CN107685329A - A kind of robot workpiece positioning control system and method - Google Patents
A kind of robot workpiece positioning control system and method Download PDFInfo
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- CN107685329A CN107685329A CN201710960558.8A CN201710960558A CN107685329A CN 107685329 A CN107685329 A CN 107685329A CN 201710960558 A CN201710960558 A CN 201710960558A CN 107685329 A CN107685329 A CN 107685329A
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- robot
- workpiece
- controller
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The present invention relates to industrial robot control field, particularly a kind of robot workpiece positioning control system and method.The control system includes being used to calculate workpiece offsets and adjusts the robot controller, the sighting device for obtaining workpiece image, motion, master controller and station proximity transducer for carrying out Switch of working position with mobile robot of robot work piece operations parameter.Main controller controls motion drives robot motion, when station proximity transducer judges that robot stops carrier robot close to station, feedback master controller；Workpiece image is obtained by robot controller control sighting device, and workpiece offsets are calculated, running parameter is adjusted further according to offset, the positioning of workpiece after the switching of a machine multistation of robot is realized, solves the problems, such as that the work pieces process after Switch of working position caused by location of workpiece change is inaccurate.
Description
Technical field
The present invention relates to industrial robot control field, particularly a kind of robot workpiece positioning control system and method.
Background technology
With the development of industry 4.0, Robot industry flourishes, and undergoing an unusual development especially on processing manufacturing industry is fast
Suddenly, the use of robot rapidly and efficiently how is realized, has become the focus of pertinent art's concern.In order to adapt to use ring
Flexibility, accuracy, informationization, automation, the requirement rapidly and efficiently in border, robot carried from former simple material,
What stacking developed into today integrates Machine Design, computer science, mechanics of communication, automatic technology and management science
Complex art.Wherein, robot vision device arises at the historic moment, and receives the extensive concern of people, and is readily applied to
Many places such as robot workpiece positioning, scope control.In general, robot mode of workpiece in processing fixed station is
Need robot fixing corresponding station installation, i.e., after robot is fixed, carried out according to fixed mode and posture
Operation.This working method needs a robot specially with the fixed station of unification.
The patent document for having publication number CN206321223U discloses an a kind of machine multistation automobile component detecting system, bag
Controller, robot measurement, wheel measuring platform are included, the robot measurement is arranged on the wheel measuring platform, wheel measuring
Platform drives robot measurement to switch in different measuring stations and rotated, and robot measurement is surveyed to the measured piece from different station
Amount, realizes the detection of a machine multistation, effectively raises operating efficiency.
Robot is relatively broad in commercial Application, is also mostly more complicated work piece operations, it is therefore desirable to according to workpiece
The certain posture of position adjustment, while efficiency operation is met, complete high-precision requirement.Therefore, it is necessary in the machine of releasing
Device people on the basis of station limitation, is solved the problems, such as that the location of workpiece caused by station change changes, and reaches high efficiency, high-precision
Degree.
The content of the invention
It is an object of the invention to provide a kind of robot workpiece positioning control system and method, after solving Switch of working position
The problem of work pieces process caused by location of workpiece change is inaccurate.
To achieve the above object, the present invention provides a kind of robot workpiece positioning control system, including robot, in addition to
Master controller, motion and station proximity transducer for carrying out Switch of working position with mobile robot；The robot includes
For calculating the robot controller of workpiece offsets and adjustment robot work piece operations parameter and for obtaining workpiece image
Sighting device；The main controller controls connect the motion, and the master controller input sample connects the station
Proximity transducer, the master controller connect the robot controller；The robot controller input sample connection
The sighting device.
It is to realize a machine multiplexing as a kind of beneficial effect of robot workpiece positioning control system provided by the invention
The switching of position, positioning of the robot to workpiece by realizing of Robot Vision, realizing the robot after Switch of working position can be accurate
The automation mechanized operation of true ground.
In order to mitigate the computational space of robot controller and time, make system more quick, efficient, accurate, as
The improvement of a kind of robot workpiece positioning control system provided by the invention, it is preferred that the master controller controls for PLC
Device.
Preferably, the motion is linear transmission mechanism, and the linear transmission mechanism is slided for synchronous banding pattern straight line
Platform.
Preferably, the station proximity transducer is photo-electric proximity transducer.
Preferably, the sighting device includes video camera, and the video camera passes through Profinet communications and the machine
People's control device signal connects.
Preferably, the video camera is 2D industry specialized cameras.
The present invention provides a kind of robot workpiece position control method, and step is as follows：
Judge whether close to station；
Obtain workpiece image；
Calculate workpiece offsets；
Adjust the running parameter of robot manipulation's workpiece.
It is to complete workpiece variation as a kind of beneficial effect of robot workpiece position control method provided by the invention
Identification, and can be controlled according to offset and adjust corresponding running parameter, the positioning of workpiece is realized, solves work after Switch of working position
The problem of work pieces process caused by part change in location is inaccurate, method is simple, it is easy to accomplish.
Preferably, the offset include the x-axis of workpiece in the horizontal plane to shifting deviation Δ x, workpiece y-axis to
Shifting deviation Δ y and workpiece horizontal rotation deviation φ.
Brief description of the drawings
Fig. 1 is a kind of connection diagram of robot workpiece positioning control system；
Fig. 2 is a kind of flow chart of robot workpiece position control method；
Fig. 3 is a kind of schematic diagram calculation of robot workpiece position control method；
Fig. 4 is a kind of schematic diagram of robot workpiece position control method.
Embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
The present invention provides a kind of robot workpiece positioning control system, as shown in figure 1, including robot, master controller, fortune
Motivation structure and station proximity transducer.Wherein robot includes robot controller and sighting device.
Main controller controls connect motion, master controller input signal connection station proximity transducer, master controller
Output signal connects robot controller；Robot controller signal connects the sighting device.
Motion is used for band mobile robot and carries out Switch of working position, such as provides the transport mechanism of robot linear motion,
This linear transport mechanism species is more, such as synchronous banding pattern straight line slide unit or ball wire rod-type straight line slide unit.
Station proximity transducer is need not to contact a kind of sensor for the purpose of detection object is detected, such as photo-electric
Proximity transducer, the beam axis of light emitting diode therein and the axis of phototriode in one plane, and into certain
Angle, two axial lines are met at a bit in front of sensor, when object to be detected surface is close to intersection point, the reflection of light emitting diode
Light is received by phototriode, produces signal.Therefore, station proximity transducer can effectively detect whether robot reaches work
Position.
Sighting device includes video camera, and preferably video camera is 2D industry specialized cameras；The camera is communicated by Profinet
It is connected with robot controller signal, the workpiece information collected is transferred to robot controller.
It is preferred that controller is PLC, PLC input collection connects station proximity transducer, and PLC is defeated
Going out control connection robot straight line transfer device, PLC signal connects robot controller, wherein, PLC is led to
Cross and motion is accurately controlled, the signal gathered with reference to station sensor, control machine people's linear transport mechanism transveyer
Device people completes the switching and matching of station, and the signal for completing Switch of working position is transferred to robot controller by PLC.
It can be controlled in above-mentioned robot workpiece positioning control system without using PLC by robot controller
Robot carries out the switching of station, but the intervention of PLC effectively reduces the computational space of robot controller
And the time, make computing more quick, efficient.
The present invention provides a kind of robot workpiece position control method, as shown in Fig. 2 idiographic flow is as follows：
1st, judge whether close to station.
PLC control motion band mobile robot carries out Switch of working position, and is gathered by station proximity transducer
Information on corresponding station, if collecting robot close to station, PLC controls no longer transferring robot, it is determined as robot
Have arrived at station.
2nd, workpiece image is obtained.
If robot transmits a signal to robot controller, robot controller control 2D works close to station
Industry specialized camera gathers the workpiece image on corresponding station, and image information is exported to robot controller.
3rd, workpiece offsets are calculated.
The workpiece image of collection is calculated to the offset of workpiece, wherein Computing Principle by robot controller,
As shown in Figure 3.
Wherein O-XYZ is world coordinate system, Oc-XcYcZcFor the coordinate system of 2D industry specialized cameras；OcFor the photocentre of camera,
X-axis, Y-axis respectively with XcAxle, YcThe x of axle and image, y-axis is parallel, ZcIt is vertical with the plane of delineation for the optical axis of video camera, its intersection point
O1For the origin of workpiece image coordinate system；OcO1For the focal length f of camera.
Do not consider that camera lens distort, be then by perspective projection imaging model：
In formula, p (u, v) is two-dimensional coordinate values of the target signature point P in image coordinate system, and (X, Y, Z) is that P points are sat in the world
Mark the coordinate of system, (Xc0, Yc0, Zc0) for video camera photocentre world coordinate system coordinate, dx, dy be video camera each
Pixel is respectively in x-axis and the quantizing factor of y-axis direction sampling, u0、v0The respectively picture centre O of video camera1In x-axis and y-axis side
To position offset during sampling.
Therefore, conversion of the P points position between image coordinate system and world coordinate system can be achieved by formula (1).
In use, two feature fixed point locations are carried out to the workpiece on corresponding station, so as to obtain in robot
World coordinate system under workpiece coordinate.In the case where O-XYZ is world coordinate system, Coordinate Conversion completion is carried out to workpiece summit
Afterwards, particular locations (X, Y, Z) of the one summit P of workpiece under robot world's coordinate system is obtained, another summit P ＇ are
(Xb, Yb, Zb), each vertex position of workpiece is calculated successively, and the specific positioning function to workpiece is completed, specific coordinate calculates
It is as follows：
Therefore, the offset φ of workpiece calculation formula is as follows：
Offset Δ X, Δ Y, φ of workpiece are finally given.
4th, the running parameter of robot manipulation's workpiece is adjusted, completes work pieces process.
The offset obtained according to above-mentioned steps 3, robot controller adjust running parameter during work piece operations, complete
The processing of workpiece.
According to offset establish model as shown in figure 4, in robot controller the P points of work piece operations initial parameter
{(Xa, Ya, Za), φa, in the case that distance does not convert in Z axis plane, added respectively in the initial parameter of work piece operations
Δ X, Δ Y and φ.
Finally, no matter the location of workpiece on corresponding station occur which kind of change, as long as sighting device acquisition range it
Interior, robot controller control changes the parameter of break operation, completes work pieces process.
Embodiment of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that provides of the present invention, using by the way of being readily apparent that to those skilled in the art to the skill in above-described embodiment
Art means enter line translation, replacement, modification, and play a part of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical scheme so formed is finely adjusted to be formed to above-described embodiment, this technology
Scheme is still fallen within protection scope of the present invention.
Claims (8)
1. a kind of robot workpiece positioning control system, including robot, it is characterised in that also including master controller, for band
Mobile robot carries out the motion and station proximity transducer of Switch of working position；The robot includes being used to calculate workpiece variation
Measure and adjust the robot controller of robot work piece operations parameter and the sighting device for obtaining workpiece image；The master
Controller control connects the motion, and the master controller input sample connects the station proximity transducer, the master
Controller connects the robot controller；The robot controller input sample connects the sighting device.
2. robot workpiece positioning control system according to claim 1, it is characterised in that the master controller is PLC
Controller.
3. robot workpiece positioning control system according to claim 1 or 2, it is characterised in that the motion is
Linear transmission mechanism, the linear transmission mechanism are synchronous banding pattern straight line slide unit.
4. robot workpiece positioning control system according to claim 3, it is characterised in that the station proximity transducer
For photo-electric proximity transducer.
5. robot workpiece positioning control system according to claim 1, it is characterised in that the sighting device includes taking the photograph
Camera, the video camera are communicated by Profinet and are connected with the robot controller.
6. robot workpiece positioning control system according to claim 5, it is characterised in that the video camera is 2D industry
Specialized camera.
7. a kind of robot workpiece position control method, it is characterised in that step is as follows：
Judge whether close to station；
Obtain workpiece image；
Calculate workpiece offsets；
Adjust the running parameter of robot manipulation's workpiece.
8. robot workpiece position control method according to claim 7, it is characterised in that the offset includes workpiece
X-axis in the horizontal plane to shifting deviation Δ x, workpiece y-axis to shifting deviation Δ y and workpiece horizontal rotation deviation
φ。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710960558.8A CN107685329A (en) | 2017-10-16 | 2017-10-16 | A kind of robot workpiece positioning control system and method |
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| CN201710960558.8A CN107685329A (en) | 2017-10-16 | 2017-10-16 | A kind of robot workpiece positioning control system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230862A (en) * | 2020-01-10 | 2020-06-05 | 上海发那科机器人有限公司 | Handheld workpiece deburring method and system based on visual recognition function |
| CN112008696A (en) * | 2020-09-07 | 2020-12-01 | 菲尼克斯(南京)智能制造技术工程有限公司 | Industrial robot system based on vision |
| CN117400260A (en) * | 2023-11-29 | 2024-01-16 | 重庆衍数自动化设备有限公司 | Multi-station robot control system, control method and multi-station robot |
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| CN103286782A (en) * | 2013-06-07 | 2013-09-11 | 上海发那科机器人有限公司 | Flexible tracking and positioning system and flexible tracking and positioning method of robot |
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| WO2015120734A1 (en) * | 2014-02-17 | 2015-08-20 | 华南理工大学 | Special testing device and method for correcting welding track based on machine vision |
| CN106607907A (en) * | 2016-12-23 | 2017-05-03 | 西安交通大学 | Mobile vision robot and measurement and control method thereof |
| CN207841337U (en) * | 2017-10-16 | 2018-09-11 | 河南森源电气股份有限公司 | A kind of robot workpiece positioning control system |
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2017
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Patent Citations (6)
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| CN102794763A (en) * | 2012-08-31 | 2012-11-28 | 江南大学 | Systematic calibration method of welding robot guided by line structured light vision sensor |
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| CN111230862A (en) * | 2020-01-10 | 2020-06-05 | 上海发那科机器人有限公司 | Handheld workpiece deburring method and system based on visual recognition function |
| CN111230862B (en) * | 2020-01-10 | 2021-05-04 | 上海发那科机器人有限公司 | Handheld workpiece deburring method and system based on visual recognition function |
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| CN117400260A (en) * | 2023-11-29 | 2024-01-16 | 重庆衍数自动化设备有限公司 | Multi-station robot control system, control method and multi-station robot |
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Effective date of registration: 20191031 Address after: 461500 No.19, west side of South section of Weiwu Road, heshiqiao Town, mayor of Xuchang, Henan Province Applicant after: Henan Senyuan Zhongfeng Intelligent Manufacturing Co., Ltd Address before: Changge City, Xuchang City, Henan province 461500 Weiwu Road, South West Applicant before: Henan Senyuan Electric Co., Ltd. |