing polishing, the camera saves the shot picture into a computer, a computer program reads and processes the image and recognizes a polishing area, according to the recognized polishing area, three-dimensional trail path coordinates and the trail file are planned, and a robot automatically polishes the surface of the workpiece. According to the production method, the computer is used for recognizing the polishing area and calculating the polishing trail coordinates, thus the polishing efficiency and polishing precision can be greatly improved, manpower resources are saved effectively, constraint of production time is broken, and production speed is increased effectively.
Description
Technical field
The present invention relates to grinding machine field, more particularly, to a kind of robot polishing production method based on image procossing and
Apply its production system.
Background technology
In manufacturing industry, grinding-polishing is the operation of one key, and the quality of grinding often determines the class of product.Pass
The workpiece grinding of system mainly has artificial grinding, special purpose machine tool grinding and numerical control machine tool grinding to cut these three patterns.However, artificial grinding
Workload is big, less efficient, and the homogeneity of work pieces process is poor；Special purpose machine tool versatility is bad, is only suitable for producing in batches；
The processing cost of Digit Control Machine Tool is higher.Additionally, a large amount of dust of polishing departement causes threat to the health of workman.
The process of existing robot polishing workpiece is all to adjust each position of polishing by artificial examination, thus being somebody's turn to do mostly
The three-dimensional coordinate information of position, records these track position information.This procedure is loaded down with trivial details, and workman is during examination is adjusted
It is difficult to ensure that each position is sufficiently accurate, and the dynamics of polishing is also to be difficult to ensure that it is uniform, this side is adjusted in artificial examination
Formula inefficiency, if polishing region is different again tries adjusted position again, such method is very inconvenient really, impact
Production efficiency.
Content of the invention
It is an object of the invention to proposing one kind to be based on image procossing, and beaten using computer identification polishing region and calculating
The robot polishing production method of mill trajectory coordinates and the production system applying it.
For reaching this purpose, the present invention employs the following technical solutions：
Robot polishing production method based on image procossing, is applied to numerical control sander device people, described production method bag
Include following steps：
(1) workpiece image obtains：Computer controls industrial camera air exercise mill surface of the work to take pictures by software trigger, and protects
It is stored in computer disk so that subsequent course calls；
(2) workpiece image processes and identifies：Call computer vision program that image is processed, and identify in image
Polishing region；
(3) generate trail file：Call trajectory planning program, two-dimensional coordinate is converted into three-dimensional coordinate, and generate track
File；
Specifically include following steps：
C, the length of minimum bounding box calculating polishing region and width：According to the boundary pixel point coordinates identifying, ask area
Absolute value delta X=| the X1-X2 | in domain Far Left and pixel x direction the rightest and y direction and Δ Y=| Y1-Y2 |；
D, pixel coordinate are converted into planar two dimensional coordinate：Image pixel length and wide (X-direction and Y-direction) and practical work piece table
There is proportionality coefficient α and β in face physical length and width；When asking image X-direction length in pixels to be converted to physical length：α=
Physical length/image pixel length；Asking image Y-direction length in pixels to be converted to developed width is：β=developed width/image slices
Plain width；The length in pixels of even region minimum bounding box is Δ X, then the physical length x=α * Δ X of region minimum bounding box；
If the pixel wide Δ Y of region minimum bounding box, region minimum bounding box developed width is y=β * Δ Y；
E, planar two dimensional coordinate are converted to three-dimensional coordinate：With robot bistrique as initial point, sharpening forward direction is three-dimensional X
Positive direction, sharpening left direction is the positive direction of three-dimensional Y, and sharpening upwardly direction is the positive direction of three-dimensional Z；Cross and manually try
The initial position of one robot of tune and initial attitude (before the robot polishing and position returning to after terminating of polishing) conduct set
Fixed three-dimensional zero, is designated as (X this initial three-dimensional coordinate initial pointi,Yi,Zi), then two-dimensional plane coordinate turns
The formula changing three dimensional space coordinate into is：
Xd=Xi
Yd=Yi-x
Zd=Zi-y.
(4) realize automatically grinding using trail file：Trail file is sent in robot, robot is according to this track
File is polished to workpiece.
Specifically, in described step (2), workpiece image is processed and identification step comprises the steps：
A, image procossing：Binaryzation, corrosion and expansion process are carried out to image；
B, image recognition：Identify the coordinate of the pixel on the border of polishing region.
Specifically, the step generating trail file in described step (3) also comprises the steps：
F, path planning calculate：If whetting a knife a diameter of D, when left and right two coordinate value differences of polishing region minimum bounding box
Absolute value | xL-xR| and | yL-yR| both greater than sharpening diameter D, then robot walk hollow path, otherwise from left end to right-hand member or
Walk from top to bottom.
More excellent, before robot polishing and polishing terminate after have a withdrawing position, that is, in first polishing point coordinates and
A polishing coordinate respectively increases a withdrawing point coordinates afterwards, and the X-coordinate of this two withdrawing points is individually subtracted 50.00mm, then this two
The coordinate of individual withdrawing point is (X respectively1-50.00,Y1,Z1) and (Xn-50.00,Yn,Zn).
More excellent, described step (4) is comprised the steps using the step that trail file realizes automatically grinding：
G, computer and robot communication：Using LAN, computer and robot are connected, open the access rights of robot,
By accessing the network IP of robot, computer accesses robot built-in system by LAN；VS2010 compiling system provides
Trail file in computer is copied to the system of robot by shfileoperation function using shfileoperation function
In；
H, computer and main control PLC communication：Computer and main control PLC communicate takes pictures for controlling computer that workpiece is carried out, to figure
As being processed and being identified polishing region, generated trail file and trail file is sent to robot step.
More excellent, including milling robot, computer and main control PLC；
Described milling robot includes controlling seat and located at the mechanical arm controlling seat and installs the polishing with mechanical arm tail end
Device；
Described computer includes industrial camera, computer vision module, trajectory planning module, computer and milling robot communication mould
Block, computer and main control PLC communication module and computer and industrial camera communication module；
The control seat of described milling robot and described main control PLC are all electrically connected with described computer.
More excellent, in described computer, the software program package of all modules is all based on Visual C++2010 compiling system
C C++ programming language write.
The present invention proposes a kind of polishing production method of the robot based on image procossing and production system according to the above,
Described production system is an intelligentized production system, and it can solve manually to operate the inconvenience bringing moreover it is possible to effectively improve life
Produce efficiency.Industrial camera is controlled to take pictures using the method for software trigger, industrial camera is entered to the surface of the work needing polishing
Row is taken pictures, and photographing unit is saved in the picture photographing in computer, and computer program reads image and carries out image procossing and knowledge
Other polishing region, according to the polishing region identifying, plans planar trajectory path coordinate, recycles D reconstruction
Algorithm calculates three-dimensional path coordinate, finally trail file is sent to robot, after input trajectory file, by PLC control
Robot, by according to the coordinate information motion in trail file, polishes to surface of the work.It utilizes computer identification polishing
Region and calculating polishing trajectory coordinates can substantially increase grinding efficiency and polishing precision, and effectively save human resourcess, behaviour
Make simple, using reliability, reduce workman's working strength, broken the constraint of production time, effectively improved speed of production.
Brief description
Fig. 1 is the flow chart of heretofore described production method；
Fig. 2 is the flow chart generating trail file step in heretofore described production method；
Fig. 3 is the length of the minimum bounding box of polishing region and the wide relation schematic diagram with surface of the work in the present invention.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
Robot polishing production method based on image procossing, is applied to numerical control sander device people, as Figure 1-3, institute
State production method to comprise the steps：
(1) workpiece image obtains：Computer controls industrial camera air exercise mill surface of the work to take pictures by software trigger, and protects
It is stored in computer disk so that subsequent course calls；Specifically comprise the steps：
A, image procossing：Binaryzation, corrosion and expansion process are carried out to image；
B, image recognition：Identify the coordinate of the pixel on the border of polishing region.
(2) workpiece image processes and identifies：Call computer vision program that image is processed, and identify in image
Polishing region；Specifically comprise the steps：
C, the length of minimum bounding box calculating polishing region and width：According to the boundary pixel point coordinates identifying, ask area
Absolute value delta X=| the X1-X2 | in domain Far Left and pixel x direction the rightest and y direction and Δ Y=| Y1-Y2 |；This two definitely
Value is exactly the length of the minimum bounding box of polishing region and wide (length here and wide unit are pixel values it is simply that shared by long and width
The length in pixels of image), such as Fig. 3 shows.
D, pixel coordinate are converted into planar two dimensional coordinate：Image pixel length and wide (X-direction and Y-direction) and practical work piece table
There is proportionality coefficient α and β in face physical length and width；When asking image X-direction length in pixels to be converted to physical length：α=
Physical length/image pixel length；Asking image Y-direction length in pixels to be converted to developed width is：β=developed width/image slices
Plain width；The length in pixels of even region minimum bounding box is Δ X, then the physical length x=α * Δ X of region minimum bounding box；
If the pixel wide Δ Y of region minimum bounding box, region minimum bounding box developed width is y=β * Δ Y (unit：Mm it should
It is accurate to six after arithmetic point)；
E, planar two dimensional coordinate are converted to three-dimensional coordinate：With robot bistrique as initial point, sharpening forward direction is three-dimensional X
Positive direction, sharpening left direction is the positive direction of three-dimensional Y, and sharpening upwardly direction is the positive direction of three-dimensional Z；Cross and manually try
The initial position of one robot of tune and initial attitude (before the robot polishing and position returning to after terminating of polishing) conduct set
Fixed three-dimensional zero, is designated as (X this initial three-dimensional coordinate initial pointi,Yi,Zi), then two-dimensional plane coordinate turns
The formula changing three dimensional space coordinate into is：
Xd=Xi
Yd=Yi-x
Zd=Zi-y.
(3) generate trail file：Call trajectory planning program, two-dimensional coordinate is converted into three-dimensional coordinate, and generate track
File；F, path planning calculate：If whet a knife a diameter of D, when polishing region minimum bounding box the two coordinate value differences in left and right exhausted
To value | xL-xR| and | yL-yR| both greater than sharpening diameter D, then robot walk hollow path, otherwise from left end to right-hand member or from
Top is walked to bottom.It is also noted that should have a withdrawing position after terminating with polishing before robot polishing, so permissible
Ensure that polishing does not affect the region that other do not need to polish after terminating, so polishing with last in first polishing point coordinates
Coordinate respectively increases a withdrawing point coordinates, and the X-coordinate of this two withdrawing points is individually subtracted 50.00, then the seat of this two withdrawing points
Mark is (X respectively1-50.00,Y1,Z1) and (Xn-50.00,Yn,Zn).Finally by all three-dimensional track coordinate informations write tip and
In tid file and be saved in computer.
(4) realize automatically grinding using trail file：Trail file is sent in robot, robot is according to this track
File is polished to workpiece.Specifically include following steps：
Computer is communicated with main control PLC：Using LAN, computer and robot are connected, open the access rights of robot,
By accessing the network IP of robot, computer accesses robot built-in system by LAN；VS2010 compiling system provides
Trail file in computer is copied to the system of robot by shfileoperation function using shfileoperation function
In.
H, computer and main control PLC communication：Computer and main control PLC communicate takes pictures for controlling computer that workpiece is carried out, to figure
As being processed and being identified polishing region, generated trail file and trail file is sent to robot step.
PLC sends command signal to computer, and the different action of different command signal correspondences, specifically as shown in table 1,2：
Table 1
| State | Sender | Recipient | State code | ASCLL code | PLC memory block |
| Etc. to be photographed | PLC | PC | W | 57H | D101 |
| Photograph | PLC | PC | P | 50H | D101 |
| Trail file writes robot | PLC | PC | X | 58H | D101 |
| Robot operation program | PLC | PC | V | 56H | D101 |
Table 2
A kind of production system of application as above robot polishing production method based on image procossing of institute, its feature exists
In：Including milling robot, computer and main control PLC；
Described milling robot includes controlling seat and located at the mechanical arm controlling seat and installs the polishing with mechanical arm tail end
Device；
Described computer includes industrial camera, computer vision module, trajectory planning module, computer and milling robot communication mould
Block, computer and main control PLC communication module and computer and industrial camera communication module；
The control seat of described milling robot and described main control PLC are all electrically connected with described computer.
In described computer the software program package of all modules be all based on Visual C++2010 compiling system C C++ compile
Cheng Yuyan writes.Software program is included regarding mechanical feel program, trajectory planning program, computer and robot communication program, computer
With main control PLC communication program, computer and camera communication program.
Described production system is an intelligentized production system, and it can solve manually to operate the inconvenience bringing moreover it is possible to have
Effect improve production efficiency.Industrial camera is controlled to take pictures using the method for software trigger, industrial camera is to the work needing polishing
Taken pictures in part surface, photographing unit is saved in the picture photographing in computer, and computer program reads image and carries out image
Process and identification polishing region, according to the polishing region identifying, plan planar trajectory path coordinate, recycle two dimension
The algorithm turning three-dimensional calculates three-dimensional path coordinate, finally trail file is sent to robot, after input trajectory file, passes through
PLC controls robot by according to the coordinate information motion in trail file, and surface of the work is polished.It utilizes computer to know
Other polishing region and calculating polishing trajectory coordinates can substantially increase grinding efficiency and polishing precision, and effectively save manpower money
Source, simple to operate, using reliability, reduce workman's working strength, broken the constraint of production time, effectively improved speed of production.
Describe the know-why of the present invention above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed to by any way.Based on explanation herein, the technology of this area
Personnel do not need to pay other specific embodiments that performing creative labour can associate the present invention, and these modes fall within
Within protection scope of the present invention.
Claims (7)
1. based on image procossing robot polish production method, be applied to numerical control sander device people it is characterised in that：Including such as
Lower step：
(1) workpiece image obtains：Computer controls industrial camera air exercise mill surface of the work to take pictures by software trigger, and is saved in
So that subsequent course calls in computer disk；
(2) workpiece image processes and identifies, including such as step：Call computer vision program that image is processed, and identify
Polishing region pixel coordinate in image；
(3) generate trail file, comprise the steps：
C, the length of minimum bounding box calculating polishing region and width：According to the boundary pixel point coordinates identifying, ask region
Absolute value delta X=| the X1-X2 | in the left side and pixel x direction the rightest and y direction and Δ Y=| Y1-Y2 |；
D, pixel coordinate are converted into planar two dimensional coordinate：Image pixel length and wide (X-direction and Y-direction) and practical work piece surface are in fact
There is proportionality coefficient α and β in border length and width；When asking image X-direction length in pixels to be converted to physical length：α=reality
Length/image pixel length；Asking image Y-direction length in pixels to be converted to developed width is：β=developed width/image pixel width
Degree；The length in pixels of even region minimum bounding box is Δ X, then the physical length x=α * Δ X of region minimum bounding box；If area
The pixel wide Δ Y of domain minimum bounding box, then minimum bounding box developed width in region is y=β * Δ Y；
E, planar two dimensional coordinate are converted to three-dimensional coordinate：With robot bistrique as initial point, sharpening forward direction is that three-dimensional X is square
To sharpening left direction is the positive direction of three-dimensional Y, and sharpening upwardly direction is the positive direction of three-dimensional Z；Cross manually examination tune one
The initial position of individual robot and initial attitude (before the robot polishing and position returning to after terminating of polishing) are as set
Three-dimensional zero, is designated as (X this initial three-dimensional coordinate initial pointi,Yi,Zi), then two-dimensional plane coordinate is converted into
The formula of three dimensional space coordinate is:
Xd=Xi
Yd=Yi-x
Zd=Zi-y
(4) realize automatically grinding using trail file：Trail file is sent in robot, milling robot is according to this track
File is polished to workpiece.
2. according to claim 1 based on image procossing robot polishing production method it is characterised in that：Described step
(2) in, workpiece image is processed and identification step comprises the steps：
A, image procossing：Binaryzation, corrosion and expansion process are carried out to image；
B, image recognition：Identify the coordinate of the pixel on the border of polishing region.
3. according to claim 2 based on image procossing robot polishing production method it is characterised in that：Described step
(3) step generating trail file in also comprises the steps：
F, path planning calculate：If whet a knife a diameter of D, when polishing region minimum bounding box the two coordinate value differences in left and right absolute
Value | xL-xR| and | yL-yR| it is both greater than sharpening diameter D, then hollow path is walked, otherwise from left end to right-hand member or from top by robot
Bottom is held to walk.
4. according to claim 3 based on image procossing robot polishing production method it is characterised in that：Robot is beaten
There is a withdrawing position, that is, in first polishing point coordinates and last each increase of polishing coordinate one after terminating with polishing before mill
Withdrawing point coordinates, the X-coordinate of this two withdrawing points is individually subtracted 50.00mm, then the coordinate of this two withdrawing points is (X respectively1-
50.00,Y1,Z1) and (Xn-50.00,Yn,Zn).
5. according to claim 1 based on image procossing robot polishing production method it is characterised in that：Described step
(4) comprised the steps using the step that trail file realizes automatically grinding：
G, computer and robot communication：Using LAN, computer and robot are connected, open the access rights of robot, pass through
Access the network IP of robot, computer accesses robot built-in system by LAN；VS2010 compiling system provides
Trail file in computer is copied to the system of robot by shfileoperation function using shfileoperation function
In；
H, computer and main control PLC communication：Computer and main control PLC communicate for controlling computer workpiece to be carried out taking pictures, image is entered
Row processes and identifies polishing region, generates trail file and trail file is sent to robot step.
6. the production system of the robot polishing production method based on image procossing as described in claim 1-5 for a kind of application,
It is characterized in that：Including milling robot, computer and main control PLC；
Described milling robot includes controlling seat and located at the mechanical arm controlling seat and installs the sanding apparatus with mechanical arm tail end；
Described computer include industrial camera, computer vision module, trajectory planning module, computer and milling robot communication module,
Computer and main control PLC communication module and computer and industrial camera communication module；
The control seat of described milling robot and described main control PLC are all electrically connected with described computer.
7. production system according to claim 6 it is characterised in that：In described computer, the software program package of all modules is equal
Be C based on Visual C++2010 compiling system C++ programming language write.
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| CN106041946A (en) | 2016-10-26 |
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