CN106926241A - A kind of the tow-armed robot assembly method and system of view-based access control model guiding - Google Patents
A kind of the tow-armed robot assembly method and system of view-based access control model guiding Download PDFInfo
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- CN106926241A CN106926241A CN201710166357.0A CN201710166357A CN106926241A CN 106926241 A CN106926241 A CN 106926241A CN 201710166357 A CN201710166357 A CN 201710166357A CN 106926241 A CN106926241 A CN 106926241A
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- armed robot
- access control
- control model
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The invention discloses the tow-armed robot assembly method and system of a kind of guiding of view-based access control model, method includes start machine people's controller；Start 2 cameras simultaneously, part is judged whether, if so, then positioned to part and captured；Conversely, then continuing waiting for；Operation tow-armed robot is assembled to the object for capturing.System includes starting module, identify locating module and load module.The present invention is accurately positioned by vision system, can effectively improve the efficiency of assembling of product, and the acceptable quality of product has been effectively ensured, and greatly improves the qualification rate of product.And the present invention is assembled by using tow-armed robot, can greatly improve the flexibility ratio and collaborative of assembling process, further improves efficiency of assembling.In the composite can be widely applied to mounting technology field.
Description
Technical field
The present invention relates to robotic asssembly field, more particularly to a kind of guiding of view-based access control model tow-armed robot method and dress
Match system.
Background technology
Developing rapidly for 3C industries drives its demand to increase rapidly, and urgent need realizes that industry is automated.Due to 3C part categories
Many, small volume and be difficult to position, Automated assembly equipment challenge.The technological means taken is at present：Use the automation of customization
Equipment；Arranged in pairs or groups specially designed fixture using traditional robot, but these " customizations " are difficult in adapt to the renewal speed of 3C Product.
The content of the invention
In order to solve the above-mentioned technical problem, it is an object of the invention to provide a kind of a kind of base for improving flexibility ratio and collaborative
In the tow-armed robot method and assembly system of vision guide.
The technical solution used in the present invention is：
A kind of tow-armed robot assembly method of view-based access control model guiding, comprises the following steps：
Start machine people's controller
Start 2 cameras simultaneously, part is judged whether, if so, then positioned to part and captured；Conversely,
Then continue waiting for；
Operation tow-armed robot is assembled to the object for capturing.
The further improvement of the tow-armed robot assembly method guided as a kind of described view-based access control model, described part
Positioned, it is specifically included：
Vision system is calibrated by chessboard method；
Target image is gathered by camera, and target image is processed by vision system, obtain two-dimensional coordinate, gone forward side by side
And try to achieve the space line that part is pointed to by the camera origin of coordinates；
The direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Further it is converted in the reference frame of tow-armed robot after the space line for obtaining and the distance parameter synthesis for obtaining,
The 3 d space coordinate of part is obtained, positioning is completed.
The further improvement of the tow-armed robot assembly method guided as a kind of described view-based access control model, also includes：
In assembling process, the image in real time detecting vision system will be with the image comparison of standard, if comparing result is aobvious
Show that assembling is incorrect, tow-armed robot stops horse back.
The further improvement of the tow-armed robot assembly method guided as a kind of described view-based access control model, also includes：
When feeding area identification is less than wait the part for capturing, tow-armed robot will stop until recognizing part.
The further improvement of the tow-armed robot assembly method guided as a kind of described view-based access control model, also includes：
Tow-armed robot end is tracked with vision system all the time in assembling process, by robot end's position judgment robot
End whether have orientation problem or whether need calibrate vision system, if so, being then stopped and being calibrated.
Another technical scheme of the present invention is：
A kind of tow-armed robot assembly system of view-based access control model guiding, including：
Starting module, for start machine people's controller；
Identify locating module, for starting 2 cameras simultaneously, judges whether part, if so, then being positioned to part
And captured；Conversely, then continuing waiting for；
Load module, assembles for running tow-armed robot to the object for capturing.
The further improvement of the tow-armed robot assembly system guided as a kind of described view-based access control model, described identification
Locating module is specifically included：
Calibration module, for being calibrated to vision system by chessboard method；
Image processing module, for gathering target image by camera, and is processed target image by vision system,
Two-dimensional coordinate is obtained, and and then is tried to achieve by the space line of camera origin of coordinates sensing part；
Range finder module, the direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Coordinate transferring, for being further converted to both arms machine after the space line for obtaining and the distance parameter synthesis for obtaining
In the reference frame of people, the 3 d space coordinate of part is obtained, complete positioning.
The further improvement of the tow-armed robot assembly system guided as a kind of described view-based access control model, also includes：
Real time contrast's module, in assembling process, the image in real time detecting vision system will be with the image of standard
Contrast, if comparing result display assembling is incorrect, tow-armed robot stops horse back.
The further improvement of the tow-armed robot assembly system guided as a kind of described view-based access control model, also includes：
Module is waited, for when feeding area identification is less than wait the part for capturing, tow-armed robot will to stop until recognizing zero
Part.
The further improvement of the tow-armed robot assembly system guided as a kind of described view-based access control model, also includes：
Real time calibration module, for tracking tow-armed robot end with vision system all the time in assembling process, by robot
Terminal position judges whether whether the end of robot has orientation problem or need to calibrate vision system, if so, then stopping work
Make and calibrated.
The beneficial effects of the invention are as follows：
The tow-armed robot assembly method and system of a kind of view-based access control model guiding of the present invention are accurately positioned by vision system,
The efficiency of assembling of product can be effectively improved, and the acceptable quality of product has been effectively ensured, greatly improve the qualification rate of product.And
The present invention is assembled by using tow-armed robot, can greatly improve the flexibility ratio and collaborative of assembling process, is further carried
Efficiency of assembling high.
Brief description of the drawings
Specific embodiment of the invention is described further below in conjunction with the accompanying drawings：
The step of Fig. 1 is a kind of tow-armed robot assembly method of view-based access control model guiding of the invention flow chart；
Fig. 2 be a kind of view-based access control model guiding of the invention tow-armed robot assembly method in flow chart the step of recognize positioning；
Fig. 3 is a kind of block diagram of the tow-armed robot assembly system of view-based access control model guiding of the invention.
Specific embodiment
With reference to Fig. 1, a kind of tow-armed robot assembly method of view-based access control model guiding of the invention is comprised the following steps：
Start machine people's controller；
Start 2 cameras simultaneously, part is judged whether, if so, then positioned to part and captured；Conversely,
Then continue waiting for；
Operation tow-armed robot is assembled to the object for capturing.
With reference to Fig. 2, it is further used as preferred embodiment, described part is positioned, and it is specifically included：
Vision system is calibrated by chessboard method；
Target image is gathered by camera, and target image is processed by vision system, obtain two-dimensional coordinate, gone forward side by side
And try to achieve the space line that part is pointed to by the camera origin of coordinates；
The direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Further it is converted in the reference frame of tow-armed robot after the space line for obtaining and the distance parameter synthesis for obtaining,
The 3 d space coordinate of part is obtained, positioning is completed.
Preferably, during described coordinate transformation, turning for line-of-sight course computation vision framework and robot frame can be used
Change coefficient.Choose any 3 points in gridiron pattern, the reference of the coordinate and robot at them under visual coordinate system is calculated respectively
Coordinate under coordinate system, sets up two groups of relations of coordinates matrix, is exactly conversion coefficient, so as to be calculated the space three-dimensional of part
Coordinate.
Preferably, when judging whether part, target image can be gathered by camera, then target image is carried out
Image segmentation and feature extraction, so as to judge it with the presence or absence of part feature according in image.
It is further used as preferred embodiment, also including：
In assembling process, the image in real time detecting vision system will be with the image comparison of standard, if comparing result is aobvious
Show that assembling is incorrect, tow-armed robot stops horse back.
It is further used as preferred embodiment, also including：
When feeding area identification is less than wait the part for capturing, tow-armed robot will stop until recognizing part.
The further improvement of the tow-armed robot assembly method guided as a kind of described view-based access control model, also includes：
Tow-armed robot end is tracked with vision system all the time in assembling process, by robot end's position judgment robot
End whether have orientation problem or whether need calibrate vision system, if so, being then stopped and being calibrated.
With reference to Fig. 3, a kind of tow-armed robot assembly system of view-based access control model guiding of the invention, including：
Starting module, for start machine people's controller；
Identify locating module, for starting 2 cameras simultaneously, judges whether part, if so, then being positioned to part
And captured；Conversely, then continuing waiting for；
Load module, assembles for running tow-armed robot to the object for capturing.
It is further used as preferred embodiment, described identify locating module is specifically included：
Calibration module, for being calibrated to vision system by chessboard method；
Image processing module, for gathering target image by camera, and is processed target image by vision system,
Two-dimensional coordinate is obtained, and and then is tried to achieve by the space line of camera origin of coordinates sensing part；
Range finder module, the direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Coordinate transferring, for being further converted to both arms machine after the space line for obtaining and the distance parameter synthesis for obtaining
In the reference frame of people, the 3 d space coordinate of part is obtained, complete positioning.
It is further used as preferred embodiment, also including：
Real time contrast's module, in assembling process, the image in real time detecting vision system will be with the image of standard
Contrast, if comparing result display assembling is incorrect, tow-armed robot stops horse back.
It is further used as preferred embodiment, also including：
Module is waited, for when feeding area identification is less than wait the part for capturing, tow-armed robot will to stop until recognizing zero
Part.
It is further used as preferred embodiment, also including：
Real time calibration module, for tracking tow-armed robot end with vision system all the time in assembling process, by robot
Terminal position judges whether whether the end of robot has orientation problem or need to calibrate vision system, if so, then stopping work
Make and calibrated.
In the embodiment of the present invention, for convenience of the implementation of assembling process, some usual assembly parameters are also extracted, such as risen
Beginning position, final position, inserting speed, rotary speed and anglec of rotation etc..
Specific embodiment is as follows：
S1, start machine people's controller；
S2, while starting 2 cameras, judge whether part, if so, then perform step S3 and being captured, then hold
Row step S7；Conversely, then continuing waiting for；
S3, vision system is calibrated by chessboard method；
S4, target image is gathered by camera, and target image is processed by vision system, obtain two-dimensional coordinate,
And and then try to achieve by the space line of camera origin of coordinates sensing part；
The direction of the space line that S5, alignment are obtained is found range, and obtains the distance parameter of part；
S6, the space line for obtaining further are converted to the reference frame of tow-armed robot after synthesizing with the distance parameter for obtaining
In, the 3 d space coordinate of part is obtained, positioning is completed, return to the crawl step performed in step S2；
S7, operation tow-armed robot are assembled to the object for capturing.
From the foregoing it can be that the tow-armed robot assembly method and system of a kind of view-based access control model guiding of the invention are by regarding
Feel system is accurately positioned, and can effectively improve the efficiency of assembling of product, and the acceptable quality of product has been effectively ensured, and is carried significantly
The qualification rate of high product.And the present invention is assembled by using tow-armed robot, can greatly improve the flexible of assembling process
Degree and collaborative, further improve efficiency of assembling.
Above is preferable implementation of the invention is illustrated, but the invention is not limited to the implementation
Example, those of ordinary skill in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. the tow-armed robot assembly method that a kind of view-based access control model is guided, it is characterised in that comprise the following steps：
Start machine people's controller；
Start 2 cameras simultaneously, part is judged whether, if so, then positioned to part and captured；Conversely,
Then continue waiting for；
Operation tow-armed robot is assembled to the object for capturing.
2. the tow-armed robot assembly method that a kind of view-based access control model according to claim 1 is guided, it is characterised in that：It is described
Part positioned, it is specifically included：
Vision system is calibrated by chessboard method；
Target image is gathered by camera, and target image is processed by vision system, obtain two-dimensional coordinate, gone forward side by side
And try to achieve the space line that part is pointed to by the camera origin of coordinates；
The direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Further it is converted in the reference frame of tow-armed robot after the space line for obtaining and the distance parameter synthesis for obtaining,
The 3 d space coordinate of part is obtained, positioning is completed.
3. the tow-armed robot assembly method that a kind of view-based access control model according to claim 1 is guided, it is characterised in that：Also wrap
Include：
In assembling process, the image in real time detecting vision system will be with the image comparison of standard, if comparing result is aobvious
Show that assembling is incorrect, tow-armed robot stops horse back.
4. the tow-armed robot assembly method that a kind of view-based access control model according to claim 1 is guided, it is characterised in that：Also wrap
Include：
When feeding area identification is less than wait the part for capturing, tow-armed robot will stop until recognizing part.
5. the tow-armed robot assembly method that a kind of view-based access control model according to claim 1 is guided, it is characterised in that：Also wrap
Include：
Tow-armed robot end is tracked with vision system all the time in assembling process, by robot end's position judgment robot
End whether have orientation problem or whether need calibrate vision system, if so, being then stopped and being calibrated.
6. the tow-armed robot assembly system that a kind of view-based access control model is guided, it is characterised in that including：
Starting module, for start machine people's controller；
Identify locating module, for starting 2 cameras simultaneously, judges whether part, if so, then being positioned to part
And captured；Conversely, then continuing waiting for；
Load module, assembles for running tow-armed robot to the object for capturing.
7. the tow-armed robot assembly system that a kind of view-based access control model according to claim 6 is guided, it is characterised in that：It is described
Identify locating module specifically include：
Calibration module, for being calibrated to vision system by chessboard method；
Image processing module, for gathering target image by camera, and is processed target image by vision system,
Two-dimensional coordinate is obtained, and and then is tried to achieve by the space line of camera origin of coordinates sensing part；
Range finder module, the direction for being directed at the space line for obtaining is found range, and obtains the distance parameter of part；
Coordinate transferring, for being further converted to both arms machine after the space line for obtaining and the distance parameter synthesis for obtaining
In the reference frame of people, the 3 d space coordinate of part is obtained, complete positioning.
8. the tow-armed robot assembly system that a kind of view-based access control model according to claim 6 is guided, it is characterised in that：Also wrap
Include：
Real time contrast's module, in assembling process, the image in real time detecting vision system will be with the image of standard
Contrast, if comparing result display assembling is incorrect, tow-armed robot stops horse back.
9. the tow-armed robot assembly system that a kind of view-based access control model according to claim 6 is guided, it is characterised in that：Also wrap
Include：
Module is waited, for when feeding area identification is less than wait the part for capturing, tow-armed robot will to stop until recognizing zero
Part.
10. the tow-armed robot assembly system that a kind of view-based access control model according to claim 6 is guided, it is characterised in that：Also
Including：
Real time calibration module, for tracking tow-armed robot end with vision system all the time in assembling process, by robot
Terminal position judges whether whether the end of robot has orientation problem or need to calibrate vision system, if so, then stopping work
Make and calibrated.
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| CN201710166357.0A CN106926241A (en) | 2017-03-20 | 2017-03-20 | A kind of the tow-armed robot assembly method and system of view-based access control model guiding |
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| CN107886501A (en) * | 2017-10-23 | 2018-04-06 | 深圳市共进电子股份有限公司 | Vision positioning method and terminal device |
| CN109202802A (en) * | 2018-11-14 | 2019-01-15 | 山东大学 | A kind of vision guide system and method for snap-fit |
| CN109397285A (en) * | 2018-09-17 | 2019-03-01 | 鲁班嫡系机器人（深圳）有限公司 | A kind of assembly method, assembly device and assembly equipment |
| CN110757454A (en) * | 2019-10-12 | 2020-02-07 | 广州中国科学院先进技术研究所 | Path planning method and device for cooperative rotation of double robots |
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