CN107328357A - Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope - Google Patents
Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope Download PDFInfo
- Publication number
- CN107328357A CN107328357A CN201710482198.5A CN201710482198A CN107328357A CN 107328357 A CN107328357 A CN 107328357A CN 201710482198 A CN201710482198 A CN 201710482198A CN 107328357 A CN107328357 A CN 107328357A
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- Prior art keywords
- spray gun
- teaching
- camera
- fibre optic
- optic gyroscope
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the spraying teaching apparatus that a kind of use machine vision and fibre optic gyroscope coordinate positioning, include teaching powder room, teaching powder room is provided with spray gun device, the side wall in teaching powder room is provided with the first camera, the top in teaching powder room is provided with second camera, spray gun device is provided with the fibre optic gyroscope for being used for gathering teaching spray gun posture, and fibre optic gyroscope is connected with outside multi-axis controller；Mechanical mechanism complicated in the prior art is replaced to obtain the coordinate parameters of spray gun device by using the first camera and second camera, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, the operating process of driving machine tool hand reproduction teaching mechanism after coordinate parameters and attitude parameter is obtained by multi-axis controller, current multi-spindle machining hand teaching mode can be solved complicated, the defects such as technical requirements height, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device structure, reduce production cost, improve equipment flexibility ratio and expand the purpose of job area.
Description
Technical field
The present invention relates to a kind of teaching device for being used to spray industry, and in particular to one kind is using machine vision and optical fiber top
Spiral shell instrument coordinates the spraying teaching apparatus of positioning.
Background technology
The application programming of multiaxis spray coating mechanical hand substantially passes through manipulation by programming personnel in spraying industry in the prior art
Programmable device (teaching box) is completed using special off-line programming software, and user needs to have higher knowledge expertise, and
It could be competent at by special training, the post dependence to programming engineer is high and operation is not directly perceived, after program setting
It is difficult modification.
The telescopic spraying teaching mechanism with hemisphere job area that our company is previously proposed
(CN201620587905.8), the teaching device has that complicated, cost is high, job area.
The content of the invention
In order to solve the above technical problems, the present invention proposes the spraying for coordinating positioning with fibre optic gyroscope using machine vision
Teaching apparatus, to reach simplified teaching device structure, reduction production cost and the purpose for expanding job area.
To reach above-mentioned purpose, technical scheme is as follows：
A kind of use machine vision coordinates the spraying teaching apparatus of positioning with fibre optic gyroscope, includes teaching powder room (1),
The teaching powder room is provided with spray gun device (2), and the side wall in the teaching powder room is provided with the first camera (3), the teaching
The top in powder room is provided with second camera (4), and first camera and second camera are engaged with the spray gun device,
And first camera gathers coordinate of the spray gun device in XZ planes, the second camera gathers the spray gun dress
The coordinate in X/Y plane is put, the spray gun device is provided with the fibre optic gyroscope (5) for being used for gathering teaching spray gun posture, described
Fibre optic gyroscope (5), the first camera (3) and second camera (4) transfer data to main frame by industrial control host serial ports,
Data are carried out by the image processing software in main frame to be transferred to multi-axis controller after transformation calculations, the multi-axis controller driving
The operating process of mechanical arm reproduction teaching mechanism.
The present invention replaces mechanical mechanism complicated in the prior art to obtain by using the first camera and second camera
The coordinate parameters of spray gun device are taken, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, is obtained and sat by multi-axis controller
Mark the operating process of driving machine tool hand reproduction teaching mechanism after parameter and attitude parameter, it is possible to resolve current multi-spindle machining hand teaching side
The defects such as formula complexity, technical requirements height, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device knot
Structure, reduction production cost, the purpose for improving equipment flexibility ratio and expansion job area.
As preferred, first camera (3) is connected to the side wall in the teaching powder room by first crossbeam (11),
The second camera (4) is connected to the top in the teaching powder room by second cross beam (12).
As preferred, the spray gun device (2) includes manual spray gun (21) and substrate (22), and the substrate passes through spray
Rifle fixture (23) is connected on the manual spray gun (21), and the fibre optic gyroscope (5) is set on the substrate, the substrate
On be additionally provided with connecting rod (24), the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with place kick (25).
As preferred, first camera (3) shoots image of the spray gun device in XZ planes, soft by image procossing
Part extracts the pixel coordinate of the place kick centre of sphere, and place kick X, Z coordinate in world coordinate system are obtained by transformation calculations；Described
Two cameras (4) shoot image of the spray gun device in X/Y plane, and the pixel for extracting the place kick centre of sphere by image processing software is sat
Mark, place kick X, Y-coordinate in world coordinate system are obtained by transformation calculations, and the fibre optic gyroscope (5) exports spray gun device
Attitude parameter.The accuracy of the acquisition of spray gun device coordinate parameters is ensure that by the first camera and second camera.
The invention has the advantages that：
1. the present invention replaces mechanical mechanism complicated in the prior art by using the first camera and second camera
The coordinate parameters of spray gun device are obtained, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, is obtained by multi-axis controller
The operating process of driving machine tool hand reproduction teaching mechanism after coordinate parameters and attitude parameter, it is possible to resolve current multi-spindle machining hand teaching
The defects such as mode complexity, technical requirements height, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device
Structure, reduction production cost, the purpose for improving equipment flexibility ratio and expansion job area.
2. the present invention ensure that the accurate of the acquisition of spray gun device coordinate parameters by the first camera and second camera
Property.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described.
Fig. 1 is that the embodiment of the present invention is disclosed using machine vision and the spraying teaching apparatus of fibre optic gyroscope cooperation positioning
Structural representation；
Fig. 2 is that the embodiment of the present invention is disclosed using machine vision and the spraying teaching apparatus of fibre optic gyroscope cooperation positioning
The structural representation of middle spray gun device；
Numeral and the corresponding component title represented by letter in figure：
1. the manual spray gun of teaching powder room 11. first crossbeam, 12. second cross beam, 2. spray gun device 21.
22. the camera of 23. spray gun fixture of substrate, 24. connecting rod, 25. place kick 3. first
4. the fibre optic gyroscope of second camera 5..
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described.
The invention provides the spraying teaching apparatus for coordinating positioning with fibre optic gyroscope using machine vision, its operation principle
It is to replace mechanical mechanism complicated in the prior art to obtain spray gun device by using the first camera and second camera
Coordinate parameters, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, and coordinate parameters and posture are obtained by multi-axis controller
The operating process of driving machine tool hand reproduction teaching mechanism after parameter, it is possible to resolve current multi-spindle machining hand teaching mode is complicated, technology
It is required that high defect, lifts the flexibility of multi-spindle machining hand spraying operation mode, simplified teaching device structure, reduction production are reached
Cost, the purpose for improving equipment flexibility ratio and expansion job area.
With reference to embodiment and embodiment, the present invention is further detailed explanation.
As depicted in figs. 1 and 2, a kind of use machine vision coordinates the spraying teaching apparatus of positioning, bag with fibre optic gyroscope
Containing teaching powder room (1), the teaching powder room is provided with spray gun device (2), and the side wall in the teaching powder room is taken the photograph provided with first
As head (3), the top in the teaching powder room is provided with second camera (4), and first camera and second camera are and institute
Spray gun device is stated to be engaged, and first camera gathers coordinate of the spray gun device in XZ planes, described second takes the photograph
As coordinate of the head collection spray gun device in X/Y plane, the spray gun device, which is provided with, to be used to gather teaching spray gun posture
Fibre optic gyroscope (5), the fibre optic gyroscope (5), the first camera (3) and second camera (4) pass through industrial control host string
Mouth transfers data to main frame, by the image processing software in main frame to being transferred to multijoint control after data progress transformation calculations
Device, the multi-axis controller driving mechanical arm reproduction teaching mechanism operating process.
The present invention replaces mechanical mechanism complicated in the prior art to obtain by using the first camera and second camera
The coordinate parameters of spray gun device are taken, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, is obtained and sat by multi-axis controller
Mark the operating process of driving machine tool hand reproduction teaching mechanism after parameter and attitude parameter, it is possible to resolve current multi-spindle machining hand teaching side
The defects such as formula complexity, technical requirements height, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device knot
Structure, reduction production cost, the purpose for improving equipment flexibility ratio and expansion job area.
It is worth noting that, first camera (3) is connected to the side in the teaching powder room by first crossbeam (11)
Wall, the second camera (4) is connected to the top in the teaching powder room by second cross beam (12).
It is worth noting that, the spray gun device (2) includes manual spray gun (21) and substrate (22), the substrate passes through
Spray gun fixture (23) is connected on the manual spray gun (21), and the fibre optic gyroscope (5) is set on the substrate, the base
Connecting rod (24) is additionally provided with plate, the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with place kick
(25)。
It is worth noting that, first camera (3) shoots spray gun device in the image of XZ planes, pass through image procossing
Software extracts the pixel coordinate of the place kick centre of sphere, and place kick X, Z coordinate in world coordinate system are obtained by converting transformation calculations；
The second camera (4) shoots image of the spray gun device in X/Y plane, and the place kick centre of sphere is extracted by image processing software
Pixel coordinate, place kick X, Y-coordinate in world coordinate system, fibre optic gyroscope (5) the output spray are obtained by transformation calculations
The attitude parameter of gun apparatus.Ensure that by the first camera and second camera spray gun device coordinate parameters acquisition it is accurate
Property.
The specifically used step of the present invention is as follows：Again as depicted in figs. 1 and 2, in actual use, by the first shooting
First 3 are in approximately the same plane with camera of the second camera 4 from same performance, the optical axis of two cameras, and first takes the photograph
Optical axis as first 3 is parallel to the ground and perpendicular to crossbeam 11, and the optical axis of second camera 4 is perpendicular to the ground.
First camera 3 shoots photo of the spray gun device 2 in XZ planes, and the ball of place kick 25 is extracted by image processing software
The pixel coordinate of the heart, place kick 25 X, Z coordinate in world coordinate system are obtained by transformation calculations；
Second camera 4 shoots photo of the spray gun device 2 in X/Y plane, and the ball of place kick 25 is extracted by image processing software
The pixel coordinate of the heart, place kick 25 X, Y-coordinate in world coordinate system are obtained by transformation calculations；
Fibre optic gyroscope 5 exports the attitude parameter of spray gun device 2；
Multi-axis controller obtains the attitude parameter of above-mentioned Z, Y, Z coordinate and spray gun device 2, according to this driving parameter manipulator
Reappear the operating process of teaching mechanism.
By way of more than, use machine vision provided by the present invention coordinates the spraying of positioning to show with fibre optic gyroscope
Teaching device, replaces mechanical mechanism complicated in the prior art to obtain spray gun dress by using the first camera and second camera
The coordinate parameters put, using fibre optic gyroscope obtain spray gun device attitude parameter, by multi-axis controller obtain coordinate parameters and
The operating process of driving machine tool hand reproduction teaching mechanism after attitude parameter, it is possible to resolve current multi-spindle machining hand teaching mode complexity,
The defects such as technical requirements height, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device structure, reduction
Production cost, the purpose for improving equipment flexibility ratio and expansion job area.
Above-described is only that use machine vision disclosed in this invention coordinates the spraying of positioning to show with fibre optic gyroscope
The preferred embodiment of teaching device, it is noted that for the person of ordinary skill of the art, is not departing from the invention
On the premise of design, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (4)
1. a kind of use machine vision coordinates the spraying teaching apparatus of positioning with fibre optic gyroscope, it is characterised in that includes and shows
Teach powder room (1), the teaching powder room is provided with spray gun device (2), the side wall in the teaching powder room is provided with the first camera
(3), the top in the teaching powder room be provided with second camera (4), first camera and second camera with the spray
Gun apparatus is engaged, and first camera gathers coordinate of the spray gun device in XZ planes, the second camera
Coordinate of the spray gun device in X/Y plane is gathered, the spray gun device is provided with the optical fiber for being used for gathering teaching spray gun posture
Gyroscope (5), the fibre optic gyroscope (5), the first camera (3) and second camera (4) will by industrial control host serial ports
Data are transferred to main frame, by the image processing software in main frame to being transferred to multi-axis controller after data progress transformation calculations, institute
State the operating process of multi-axis controller driving mechanical arm reproduction teaching mechanism.
2. use machine vision according to claim 1 coordinates the spraying teaching apparatus of positioning with fibre optic gyroscope, it is special
Levy and be, first camera (3) is connected to the side wall in the teaching powder room, second shooting by first crossbeam (11)
Head (4) is connected to the top in the teaching powder room by second cross beam (12).
3. use machine vision according to claim 1 coordinates the spraying teaching apparatus of positioning with fibre optic gyroscope, it is special
Levy and be, the spray gun device (2) includes manual spray gun (21) and substrate (22), the substrate is connected by spray gun fixture (23)
It is connected on the manual spray gun (21), the fibre optic gyroscope (5) is set on the substrate, and connecting rod is additionally provided with the substrate
(24), the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with place kick (25).
4. use machine vision according to claim 3 coordinates the spraying teaching apparatus of positioning with fibre optic gyroscope, it is special
Levy and be, first camera (3) shoots spray gun device in the image of XZ planes, and place kick is extracted by image processing software
The pixel coordinate of the centre of sphere, place kick X, Z coordinate in world coordinate system are obtained by transformation calculations；The second camera (4)
Image of the spray gun device in X/Y plane is shot, the pixel coordinate of the place kick centre of sphere is extracted by image processing software, by conversion
Calculating obtains place kick X, Y-coordinate in world coordinate system, and the fibre optic gyroscope (5) exports the attitude parameter of spray gun device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710482198.5A CN107328357A (en) | 2017-06-22 | 2017-06-22 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710482198.5A CN107328357A (en) | 2017-06-22 | 2017-06-22 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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| CN107328357A true CN107328357A (en) | 2017-11-07 |
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| CN201710482198.5A Pending CN107328357A (en) | 2017-06-22 | 2017-06-22 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN109540075A (en) * | 2018-12-11 | 2019-03-29 | 南通理工学院 | A kind of control of airless spraying auxiliary spray angle, monitoring and checking system |
| CN111974568A (en) * | 2020-04-22 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Powder spraying teaching gun based on intelligent teaching technology |
| CN111975268A (en) * | 2020-04-22 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Welding teaching gun based on intelligent teaching technology |
| WO2023221754A1 (en) * | 2022-05-20 | 2023-11-23 | 埃夫特智能装备股份有限公司 | Spray gun based on position sensing technology and robot convenient programming apparatus thereof |
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| CN207050664U (en) * | 2017-06-22 | 2018-02-27 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN109540075A (en) * | 2018-12-11 | 2019-03-29 | 南通理工学院 | A kind of control of airless spraying auxiliary spray angle, monitoring and checking system |
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| CN111975268A (en) * | 2020-04-22 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Welding teaching gun based on intelligent teaching technology |
| WO2023221754A1 (en) * | 2022-05-20 | 2023-11-23 | 埃夫特智能装备股份有限公司 | Spray gun based on position sensing technology and robot convenient programming apparatus thereof |
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