CN107825436A - A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing - Google Patents

A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing Download PDF

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Publication number
CN107825436A
CN107825436A CN201711217377.2A CN201711217377A CN107825436A CN 107825436 A CN107825436 A CN 107825436A CN 201711217377 A CN201711217377 A CN 201711217377A CN 107825436 A CN107825436 A CN 107825436A
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China
Prior art keywords
module
lacquer painting
mechanical arm
intelligent
vehicle
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CN201711217377.2A
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CN107825436B (en
Inventor
王健丞
李擎
马想梅
孙鹏健
谌能杰
崔家瑞
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Beijing University of Technology
University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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Priority to CN201711217377.2A priority Critical patent/CN107825436B/en
Publication of CN107825436A publication Critical patent/CN107825436A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture

Abstract

The present invention provides a kind of intelligent lacquer painting nursing robot, wherein, the intelligent lacquer painting nursing robot includes:Vision system, control system and mechanical arm, wherein, the image of vehicle to be treated such as vision system collection simultaneously establishes the external model of vehicle, by RS232 Serial Port Transmissions to control system;Control system calculates the operating path of mechanical arm, and passes through the motion of CAN control machinery arm;Mechanical arm is moved according to operating path to perform lacquer painting nursing task, and real-time status is fed back into control system.The present invention also provides a kind of method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot.The automobile that technical scheme provided by the invention can be directed to any vehicle according to the demand of user performs quick and fully-automatic intelligent waxing in high quality services.

Description

A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing
Technical field
The present invention relates to intelligent nursing field, more particularly to the side of a kind of intelligent lacquer painting nursing robot and its lacquer painting nursing Method.
Background technology
Occur waxing using the manual machine of the semi-automatic wax-polishing machine of hand-held in the market, used manual governing electricity The high-speed rotation of machine replaces the circular motion of human hand during waxing by hand, and motor end uses replaceable polytype sponge or face Yarn, waxing, polishing, a variety of operations such as paraffin removal when realizing car surface waxing.Advantage is, wax face more preferable compared with waxing effect by hand It is more smooth, the duration is longer, save manpower and time simultaneously.However, manual machine waxing still needs to take considerable time and people Power.
The content of the invention
In view of this, it is an object of the invention to provide the side that a kind of intelligent lacquer painting nursing robot and its lacquer painting nurse Method, it is intended to by based on the mechanical design structure of six shaft mechanical arms, using brand-new control chip (such as STM32F4) and controlling Algorithm (such as ant group algorithm) processed, on the premise of function is optimized, simplify mechanical structure, reduce production cost, with realize it is quick and The service of fully-automatic intelligent waxing in high quality.
The present invention proposes a kind of intelligent lacquer painting nursing robot, wherein, the intelligent lacquer painting nursing robot includes:Vision System, control system and mechanical arm, wherein,
The images of vehicle to be treated such as the vision system collection simultaneously establish the external model of vehicle, are gone here and there by RS232 The control system is defeated by oral instructions;
The control system calculates the operating path of the mechanical arm, and controls the mechanical arm by CAN Motion;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back To the control system.
Preferably, the vision system includes PC or embedded system, binocular camera, wherein, the PC or embedding Embedded system includes bluetooth and interface module, serial port module, usb interface module,
The image of the vehicles to be treated such as the binocular camera collection, and sent image to described by USB interface PC or embedded system;
The PC or embedded system establish the external model of vehicle, and give the control by RS232 Serial Port Transmissions System;
The PC or embedded system connect Bluetooth handle or mobile phone to realize people by the bluetooth and interface module Machine interacts.
Preferably, the mechanical arm includes forearm motor servo driver, large arm motor servo driver, Z axis servo electricity Machine driver, forearm servomotor, large arm servomotor, Z axis servomotor, position and angular transducer, multiple incremental encodings Device, multiple steering wheels.
Preferably, the control system includes master control borad, and the master control borad includes motherboard power supply module, RS232/TTL goes here and there Port communications module, 5V sensor assemblies, 12V sensor assemblies, toggle switch module, buzzer module, ADC, CAN Module, coder module and PWM module, wherein,
The outside vehicle that the master control borad is sent by the RS232/TTL serial communication modulars reception vision system Model;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control by the CAN module with the motor driver of the mechanical arm Motor speed and displacement;
The master control borad controls the steering wheel corner by the PWM module;
The master control borad gathers the position of the mechanical arm by the 5V sensor assemblies and the 12V sensor assemblies Confidence ceases and controls the mechanical arm to run.
On the other hand, the present invention also provides a kind of method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot, its In, the intelligent lacquer painting nursing robot includes:Vision system, control system and mechanical arm, wherein, methods described includes:
Using the vision system collection etc. vehicle to be treated image and establish the external model of vehicle, pass through RS232 Serial Port Transmissions give the control system;
The operating path of the mechanical arm is calculated using the control system, and the machinery is controlled by CAN The motion of arm;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back To the control system.
Preferably, methods described also includes:
Start the intelligent lacquer painting nursing robot, and determine whether to use for the first time;
Used if first time, then gathering several pictures using the vision system carries out camera calibration;
If not using for the first time, then enabling signal and relevant parameter are inputted using interactive mode.
Preferably, methods described also includes:
After the system start-up initialisation program of the intelligent lacquer painting nursing robot, judge whether car is parked in parking stall ;
If vehicle is parked in parking stall, the image of the vehicles to be treated such as vision system collection is utilized;
If there is no vehicle in parking stall, wait always until there is vehicle to drive into.
Preferably, the vision system includes PC or embedded system, binocular camera, wherein, the PC or embedding Embedded system includes bluetooth and interface module, serial port module, usb interface module,
The image of the vehicles to be treated such as the binocular camera collection, and sent image to described by USB interface PC or embedded system;
The PC or embedded system establish the external model of vehicle, and give the control by RS232 Serial Port Transmissions System;
The PC or embedded system connect Bluetooth handle or mobile phone to realize people by the bluetooth and interface module Machine interacts.
Preferably, the mechanical arm includes forearm motor servo driver, large arm motor servo driver, Z axis servo electricity Machine driver, forearm servomotor, large arm servomotor, Z axis servomotor, position and angular transducer, multiple incremental encodings Device, multiple steering wheels.
Preferably, the control system includes master control borad, and the master control borad includes motherboard power supply module, RS232/TTL goes here and there Port communications module, 5V sensor assemblies, 12V sensor assemblies, toggle switch module, buzzer module, ADC, CAN Module, coder module and PWM module, wherein,
The outside vehicle that the master control borad is sent by the RS232/TTL serial communication modulars reception vision system Model;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control by the CAN module with the motor driver of the mechanical arm Motor speed and displacement;
The master control borad controls the steering wheel corner by the PWM module;
The master control borad gathers the position of the mechanical arm by the 5V sensor assemblies and the 12V sensor assemblies Confidence ceases and controls the mechanical arm to run.
Technical scheme provided by the invention is based on the mechanical design structure of six shaft mechanical arms, using brand-new control core Piece (such as STM32F4) and control algolithm (such as ant group algorithm), on the premise of function is optimized, simplify mechanical structure, reduce production Cost, to realize quick, fully-automatic intelligent waxing in high quality services.
Brief description of the drawings
Fig. 1 is the overall schematic of intelligent lacquer painting nursing robot in an embodiment of the present invention;
Fig. 2 is the structural representation of vision system in an embodiment of the present invention;
Fig. 3 is the module diagram of mechanical arm in an embodiment of the present invention;
Fig. 4 is the structural representation of mechanical arm in an embodiment of the present invention;
Fig. 5 is the structural representation of control system in an embodiment of the present invention;
Fig. 6 is the system detailed construction schematic diagram of intelligent lacquer painting nursing robot in an embodiment of the present invention;
Fig. 7 is the electrical block diagram of motherboard power supply module in an embodiment of the present invention;
Fig. 8 is the electrical block diagram of STM2F407ZET6 minimum systematic modules in an embodiment of the present invention;
Fig. 9 is the electrical block diagram of coder module in an embodiment of the present invention;
Figure 10 is the electrical block diagram of CAN module in an embodiment of the present invention;
Figure 11 is the electrical block diagram of 12V sensor assemblies in an embodiment of the present invention;
Figure 12 is the electrical block diagram of 5V sensor assemblies in an embodiment of the present invention;
Figure 13 is the electrical block diagram of PWM module in an embodiment of the present invention;
Figure 14 is the electrical block diagram of RS232/TTL serial communication modulars in an embodiment of the present invention;
Figure 15 is the electrical block diagram of an embodiment of the present invention repeat circuit module;
Figure 16 is the electrical block diagram of buzzer module in an embodiment of the present invention;
Figure 17 is the electrical block diagram of toggle switch module in an embodiment of the present invention;
Figure 18 is the electrical block diagram of ADC in an embodiment of the present invention;
Figure 19 is the method flow for carrying out lacquer painting nursing in an embodiment of the present invention using intelligent lacquer painting nursing robot Schematic diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
A kind of intelligent lacquer painting nursing robot provided by the present invention will be described in detail below.
Referring to Fig. 1, the overall schematic for intelligent lacquer painting nursing robot in an embodiment of the present invention.
In the present embodiment, the intelligent lacquer painting nursing robot includes:Vision system, control system and machinery Arm, wherein,
The images of vehicle to be treated such as the vision system collection simultaneously establish the external model of vehicle, are gone here and there by RS232 The control system is defeated by oral instructions;
The control system calculates the operating path of the mechanical arm, and controls the mechanical arm by CAN Motion;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back To the control system.
In the present embodiment, the mechanical arm is sixdegree-of-freedom simulation, is made up of six rotary joints, free degree distribution Situation is waist rotation, large arm pitching, forearm pitching and rotation, wrist pitching and rotation.
In the present embodiment, the vision system is binocular vision system, i.e., by two of diverse location or one Video camera (CCD), by calculating the parallax of spatial point in two images, obtains by the mobile or same width scene of rotary taking The D coordinates value of the point.
The present invention by the way that sixdegree-of-freedom simulation and binocular vision system are combined together, change in the prior art with Form based on artificial waxing, realize that machine receives instruction and is automatically finished waxing service.
Referring to Fig. 2, the structural representation for vision system in an embodiment of the present invention.
In the present embodiment, the vision system is (also known as embedded to set by the PC or embedded system of linux system It is standby), binocular camera composition, wherein, the PC or embedded system include bluetooth and interface module, serial port module, USB connect Mouth mold block.
In the present embodiment, the image of the vehicle to be treated such as described binocular camera collection, and by USB3.1 interfaces Image is sent to the PC or embedded system.
In the present embodiment, the PC or embedded system establish the external model of vehicle, and pass through RS232 serial ports It is transferred to the control system;
The PC or embedded system connect Bluetooth handle or mobile phone to realize people by the bluetooth and interface module Machine interacts.
Fig. 3 and 4 are referred to, is the module and structural representation of mechanical arm in an embodiment of the present invention.
In the present embodiment, the mechanical arm includes forearm motor servo driver, large arm motor servo driver, Z It is axle motor servo driver, forearm servomotor, large arm servomotor, Z axis servomotor, position and angular transducer, multiple Incremental encoder, multiple steering wheels.
In the present embodiment, overall structure is by the long rails of bottom two (being located at automobile both sides) and the door shape of top Track and respectively three mechanical arms composition on three sides, the mechanical arm of door shape track side surfaces carry out automobile both sides paint Face is nursed, and cross track above drives the 3rd mechanical arm to carry out roof lacquer painting nursing, and the lengthwise movement of door shape track is then Completed by bottom long rails.Wherein, Fig. 4 1. place is connect base and the arthrodia of platform, is driven by Z axis servomotor It is dynamic, it is responsible for moving horizontally for integrated model;2. Fig. 4's locates connecting platform and the rotary joint of large arm, driven by large arm servomotor It is dynamic, it is responsible for the pitching of large arm;Fig. 4 3. place connection large arm and the rotary joint of forearm, are driven by forearm servomotor, are responsible for small The pitching of arm;Fig. 4 4. place connection forearm and the rotary joint of wrist, are driven by steering wheel 1, are responsible for rotation of the wrist with respect to forearm Turn;Fig. 4 5. place connection wrist and the rotary joint of executing agency's (such as wax-polishing machine), are driven by steering wheel 2, it is relatively small to be responsible for wrist The pitching of arm.Wherein, Z axis servomotor, large arm servomotor, the driver of forearm servomotor are total by the CAN of control system Line is driven, and steering wheel 1 and steering wheel 2 are driven by the pwm signal of control system.Wherein, mechanical arm 1. 2. 3. place connection incremental encoding The status information of manipulator motion is fed back to control system by device by differential signal, passes through multiple 5V sensors additionally added And 12V sensors obtain more accurately position and angle information and feed back to control system.
Referring to Fig. 5, the structural representation for control system in an embodiment of the present invention.
In the present embodiment, the core of the control system includes master control borad, and the master control borad includes motherboard power supply mould Block, RS232/TTL serial communication modulars, 5V sensor assemblies, 12V sensor assemblies, toggle switch module, buzzer module, ADC, CAN module, coder module and PWM module, wherein,
The master control borad uses uC/OS real time operating systems, by described in RS232/TTL serial communication modulars reception The outside vehicle model that vision system is sent;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control by the CAN module with the motor driver of the mechanical arm Motor speed and displacement;
The master control borad controls the corner of the steering wheel by the PWM module;
The master control borad passes through the 5V sensor assemblies and the more accurate machine of 12V sensor assemblies collection The positional information of tool arm, the mechanical arm is controlled to run saferly.
In the present embodiment, the MCU of master control borad by based on the path planning algorithm of ant group algorithm by the vehicle that obtains External model, calculates mechanical arm operating path, and controlled motor intelligently performs waxing service entirely with steering wheel high efficiency.
Referring to Fig. 6, the system detailed construction schematic diagram for intelligent lacquer painting nursing robot in an embodiment of the present invention.
The achievable fully-automatic intelligent waxing of the present invention saves labour cost without manpower long-time operation.The present invention adopts Optimal path is planned with ant group algorithm, improves waxing efficiency.
Referring to Fig. 7, the electrical block diagram for motherboard power supply module in an embodiment of the present invention.
In the present embodiment, (master switch power supply output 24V is total to motherboard power supply module input 24V dc sources with motor Enjoy), 12V and 5V voltages are exported by XRE24S12 and DFC10E24S5 isolation modules power supply respectively, wherein 12V senses for 12V Device is powered, and 5V is 5V sensors, CAN, RS232/TTL serial communication modulars, relay, encoder, ADC and PWM Output module is powered.Again by TPS76833Q fast transient response 1-A low-dropout regulators, the higher 3.3V electricity of output accuracy Pressure, it is defeated for 12V sensors, 5V sensors, RS232/TTL serial communication modulars, encoder, ADC, buzzer module, PWM Go out the chip-side power supply of module and toggle switch.
Fig. 8 is the electrical block diagram of STM2F407ZET6 minimum systematic modules in an embodiment of the present invention.
In the present embodiment, designed using minimum systematic module, powered with 5V.
Fig. 9 is the electrical block diagram of coder module in an embodiment of the present invention.
In the present embodiment, coder module gathers 6 tunnel incremental encoder signals, and 5V is converted to anti-phase output after 3V To MCU.
Figure 10 is the electrical block diagram of CAN module in an embodiment of the present invention.
In the present embodiment, CAN module directly uses Zhou Ligong CTM1050T modules, signal isolation, stably, defeated Enter MCU signals, export CAN.
Figure 11 is the electrical block diagram of 12V sensor assemblies in an embodiment of the present invention.
In the present embodiment, using 6 road 12V sensor assemblies, light-coupled isolation, 12V sensor signals are inputted, output is extremely MCU。
Figure 12 is the electrical block diagram of 5V sensor assemblies in an embodiment of the present invention.
In the present embodiment, 5V sensor assemblies input 2 road 5V sensor signals, export to MCU.
Figure 13 is the electrical block diagram of PWM module in an embodiment of the present invention.
In the present embodiment, PWM module, 2 road MCU pwm signals is inputted, are exported to steering wheel.
Figure 14 is the electrical block diagram of RS232/TTL serial communication modulars in an embodiment of the present invention.
In the present embodiment, RS232/TTL serial communication modulars, it is responsible for MCU and is communicated with other systems.
Figure 15 is the electrical block diagram of an embodiment of the present invention repeat circuit module.
In the present embodiment, 2 road MCU I/O signals, control wax-polishing machine switch and speed are inputted.
Figure 16 is the electrical block diagram of buzzer module in an embodiment of the present invention.
In the present embodiment, MCU pwm signals are inputted, by way of caution signal.
Figure 17 is the electrical block diagram of toggle switch module in an embodiment of the present invention.
In the present embodiment, MCU I/O signals are exported, simply debug and control.
Figure 18 is the electrical block diagram of ADC in an embodiment of the present invention.
In the present embodiment, reserve AD all the way to gather, input analog signal, output digit signals to MCU.
A kind of intelligent lacquer painting nursing robot provided by the invention, based on the mechanical design structure of six shaft mechanical arms, Using brand-new control chip (such as STM32F4) and control algolithm (such as ant group algorithm), on the premise of function is optimized, simplify machine Tool structure, production cost is reduced, fully-automatic intelligent waxing in high quality services to realize quick.
A kind of method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot provided by the present invention will be entered below Row describes in detail.
Figure 19 is referred to, show in an embodiment of the present invention and carries out lacquer painting nursing using intelligent lacquer painting nursing robot Method flow schematic diagram.
In the present embodiment, the intelligent lacquer painting nursing robot includes:Vision system, control system and machinery Arm, wherein, the method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot is specifically included:
Using the vision system collection etc. vehicle to be treated image and establish the external model of vehicle, pass through RS232 Serial Port Transmissions give the control system;
The operating path of the mechanical arm is calculated using the control system, and the machinery is controlled by CAN The motion of arm;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back To the control system.
In the present embodiment, the method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot is also included:
Start the intelligent lacquer painting nursing robot, and determine whether to use for the first time;
Used if first time, then gathering several pictures using the vision system carries out camera calibration;
If not using for the first time, then enabling signal and relevant parameter are inputted using interactive mode.
In the present embodiment, the method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot is also included:
After the system start-up initialisation program of the intelligent lacquer painting nursing robot, judge whether car is parked in parking stall ;
If vehicle is parked in parking stall, the image of the vehicles to be treated such as vision system collection is utilized;
If there is no vehicle in parking stall, wait always until there is vehicle to drive into.
In the present embodiment, the vision system includes PC or embedded system, binocular camera, wherein, it is described PC or embedded system include bluetooth and interface module, serial port module, usb interface module,
The image of the vehicles to be treated such as the binocular camera collection, and sent image to described by USB interface PC or embedded system;
The PC or embedded system establish the external model of vehicle, and give the control by RS232 Serial Port Transmissions System;
The PC or embedded system connect Bluetooth handle or mobile phone to realize people by the bluetooth and interface module Machine interacts.
In the present embodiment, the mechanical arm includes forearm motor servo driver, large arm motor servo driver, Z It is axle motor servo driver, forearm servomotor, large arm servomotor, Z axis servomotor, position and angular transducer, multiple Incremental encoder, multiple steering wheels.
In the present embodiment, the control system includes master control borad, the master control borad include motherboard power supply module, RS232/TTL serial communication modulars, 5V sensor assemblies, 12V sensor assemblies, toggle switch module, buzzer module, ADC Module, CAN module, coder module and PWM module, wherein,
The outside vehicle that the master control borad is sent by the RS232/TTL serial communication modulars reception vision system Model;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control by the CAN module with the motor driver of the mechanical arm Motor speed and displacement;
The master control borad controls the steering wheel corner by the PWM module;
The master control borad gathers the position of the mechanical arm by the 5V sensor assemblies and the 12V sensor assemblies Confidence ceases and controls the mechanical arm to run.
A kind of method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot provided by the invention, with six shaft mechanical arms Mechanical design structure based on, using brand-new control chip (such as STM32F4) and control algolithm (such as ant group algorithm), excellent On the premise of changing function, simplify mechanical structure, reduce production cost, to realize quickly and the clothes of fully-automatic intelligent waxing in high quality Business.
It is worth noting that, in above-described embodiment, included unit is simply divided according to function logic, But above-mentioned division is not limited to, as long as corresponding function can be realized;In addition, the specific name of each functional unit Only to facilitate mutually distinguish, the protection domain being not intended to limit the invention.
In addition, one of ordinary skill in the art will appreciate that realize all or part of step in the various embodiments described above method It is that by program the hardware of correlation can be instructed to complete, corresponding program can be stored in a computer-readable storage and be situated between In matter, described storage medium, such as ROM/RAM, disk or CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

1. a kind of intelligent lacquer painting nursing robot, it is characterised in that the intelligent lacquer painting nursing robot includes:Vision system, Control system and mechanical arm, wherein,
The images of vehicle to be treated such as the vision system collection simultaneously establish the external model of vehicle, are passed by RS232 serial ports It is defeated by the control system;
The control system calculates the operating path of the mechanical arm, and the motion of the mechanical arm is controlled by CAN;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back into institute State control system.
2. intelligent lacquer painting nursing robot as claimed in claim 1, it is characterised in that the vision system includes PC or embedding Embedded system, binocular camera, wherein, the PC or embedded system include bluetooth and interface module, serial port module, USB Interface module,
The image of the vehicles to be treated such as the binocular camera collection, and sent image to the PC by USB interface Or embedded system;
The PC or embedded system establish the external model of vehicle, and give the control system by RS232 Serial Port Transmissions;
The PC or embedded system connect Bluetooth handle or mobile phone to realize man-machine friendship by the bluetooth and interface module Mutually.
3. intelligent lacquer painting nursing robot as claimed in claim 2, it is characterised in that the mechanical arm includes forearm servo electricity Machine driver, large arm motor servo driver, Z axis motor servo driver, forearm servomotor, large arm servomotor, Z axis are watched Take motor, position and angular transducer, multiple incremental encoders, multiple steering wheels.
4. intelligent lacquer painting nursing robot as claimed in claim 3, it is characterised in that the control system includes master control borad, The master control borad include motherboard power supply module, RS232/TTL serial communication modulars, 5V sensor assemblies, 12V sensor assemblies, Toggle switch module, buzzer module, ADC, CAN module, coder module and PWM module, wherein,
The outside vehicle mould that the master control borad is sent by the RS232/TTL serial communication modulars reception vision system Type;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control motor by the CAN module with the motor driver of the mechanical arm Rotating speed and displacement;
The master control borad controls the steering wheel corner by the PWM module;
Believe the position that the master control borad gathers the mechanical arm by the 5V sensor assemblies and the 12V sensor assemblies Cease and control the mechanical arm to run.
A kind of 5. method that lacquer painting nursing is carried out using intelligent lacquer painting nursing robot, it is characterised in that the intelligent lacquer painting shield Reason robot includes:Vision system, control system and mechanical arm, wherein, methods described includes:
Using the vision system collection etc. vehicle to be treated image and establish the external model of vehicle, gone here and there by RS232 The control system is defeated by oral instructions;
The operating path of the mechanical arm is calculated using the control system, and the mechanical arm is controlled by CAN Motion;
The mechanical arm is moved according to the operating path to perform lacquer painting nursing task, and real-time status is fed back into institute State control system.
6. the method for lacquer painting nursing is carried out using intelligent lacquer painting nursing robot as claimed in claim 5, it is characterised in that institute Stating method also includes:
Start the intelligent lacquer painting nursing robot, and determine whether to use for the first time;
Used if first time, then gathering several pictures using the vision system carries out camera calibration;
If not using for the first time, then enabling signal and relevant parameter are inputted using interactive mode.
7. the method for lacquer painting nursing is carried out using intelligent lacquer painting nursing robot as claimed in claim 6, it is characterised in that institute Stating method also includes:
After the system start-up initialisation program of the intelligent lacquer painting nursing robot, judge whether vehicle is parked in parking stall;
If vehicle is parked in parking stall, the image of the vehicles to be treated such as vision system collection is utilized;
If there is no vehicle in parking stall, wait always until there is vehicle to drive into.
8. the method for lacquer painting nursing is carried out using intelligent lacquer painting nursing robot as claimed in claim 7, it is characterised in that institute Stating vision system includes PC or embedded system, binocular camera, wherein, the PC or embedded system include bluetooth and Interface module, serial port module, usb interface module,
The image of the vehicles to be treated such as the binocular camera collection, and sent image to the PC by USB interface Or embedded system;
The PC or embedded system establish the external model of vehicle, and give the control system by RS232 Serial Port Transmissions;
The PC or embedded system connect Bluetooth handle or mobile phone to realize man-machine friendship by the bluetooth and interface module Mutually.
9. the method for lacquer painting nursing is carried out using intelligent lacquer painting nursing robot as claimed in claim 8, it is characterised in that institute Stating mechanical arm includes forearm motor servo driver, large arm motor servo driver, Z axis motor servo driver, forearm servo Motor, large arm servomotor, Z axis servomotor, position and angular transducer, multiple incremental encoders, multiple steering wheels.
10. the method for lacquer painting nursing is carried out using intelligent lacquer painting nursing robot as claimed in claim 9, it is characterised in that The control system includes master control borad, and the master control borad includes motherboard power supply module, RS232/TTL serial communication modulars, 5V and passed Sensor module, 12V sensor assemblies, toggle switch module, buzzer module, ADC, CAN module, coder module And PWM module, wherein,
The outside vehicle mould that the master control borad is sent by the RS232/TTL serial communication modulars reception vision system Type;
The master control borad is by the return value of the coder module capturing and coding device to obtain mechanical arm state;
The master control borad is communicated to accurately control motor by the CAN module with the motor driver of the mechanical arm Rotating speed and displacement;
The master control borad controls the steering wheel corner by the PWM module;
Believe the position that the master control borad gathers the mechanical arm by the 5V sensor assemblies and the 12V sensor assemblies Cease and control the mechanical arm to run.
CN201711217377.2A 2017-11-28 2017-11-28 Intelligent paint nursing robot and method for paint nursing by using same Active CN107825436B (en)

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Application Number Priority Date Filing Date Title
CN201711217377.2A CN107825436B (en) 2017-11-28 2017-11-28 Intelligent paint nursing robot and method for paint nursing by using same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711217377.2A CN107825436B (en) 2017-11-28 2017-11-28 Intelligent paint nursing robot and method for paint nursing by using same

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Publication Number Publication Date
CN107825436A true CN107825436A (en) 2018-03-23
CN107825436B CN107825436B (en) 2021-02-12

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