CN106881719A - Robotic vision system and control method - Google Patents
Robotic vision system and control method Download PDFInfo
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- CN106881719A CN106881719A CN201710229431.9A CN201710229431A CN106881719A CN 106881719 A CN106881719 A CN 106881719A CN 201710229431 A CN201710229431 A CN 201710229431A CN 106881719 A CN106881719 A CN 106881719A
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- workpiece
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- coordinate
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Classifications
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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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of robotic vision system and control method, and its system includes the manipulator and the platform for placing workpiece for grabbing workpiece, and platform produces workpiece coordinate signal with the placement location of workpiece；Manipulator includes grabbing assembly and shoots camera；Grabbing assembly includes control system, mechanical arm and the head located at mechanical arm end；Head is provided with holder and shoots camera；Control system according to after workpiece coordinate signal driving tool arm displacement head to the surface of workpiece by shooting camera shoot workpiece be located at platform on visual pattern, control system transforming visual image be relative coordinate after by control system according to relative coordinate drive holder grabbing workpiece.The present invention makes the platform of carrying workpiece actively provide space coordinates, system is set only to need quickly to recognize the visual pattern of a small range comprising workpiece, difficulty in computation of the system during large-scale visual pattern is processed is reduced, calculation resources are saved, efficiency is improved.
Description
Technical field
The present invention relates to field of machinery automation, more particularly to robotic vision system and control method.
Background technology
In robot and automated arm industry, China is acknowledged as market with the largest potentiality, following 3 to 5 years China
It is expected to turn into the maximum country of global robot installation amount.Although the industrial robot recoverable amount in made in China field only has tens thousand of
During platform, but according to measuring and calculating, " 12 ", domestic industry robot market demand will will be with annual in eruptive growth, demand
15% speed increases, it is contemplated that the following average annual market scale of China's industrial robot will be more than 6,000,000,000 yuan.
Current robot system integrated EAOT and VISION is controlled by foreign brand name, and the market occupied more than 90% should
With, mainly being provided by U.S. cognex and Japan Keyence, domestic primary and algorithm development is less, and most of integrated manufacturers are more
Be secondary development application, do not grasp core algorithm, using be generally smart camera+software license by the way of, profit is thin, the later stage dimension
It is more difficult that shield improves, and maintenance cost is high.
The content of the invention
The purpose of the present invention is to overcome or slow down the part at least the above shortcoming, reduces loading and unloading manipulator in intelligent phase
The problems such as machine coordinates image procossing complexity in software use, program development difficulty and precision not high.
A kind of robotic vision system, including at least one be used for grabbing workpiece manipulator and at least one be used for place
The platform of workpiece,
The platform produces workpiece coordinate signal with the placement location of workpiece；
The manipulator includes that grabbing assembly and at least one shoots camera；
The grabbing assembly includes control system, mechanical arm and the head located at mechanical arm end；
The head is provided with holder and the shooting camera；
The control system according to the workpiece coordinate signal drives the mechanical arm displacement head to workpiece just
The visual pattern that workpiece is located on the platform is shot by the shooting camera behind top, the control system changes the vision
Image is to drive the holder grabbing workpiece according to relative coordinate by the control system after relative coordinate.
Preferably, the platform includes mobile end face, and the mobile end face is provided with least one sliding rail, the slip
Groove sliding is connected with holding tray for placing workpiece, the holding tray along the sliding of the sliding groove by drive component control,
Displacement of the drive component according to the holding tray in the slippage slot produces described workpiece coordinate signal.
Preferably, the holding tray include positioned at the mobile end top mounting table and be connected with the mounting table
The bottom of the mounting table is fixed in sliding drive rod, described sliding drive rod one end, and the other end extends through the sliding rail
To the bottom of the mobile end face, at least one first cylinders are provided with the bottom of the mobile end face, first cylinder
One end that lever is located at the mobile end bottom with the sliding drive rod is fixed, and first cylinder is provided with the first displacement biography
Sensor, first displacement transducer exports the first workpiece coordinate signal to grabbing assembly.
Preferably, at least one set of the first relative cylinder, one are provided with the first level face of the bottom of the mobile end face
The week side of boss of one end that the lever of relative first cylinder of group is located at the mobile end bottom with sliding drive rod respectively is supported
Touch.
It is preferably located in the second horizontal plane below the first level face and is provided with one group of second relative cylinder, one
The lever of relative second cylinder of group is located at corresponding with one end that sliding drive rod is located at the mobile end bottom respectively
The week side of boss in horizontal plane is contradicted, and the telescopic lever direction of second cylinder and the first cylinder is different, and second cylinder is provided with
Second displacement sensor, the second displacement sensor exports second workpiece coordinate signal to grabbing assembly.
Preferably, the control system will be gray level image after the visual pattern color conversion, the control system choosing
Gray level image effective coverage is taken for pending image, pending image binaryzation is processed as binary picture by the control system
Picture, it is pretreatment image that the control system uses area-method denoising to binary image, and the control system is according to described pre-
Treatment image is converted to relative coordinate after carrying out calculating centre coordinate.
The present invention separately provides a kind of control method of robotic vision system, including step：
S100, the control system read the workpiece coordinate signal that the platform is produced；
S200, the control system resolve workpiece in the space coordinates of platform according to the workpiece coordinate signal；
S300, the control system drive the mechanical arm displacement workpiece top according to the space coordinates, so that workpiece
In the coverage of the shooting camera；
Exported to the control system, the control system after S400, the visual pattern of shooting camera shooting workpiece
It is relative coordinate to change the visual pattern；
S500, the control system drive the holder grabbing workpiece according to the relative coordinate.
Preferably, S101, the platform preset reference coordinate system；
S102, the platform produce the workpiece coordinate signal according to the path increment of the cylinder for driving workpiece displacement；
S201, the control system resolve workpiece in the space of platform according to the reference frame and workpiece coordinate signal
Coordinate.
Preferably, S401, the control system will be gray level image after visual pattern color conversion；
It is pending image that S402, the control system choose gray level image effective coverage；
Pending image binaryzation is processed as binary image by S403, the control system；
It is pretreatment image that S404, the control system use area-method denoising to binary image；
S405, the control system are converted to relative coordinate after carrying out calculating centre coordinate according to the pretreatment image.
Present invention optimizes the seizure environment of workpiece, make carrying work piece platform actively to provide space coordinates, help system
Immediate addressing workpiece, makes system only need quickly to recognize the visual pattern of a small range comprising workpiece, reduces and is
The difficulty in computation united during large-scale visual pattern is processed, saves calculation resources, improves efficiency.
Brief description of the drawings
These and other aspects of the invention is described more fully now with reference to appended accompanying drawing, it show the present invention
Currently preferred embodiment.Wherein：
Fig. 1 is the structure chart of the platform of the present embodiment；
Fig. 2 is the structure chart of rail rods；
Fig. 3 is the structure chart of holding tray；
Fig. 4 is the work sheet of the present embodiment；
Fig. 5 is the structure chart of the manipulator of the present embodiment；
Fig. 6 is the handling process of the control system to visual pattern of the present embodiment.
100th, support；110~140, frame plate；210~240, cylinder；300th, rail rods；310~350, positive four side body；
400th, holding tray；410th, placement platform；420th, drive rod is slid；510th, mechanical arm；520th, holder；530th, camera is shot；
540th, control system.
Specific embodiment
Below in conjunction with the accompanying drawings and instantiation, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate this
Invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are to of the invention various
The modification of the equivalent form of value falls within the application appended claims limited range.
The present embodiment is exemplary there is provided a kind of robotic vision system, and it includes mechanical hand and platform；Mechanical hand is used
In grabbing workpiece, platform is used to place workpiece, and workpiece is moved and corresponding space coordinates signal is produced.
As depicted in figs. 1 and 2, the platform of the present embodiment include hollow sliding drive rod 420, sliding drive rod 420 by
Top to bottm has six layers, and base plate is fixed with bottom, the vertical multiple rail rods 300 for being disposed with rectangular arrangement on base plate,
Rail rods 300 are provided with five positive four side bodies (310,320,330,340,350), positive four side body along its bar to what is be spaced successively
The above and below of (310,320,330,340,350) and bar are located at same to vertical with one layer of corresponding sliding drive rod 420
In horizontal plane, its week side of boss is parallel with the side of the positive four side body of adjacent orbit bar 300, while being provided with rail between adjacent positive four side body
Road gap.Meanwhile, the second layer from top to bottom, third layer in platform, the 4th layer and layer 5 be sequentially provided with frame plate (110,
120th, 130,140), cylinder, the gas between difference 420 layers of drive rods of sliding are installed on frame plate (110,120,130,140)
The telescopic direction of cylinder (210,220,230,240) is differed, and is respectively to be arranged with left and right up and down.
In addition as shown in figures 1 and 3, holding tray 400 is placed with platform, holding tray 400 includes discoid placement
Platform 410, placement platform 410 is located at the surface of the ground floor of 420 layers of drive rod of sliding, can arbitrarily move.Placing in addition
Platform 410 is fixed with sliding drive rod 420, and sliding drive rod 420 one end is fixed on the bottom of placement platform 410, and the other end is erected
Straight slides 420 layers of drive rod through each, and is placed in all the time in the orbit gap of the adjacent positive four side body of any two, the thick stick of cylinder
Bar is stretched into and be able in orbit gap the driving displacement of holding tray 400.
So design, in the case of sufficiently long, its lever respectively can be with corresponding horizontal plane for the cylinder of the present embodiment
Interior to be contradicted with sliding drive rod 420, then in placement platform 410 after workpiece is placed, it is in sliding 420 layers of ground floor of drive rod
Surface position can by the lever of cylinder setting displacement transducer or detection oil mass be judged, as shown in figure 4,
Give the schematic diagram of workpiece coordinate signal of one group of cylinder for the location of workpiece is produced.
By above-mentioned technical proposal, the present embodiment is saved and goes first-selected workpiece of finding to be located at platform by shooting camera 530
The calculating of upper position.Meanwhile, the workpiece of the present embodiment can be driven due to being placed in holding tray 400 by cylinder, then
The present embodiment actively by air cylinder driven it is determined that after the relative position of manipulator, can make the location of workpiece to machinery
In the working range of hand.
As shown in figure 3, the manipulator of the present embodiment includes mechanical arm 510 and the fixed head with mechanical arm 510, also drive
Dynamic mechanical arm 510 and the control system 540 of head work.Mechanical arm 510 is designed using revolute robot, can be flexibly curved
It is bent, flexible, it is conveniently adjusted the position of head.Holder 520 is disposed with head and camera 530 is shot.The shooting of the present embodiment
Camera 530 workpiece into workpiece is carried out after coverage shooting produce visual pattern after export to control system 540.Control
System 540 will be gray level image after visual pattern color conversion, and it is pending that control system 540 chooses gray level image effective coverage
Pending image binaryzation is processed as binary image by image, control system 540, and control system 540 is adopted to binary image
It is pretreatment image with area-method denoising, control system 540 is converted to phase after carrying out calculating centre coordinate according to pretreatment image
To coordinate.Control system 540 controls holder 520 to be pressed from both sides to workpiece with required angle and attitude according to relative coordinate
Hold.
In addition, another embodiment of the invention, the present embodiment only has a cylinder, and the lever of cylinder drives with sliding
Lever is fixed, and the lever of cylinder is provided with displacement transducer, then displacement transducer exports the first workpiece coordinate signal to crawl
Component.The characteristics of the present embodiment is only to need a cylinder, and control system can be coordinated to determine the sky of workpiece in air line distance
Between coordinate.Certainly, it is one group of relative cylinder that the present embodiment can also further be expanded into, the lever point of the relative cylinder of this group
The week side of boss not with sliding drive rod is contradicted, and one group of cylinder coordinates the promotion for sliding drive rod, can produce one group of relative work
Part coordinate signal, is easy to control system accurately to determine the space coordinates of workpiece.
Present invention combination Fig. 6, separately there is provided a kind of control method of robotic vision system, it includes：
S101, the platform preset reference coordinate system；
S102, the platform produce the workpiece coordinate signal according to the path increment of the cylinder for driving workpiece displacement；
S201, the control system 540 resolve workpiece in platform according to the reference frame and workpiece coordinate signal
Space coordinates.
S300, the control system 540 drive the displacement workpiece of mechanical arm 510 top according to the space coordinates, with
Workpiece is set to be located in the coverage of the shooting camera 530；
S401, the control system 540 will be gray level image after visual pattern color conversion；
It is pending image that S402, the control system 540 choose gray level image effective coverage；
Pending image binaryzation is processed as binary image by S403, the control system 540；
It is pretreatment image that S404, the control system 540 use area-method denoising to binary image；
S405, the control system 540 are converted to relative seat after carrying out calculating centre coordinate according to the pretreatment image
Mark
S500, the control system 540 drive the grabbing workpiece of holder 520 according to the relative coordinate.
Claims (9)
1. a kind of robotic vision system, including at least one be used for the manipulator of grabbing workpiece and at least one and be used to place work
The platform of part, it is characterised in that
The platform produces workpiece coordinate signal with the placement location of workpiece；
The manipulator includes that grabbing assembly and at least one shoots camera；
The grabbing assembly includes control system, mechanical arm and the head located at mechanical arm end；
The head is provided with holder and the shooting camera；
The control system according to the workpiece coordinate signal drives the mechanical arm displacement head to the surface of workpiece
The visual pattern that workpiece is located on the platform is shot by the shooting camera afterwards, the control system changes the visual pattern
To drive the holder grabbing workpiece according to relative coordinate by the control system after relative coordinate.
2. robotic vision system according to claim 1, it is characterised in that the platform includes mobile end face, described
Mobile end face is provided with least one sliding rail, and the sliding groove sliding is connected with the holding tray for placing workpiece, described to put
Disk is put along the sliding of the sliding groove by drive component control, the drive component is according to the holding tray in the slippage slot
Displacement produce described workpiece coordinate signal.
3. robotic vision system according to claim 2, it is characterised in that the holding tray includes being located at the movement
The placement is fixed in the mounting table of end top and the sliding drive rod being connected with the mounting table, described sliding drive rod one end
The bottom of platform, the other end extends to the bottom of the mobile end face through the sliding rail, in the bottom of the mobile end face
At least one first cylinders are provided with, the lever of first cylinder is located at the mobile end bottom with the sliding drive rod
One end is fixed, and first cylinder is provided with the first displacement transducer, and first displacement transducer exports the first workpiece coordinate letter
Number to grabbing assembly.
4. robotic vision system according to claim 3, it is characterised in that the first water of the bottom of the mobile end face
Be provided with least one set of the first relative cylinder in plane, one group of lever of relative first cylinder respectively with sliding drive rod
The week side of boss positioned at one end of the mobile end bottom is contradicted.
5. robotic vision system according to claim 4, it is characterised in that below the first level face
Be provided with one group of second relative cylinder in two horizontal planes, one group of lever of relative second cylinder respectively with sliding drive rod
The week side of boss conflict positioned at one end of the mobile end bottom in correspondence horizontal plane, second cylinder and the first cylinder
Telescopic lever direction is different, and second cylinder is provided with second displacement sensor, and the second displacement sensor exports the second work
Part coordinate signal is to grabbing assembly.
6. robotic vision system according to claim 1, it is characterised in that the control system is by the visual pattern
It is gray level image after color conversion, it is pending image, the control system that the control system chooses gray level image effective coverage
Pending image binaryzation is processed as binary image by system, the control system binary image is used area-method denoising for
Pretreatment image, the control system is converted to relative coordinate after carrying out calculating centre coordinate according to the pretreatment image.
7. a kind of control method of robotic vision system as claimed in claim 1, it is characterised in that including step：
S100, the control system read the workpiece coordinate signal that the platform is produced；
S200, the control system resolve workpiece in the space coordinates of platform according to the workpiece coordinate signal；
S300, the control system drive the mechanical arm displacement workpiece top according to the space coordinates, so that workpiece is located at
In the coverage for shooting camera；
Exported after S400, the visual pattern of shooting camera shooting workpiece to the control system, the control system conversion
The visual pattern is relative coordinate；
S500, the control system drive the holder grabbing workpiece according to the relative coordinate.
8. control method according to claim 7, it is characterised in that
S101, the platform preset reference coordinate system；
S102, the platform produce the workpiece coordinate signal according to the path increment of the cylinder for driving workpiece displacement；
S201, the control system resolve workpiece and are sat in the space of platform according to the reference frame and workpiece coordinate signal
Mark.
9. control method according to claim 7, it is characterised in that
S401, the control system will be gray level image after visual pattern color conversion；
It is pending image that S402, the control system choose gray level image effective coverage；
Pending image binaryzation is processed as binary image by S403, the control system；
It is pretreatment image that S404, the control system use area-method denoising to binary image；
S405, the control system are converted to relative coordinate after carrying out calculating centre coordinate according to the pretreatment image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710229431.9A CN106881719A (en) | 2017-04-10 | 2017-04-10 | Robotic vision system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710229431.9A CN106881719A (en) | 2017-04-10 | 2017-04-10 | Robotic vision system and control method |
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| Publication Number | Publication Date |
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| CN106881719A true CN106881719A (en) | 2017-06-23 |
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| CN201710229431.9A Withdrawn CN106881719A (en) | 2017-04-10 | 2017-04-10 | Robotic vision system and control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108037134A (en) * | 2017-12-29 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of nuclear power plant BONNA pipe detection system and methods |
| CN110216975A (en) * | 2019-07-09 | 2019-09-10 | 安吉八塔机器人有限公司 | A kind of multi-function peripheral device people's system |
| CN113290552A (en) * | 2020-02-24 | 2021-08-24 | 株式会社理光 | Article placement system and article placement method |
| CN113523272A (en) * | 2021-05-14 | 2021-10-22 | 福建省长汀金龙稀土有限公司 | Material box grabbing system based on machine vision |
-
2017
- 2017-04-10 CN CN201710229431.9A patent/CN106881719A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108037134A (en) * | 2017-12-29 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of nuclear power plant BONNA pipe detection system and methods |
| CN108037134B (en) * | 2017-12-29 | 2020-07-21 | 深圳市智能机器人研究院 | Nuclear power plant BONNA pipeline detection system and method |
| CN110216975A (en) * | 2019-07-09 | 2019-09-10 | 安吉八塔机器人有限公司 | A kind of multi-function peripheral device people's system |
| CN113290552A (en) * | 2020-02-24 | 2021-08-24 | 株式会社理光 | Article placement system and article placement method |
| CN113290552B (en) * | 2020-02-24 | 2022-09-16 | 株式会社理光 | Article placement system and article placement method |
| CN113523272A (en) * | 2021-05-14 | 2021-10-22 | 福建省长汀金龙稀土有限公司 | Material box grabbing system based on machine vision |
| CN113523272B (en) * | 2021-05-14 | 2023-09-29 | 福建省长汀金龙稀土有限公司 | Material box grabbing system based on machine vision |
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Application publication date: 20170623 |