CN108705539A - Weld seam grinding and polishing robot control system and its method - Google Patents
Weld seam grinding and polishing robot control system and its method Download PDFInfo
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- CN108705539A CN108705539A CN201810317756.7A CN201810317756A CN108705539A CN 108705539 A CN108705539 A CN 108705539A CN 201810317756 A CN201810317756 A CN 201810317756A CN 108705539 A CN108705539 A CN 108705539A
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- polishing
- weld seam
- grinding
- module
- robot control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
Abstract
A kind of weld seam grinding and polishing robot control system and its method, it is related to a kind of robot control system and its method, system includes embedded Control nucleus module, power module, image capture module, robot control cabinet, display module, image capture module is connect with embedded Control nucleus module, embedded Control nucleus module is connect with display module, robot control cabinet respectively, and robot control cabinet is connect with robot arm.Method is acquired in real time to the weld seam of metal component by image capture module, and by collected weld image information data transmission to embedded Control nucleus module, embedded Control nucleus module is identified and handles to the data, finally weld seam grinding and polishing coordinate position data is exported to robot control cabinet, to drive robot arm to carry out grinding and polishing operation.The present invention may replace manual type and carry out grinding and polishing operation, has the characteristics that applied widely, processing speed is fast, identifies accurate, low in energy consumption, use easy to spread.
Description
Technical field
The present invention relates to a kind of robot control system and its method, especially a kind of weld seam grinding and polishing robot control system
And its method.
Background technology
With the development of modern industry manufacturing technology, the weld seam after the completion of a large amount of metal component welding needs the grinding and polishing in later stage
It is subsidiary that processing removes extra metal.Present many enterprises to weld seam processing are completed using traditional manpower craft grinding and polishing,
Manual grinding and polishing great work intensity, working efficiency is low, and the working environment of workers is severe, the health to work long hours to worker
It impacts, and due to inconsistent with inexperienced operator's effect using manual grinding and polishing mode experienced operator, grinding and polishing precision is difficult to
Ensure.There are also large enterprises to carry out grinding and polishing operation using numerical control milling and casting machine tool butt welding seam, but which also has certain answer
With limitation, the structural member that structural member is complex-shaped or build is larger is just difficult to carry out grinding and polishing processing.
Invention content
The technical problem to be solved by the present invention is to：A kind of weld seam grinding and polishing robot control system and its method are provided, so as to
Replace manual type to carry out grinding and polishing operation, while overcoming larger to complex-shaped or build using being difficult to existing for numerical control grinding and polishing
Structural member carries out the shortcoming of grinding and polishing processing.
Solving the technical solution of above-mentioned technical problem is：A kind of weld seam grinding and polishing robot control system, including embedded control
Nucleus module processed, power module, image capture module, robot control cabinet, display module, the output end point of the power module
It is not connect with image capture module, embedded Control nucleus module, output end and the embedded Control core of image capture module
The input terminal of module connects, the output end input with display module, robot control cabinet respectively of embedded Control nucleus module
End connection, the output end of robot control cabinet are connect with robot arm.
The present invention further technical solution be：The embedded Control nucleus module uses embedded ARM processor
S5PV210 is as control core.
The present invention further technical solution be：The image capture module includes CCD camera, for acquiring in real time
The weld image information data of metal component weld seam, and it is transferred to embedded Control nucleus module.
The present invention further technical solution be：The CCD camera uses frame frequency for 20~40fps.
The present invention further technical solution be：The display module is combined using color LCD screen and touches capacitance
Screen is used as information display portion；The power module uses Switching Power Supply transformation mode.
The present invention another technical solution be：A kind of weld seam grinding and polishing robot control method, this method are adopted by image
Collection module acquires the weld seam of metal component in real time, and by collected weld image information data transmission to embedded control
Nucleus module processed, embedded Control nucleus module are identified and handle to the weld image information data, finally grind weld seam
It throws coordinate position data to export to robot control cabinet, grinding and polishing operation is carried out by robot control cabinet driving robot arm.
The present invention further technical solution be：This approach includes the following steps：
S1. CCD camera is initialized：System electrification, the CCD camera of initialisation image acquisition module；
S2. camera image information is read：Embedded Control nucleus module starts to read the weld image information of CCD camera；
S3. median filter process：Median filter process is carried out to the original weld image information for including a large amount of interference noises；
S4. edge sharpening：Image edge acuity processing is carried out to weld seam image information；
S5. binary conversion treatment：Self-adaption binaryzation processing is carried out to weld image；
S6.canny edge detections：The edge image information of weld seam is identified using canny edge detections；
S7. Weld pipe mill position identifies：Weld edge luminance image information is progressively scanned from top to bottom, and both sides of the edge image is sat
Mark carries out average as Weld pipe mill；
S8. robot arm grinding and polishing is driven：Embedded Control nucleus module exports the weld seam grinding and polishing coordinate position data of identification
To robot control cabinet, grinding and polishing operation is carried out by robot control cabinet driving robot arm.
The present invention further technical solution be：In step s3, the particular content of median filter process is by weld seam
The gray scale of image pixel takes median for the pixel value of the point by small using the adjacent gray value in the regions 5*5 to longer spread, to disappear
Except isolated picture noise point, while keeping image border characteristic.
The present invention further technical solution be：In step s 5, the concrete methods of realizing of self-adaption binaryzation processing
For：
If grinding and polishing image is in pixel（x,y）The pixel gray value at place is f (x, y), the 5x5 centered on pixel (x, y)
Pixel is pixel window, and the pixel value in pixel window, which is made arrangement, is maximized max f (x+s, y+t) and minimum value min f
The average value of (x+s, y+t) is multiplied by 0.9 coefficient, in addition 0.1 coefficient is multiplied by variance D (x, y), wherein Q (x, y) is the pixel
Self-adaption binaryzation calculates threshold value；S, t are ranging from；
。
The present invention further technical solution be：In step s 8, comprising the concrete steps that for robot arm grinding and polishing is driven：
S81. setting weld seam grinding and polishing region：Pass through the setting weld seam grinding and polishing region on touching capacitance plate；
S82. weld seam grinding and polishing coordinate position data is exported：Embedded Control nucleus module is by the weld seam grinding and polishing coordinate position number of identification
According to output to robot control cabinet；
S83. driving robot arm carries out grinding and polishing operation：Robot control cabinet utilizes the weld seam grinding and polishing coordinate position number received
Grinding and polishing operation is carried out according to driving robot arm；
S84. setting regions weld seam grinding and polishing is completed；
S85. sound-light alarm reminding task is completed.
Due to using the above structure, the weld seam grinding and polishing robot control system and its method and prior art phase of the present invention
Than having the advantages that：
1. may replace manual type carries out grinding and polishing operation
The present invention includes embedded Control nucleus module, power module, image capture module, robot control cabinet, display module,
The output end of the power module, image capture module is connect with the input terminal of embedded Control nucleus module respectively, embedded
The output end of formula control core module is connect with the input terminal of display module, robot control cabinet respectively, robot control cabinet
Output end is connect with robot arm.The weld seam of metal component is acquired in real time by image capture module when use, and
By collected weld image information data transmission to embedded Control nucleus module, embedded Control nucleus module is to the weld seam
Image information data is identified and handles, and finally exports weld seam grinding and polishing coordinate position data to robot control cabinet, by machine
Device people's switch board drives robot arm to carry out grinding and polishing operation.Therefore, present invention combination robot arm carries out weld seam grinding and polishing, energy
Enough manual types of substitution completely carry out grinding and polishing operation, not only reduce the labor intensity of worker, improve working environment, improve
Working efficiency ensure that grinding and polishing precision, and the quality and economic benefit of enterprise product is greatly improved.
Grinding and polishing processing is carried out to the structural member that structural member is complicated or build is larger 2. can facilitate
Since the present invention combines robot arm to carry out weld seam grinding and polishing, multiple degrees of freedom such as six can be used certainly in wherein robot arm
By degree, the robot arm of eight degrees of freedom, movement is flexible, and weld joint tracking is accurate, can be real by the control of robot control cabinet
Weld seam grinding and polishing now is carried out to arbitrary structures part, the scope of application is solved and is difficult to knot using numerical control milling and casting machine tool than wide
The structural member that Components Shape is complicated or build is larger just carries out the problem of grinding and polishing.
3. processing speed is fast, identification is accurate
For the present invention using embedded ARM processor S5PV210 as embedded Control nucleus module, which is the processing of four cores
Device dominant frequency is up to 1.0GHz, binary channels 512MB DDR2 memories RAM；512MB high speed eMMC flash memories, can quickly handle picture number
It is believed that breath；
It is 20~40fps, it can be achieved that white flat that the image capture module of the present invention, which uses CCD camera, the frame frequency of the CCD camera,
Weighing apparatus is adjusted, and can provide clear image information for embedded Control nucleus module.
In the method for the present invention, traditional image recognition algorithm is optimized and is innovated and proposes suitable weld seam figure
As the self-adaption binaryzation thresholding algorithm of identification, which accurately can quickly identify weld image information, can accurately identify mill
Throw seam track.
4. low in energy consumption, production cost is low, small
The present invention uses S5PV210 embeded processors as embedded Control nucleus module, is ground in conjunction with robot arm
It throws, for current existing machine tool type grinding and polishing equipment, has the advantages that low-power consumption, production cost are low, small.
5. method applicability is strong, influenced by external light source brightness less
The present invention proposes a kind of new weld seam local auto-adaptive binary-state threshold algorithm, and this method is adaptable, can be effective
Accurately identify weld information, influenced by external light source brightness it is less, it is few with hour operation quantity, be conducive to processor and quickly carry out data
Processing, greatly improves work efficiency.
In the following, special to the technology of the weld seam grinding and polishing robot control system of the present invention and its method in conjunction with the accompanying drawings and embodiments
Sign is further described.
Description of the drawings
Fig. 1：The structure diagram of the weld seam grinding and polishing robot control system of the present invention described in embodiment one,
Fig. 2：The flow chart of the weld seam grinding and polishing robot control method of the present invention described in embodiment two,
Fig. 3：The flow chart of step S8 in the weld seam grinding and polishing robot control method of the present invention described in embodiment two.
Specific implementation mode
Embodiment one：
A kind of weld seam grinding and polishing robot control system, including embedded Control nucleus module, power module, image capture module,
Robot control cabinet, display module, the output end of the power module respectively with image capture module, embedded Control core mould
Block connects, and the output end of image capture module is connect with the input terminal of embedded Control nucleus module, embedded Control core mould
The output end of block is connect with the input terminal of display module, robot control cabinet respectively, the output end and machine of robot control cabinet
Human arm connects.
The embedded Control nucleus module is using embedded ARM processor S5PV210 as control core, the processing
Device is four core processors, and dominant frequency is up to 1.0GHz, can quickly handle image data information；Binary channels 512MB DDR2 memories
RAM；512MB high speed eMMC flash memories.Embedded Control nucleus module is mainly responsible for from image capture module and reads image information number
According to, weld seam image data is identified and is handled, by weld seam grinding and polishing coordinate position output driving robot arm carry out grinding and polishing
Operation.
The image capture module includes CCD camera, the weld image letter for acquiring metal component weld seam in real time
Data are ceased, and are transferred to embedded Control nucleus module.The CCD camera uses frame frequency for 30fps, has white balance adjusting,
Clear image information can be provided for embedded Control nucleus module.
The display module is combined using color LCD screen touches capacitance plate as information display portion, real-time display
The image information data of camera acquisition starts grinding and polishing button, stops the information such as grinding and polishing button, grinding and polishing time.
The power module uses Switching Power Supply transformation mode, and 3.3v and image are provided for embedded Control nucleus module
Acquisition module provides 5v voltages.
The operation principle of weld seam grinding and polishing robot control system described in the present embodiment one：
When work, by the workbench of metal component placement grinding and polishing robot, start weld seam grinding and polishing robot control system, it is embedded
Formula control core module reads weld data from CCD camera in real time, identifies weld image information data, controls robot arm
Grinding and polishing operation is carried out, is completed until grinding and polishing works.
Embodiment two
A kind of weld seam grinding and polishing robot control method, this method are carried out in fact to the weld seam of metal component by image capture module
When acquire, and by collected weld image information data transmission to embedded Control nucleus module, embedded Control core mould
Block is identified and handles to the weld image information data, finally exports weld seam grinding and polishing coordinate position data to robot control
Cabinet processed carries out grinding and polishing operation by robot control cabinet driving robot arm.
This approach includes the following steps：
S1. CCD camera is initialized：System electrification, the CCD camera of initialisation image acquisition module；
S2. camera image information is read：Embedded Control nucleus module starts to read the weld image information of CCD camera；
S3. median filter process：To including that the original weld image information of a large amount of interference noises carries out median filter process, tool
Body method is that using the adjacent gray value in the regions 5*5, to take median to longer spread be the point by small by the gray scale of weld image pixel
Pixel value, to eliminate isolated picture noise point, while keeping image border characteristic；
S4. edge sharpening：Image edge acuity processing is carried out to weld seam image information, so as to accurately be carried out to weld image
Limb recognition；
S5. binary conversion treatment：Self-adaption binaryzation processing is carried out to weld image, weld image binary conversion treatment refers to by weld seam
Gray level image become black white image, the present invention proposes that a kind of new self-adaption binaryzation method calculate the threshold of binaryzation
Value, concrete methods of realizing are：
If grinding and polishing image is in pixel（x,y）The pixel gray value at place is f (x, y), the 5x5 centered on pixel (x, y)
Pixel is pixel window, and pixel window is as shown in table 1；By in pixel window pixel value make arrangement be maximized max f (x+s,
Y+t) and the average value of minimum value min f (x+s, y+t) is multiplied by 0.9 coefficient, in addition 0.1 coefficient is multiplied by variance D (x, y), wherein Q
(x, y) is that the self-adaption binaryzation of the pixel calculates threshold value；S, t are ranging from；
。
S6.canny edge detections：The edge image information of weld seam is identified using canny edge detections；
S7. Weld pipe mill position identifies：Weld edge luminance image information is progressively scanned from top to bottom, and both sides of the edge image is sat
Mark carries out average as Weld pipe mill；
S8. robot arm grinding and polishing is driven：Embedded Control nucleus module exports the weld seam grinding and polishing coordinate position data of identification
To robot control cabinet, grinding and polishing operation is carried out by robot control cabinet driving robot arm；It comprises the concrete steps that：
S81. setting weld seam grinding and polishing region：By the way that weld seam grinding and polishing region is arranged on the touch capacitance plate of display module；
S82. weld seam grinding and polishing coordinate position data is exported：Embedded Control nucleus module is by the weld seam grinding and polishing coordinate position number of identification
According to output to robot control cabinet；
S83. driving robot arm carries out grinding and polishing operation：Robot control cabinet utilizes the weld seam grinding and polishing coordinate position number received
Grinding and polishing operation is carried out according to driving robot arm；
S84. setting regions weld seam grinding and polishing is completed；
S85. sound-light alarm reminding task is completed.
Claims (10)
1. a kind of weld seam grinding and polishing robot control system, it is characterised in that：Including embedded Control nucleus module, power module,
Image capture module, robot control cabinet, display module, the output end of the power module respectively with image capture module, embedding
Enter the connection of formula control core module, the output end of image capture module is connect with the input terminal of embedded Control nucleus module, embedding
The output end for entering formula control core module is connect with the input terminal of display module, robot control cabinet respectively, robot control cabinet
Output end connect with robot arm.
2. weld seam grinding and polishing robot control system according to claim 1, it is characterised in that：The embedded Control core
Core module is using embedded ARM processor S5PV210 as control core.
3. weld seam grinding and polishing robot control system according to claim 1, it is characterised in that：The image capture module
Including CCD camera, the weld image information data for acquiring metal component weld seam in real time, and it is transferred to embedded Control core
Core module.
4. weld seam grinding and polishing robot control system according to claim 3, it is characterised in that：The CCD camera is adopted
It is 20~40fps with frame frequency.
5. weld seam grinding and polishing robot control system according to claim 1 or 2 or 3 or 4, it is characterised in that：Described is aobvious
Show that module is combined using color LCD screen and touches capacitance plate as information display portion；The power module is using switch electricity
Source transformation mode.
6. a kind of weld seam grinding and polishing robot control method, it is characterised in that：This method is by image capture module to metal structure
The weld seam of part is acquired in real time, and by collected weld image information data transmission to embedded Control nucleus module, embedding
Enter formula control core module the weld image information data is identified and is handled, finally by weld seam grinding and polishing coordinate position data
Output carries out grinding and polishing operation to robot control cabinet, by robot control cabinet driving robot arm.
7. weld seam grinding and polishing robot control method according to claim 6, it is characterised in that：This method includes following step
Suddenly：
S1. CCD camera is initialized：System electrification, the CCD camera of initialisation image acquisition module；
S2. camera image information is read：Embedded Control nucleus module starts to read the weld image information of CCD camera；
S3. median filter process：Median filter process is carried out to the original weld image information for including a large amount of interference noises；
S4. edge sharpening：Image edge acuity processing is carried out to weld seam image information；
S5. binary conversion treatment：Self-adaption binaryzation processing is carried out to weld image；
S6.canny edge detections：The edge image information of weld seam is identified using canny edge detections；
S7. Weld pipe mill position identifies：Weld edge luminance image information is progressively scanned from top to bottom, and both sides of the edge image is sat
Mark carries out average as Weld pipe mill；
S8. robot arm grinding and polishing is driven：Embedded Control nucleus module exports the weld seam grinding and polishing coordinate position data of identification
To robot control cabinet, grinding and polishing operation is carried out by robot control cabinet driving robot arm.
8. weld seam grinding and polishing robot control method according to claim 7, it is characterised in that：In step s3, intermediate value is filtered
The particular content of wave processing is to take the gray scale of weld image pixel to longer spread by small using the regions 5*5 adjacent gray values
Between value be the point pixel value, to eliminate isolated picture noise point, while keeping image border characteristic.
9. weld seam grinding and polishing robot control method according to claim 7, it is characterised in that：In step s 5, adaptively
The concrete methods of realizing of binary conversion treatment is：
If grinding and polishing image is in pixel（x,y）The pixel gray value at place is f (x, y), the 5x5 centered on pixel (x, y)
Pixel is pixel window, and the pixel value in pixel window, which is made arrangement, is maximized max f (x+s, y+t) and minimum value min f
The average value of (x+s, y+t) is multiplied by 0.9 coefficient, in addition 0.1 coefficient is multiplied by variance D (x, y), wherein Q (x, y) is the pixel
Self-adaption binaryzation calculates threshold value；S, t are ranging from；
。
10. weld seam grinding and polishing robot control method according to claim 7, it is characterised in that：In step s 8, driving machine
Device human arm grinding and polishing comprises the concrete steps that：
S81. setting weld seam grinding and polishing region：Pass through the setting weld seam grinding and polishing region on touching capacitance plate；
S82. weld seam grinding and polishing coordinate position data is exported：Embedded Control nucleus module is by the weld seam grinding and polishing coordinate position number of identification
According to output to robot control cabinet；
S83. driving robot arm carries out grinding and polishing operation：Robot control cabinet utilizes the weld seam grinding and polishing coordinate position number received
Grinding and polishing operation is carried out according to driving robot arm；
S84. setting regions weld seam grinding and polishing is completed；
S85. sound-light alarm reminding task is completed.
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| CN110253373A (en) * | 2019-07-15 | 2019-09-20 | 北京石油化工学院 | A kind of system and method for view-based access control model guided robot polishing member welding joints |
| CN111993200A (en) * | 2020-08-17 | 2020-11-27 | 上海中车瑞伯德智能系统股份有限公司 | Welding seam identification and positioning method and device for welding seam polishing |
| CN112223293A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding method of welding line grinding and polishing robot |
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Application publication date: 20181026 |