CN108873811A - A kind of machinery production manufacture bearing system and method - Google Patents
A kind of machinery production manufacture bearing system and method Download PDFInfo
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- CN108873811A CN108873811A CN201811065112.XA CN201811065112A CN108873811A CN 108873811 A CN108873811 A CN 108873811A CN 201811065112 A CN201811065112 A CN 201811065112A CN 108873811 A CN108873811 A CN 108873811A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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Abstract
The invention belongs to mechanically supported technical field, discloses a kind of machinery production manufacture bearing system and method, the machinery production manufacture include with bearing system：Traction module, video monitoring module, pressure detecting module, central control module, loading module, lifting module, mechanical arm locating module, lighting module, display module.The present invention judges the load transfer state of bolt hoistable platform by going up and down module jointly according to retracted position, upper bolt stress and lower bolt stress, the accuracy for judging load transfer state is improved, and then improves the working efficiency of bolt hoistable platform.And come the load transfer state for judging bolt hoistable platform, improve the reliability of bolt hoistable platform；The system scheme of complete set is given in terms of the workflows such as the identification of the compensation for calibrating errors of camera, the conversion of three-dimensional system of coordinate, the generation of point cloud chart and target and positioning by mechanical arm locating module simultaneously.
Description
Technical field
The invention belongs to mechanically supported technical field more particularly to a kind of machinery production manufacture bearing system and methods.
Background technique
Machine-building refer to be engaged in various dynamic power machines, handling machinery, chemical machinery, textile machine, lathe, tool,
The industrial department of the productions such as instrument, instrument and other mechanical equipments.Machinery manufacturing industry provides technical equipment for entire national economy.
However, on the bolt hoistable platform of existing bearing system, after lifting cylinder is elongated to the limit or shortens to the limit, just meeting
It triggers latch assembly and generates corresponding release or locking action, once the flexible limiting length of this fit system lifting cylinder goes out
Existing error does not just shift just release it is easy to appear the load of latch assembly or load shifts asking without release completely
Topic, can not work normally so as to cause bolt hoistable platform；Meanwhile machinery is passed through to the scheduling of carrier in existing bearing system
Arm is deployed, and existing allotment mechanical arm error is big, cannot accurately deploy carrier.
In conclusion problem of the existing technology is：On the bolt hoistable platform of existing bearing system, when lifting oil
After cylinder is elongated to the limit or shortens to the limit, it can just trigger latch assembly and generate corresponding release or locking action, it is this to match
Once error occurs in the flexible limiting length of conjunction mode lifting cylinder, just it is easy to appear the load of latch assembly not to shift just pine
Open or load completely transfer without unclamping the problem of, can not work normally so as to cause bolt hoistable platform；Meanwhile it is existing
Have in bearing system and the scheduling of carrier is deployed by mechanical arm, existing allotment mechanical arm error is big, cannot accurately adjust
With carrier.
The reliability and accuracy that (1) draws machine-building product in the prior art are inadequate, so that working efficiency
It is low, deficiency in economic performance；(2) procedural image of real time monitoring to machine-building is smudgy, cannot accomplish in the course of work in time
It finds the problem, quickly solve the problems, such as；(3) display screen cannot provide enough clearly the data information of monitor video and detection
Display degree, the observation and information for being unfavorable for video are read, and job schedule is influenced.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of machinery production manufacture bearing system and methods.
The invention is realized in this way a kind of machinery production manufacture bearing method, the machinery production manufacture carrying
Method includes：
(1) machine-building product is drawn by traction module；Mechanical system is monitored in real time by video monitoring module
Make process；The pressure data of engineering goods carrying is detected by pressure detecting module；It is logical that central control module dispatches loading module
Load carrier is crossed to carry engineering goods；
(2) descending operation is carried out to engineering goods by lifting module；By mechanical arm locating module to engineering goods into
Row allotment；Load bearing process is illuminated by lighting module；
(3) pass through the video of display module display monitoring and the data information of detection；
The mathematical expression formula of the traction electric machine is：
In formula：S1 is the failure threshold of state parameter characteristic quantity；S2 is state parameter feature under equipment normal running (operation) conditions
The minimum value of amount；Comprising m status information, the reliability based on each status information distinguishes R2,1, R2,2..., R2, m；Based on shape
The system dependability R of the assessment models of state information2It is expressed as：
R2=g (R2,1, R2,2..., R2, m)；
Further, it is rewritten as：
R2=R2,1R2,2..., R2,m；
The camera, it is specific to wrap using the discrete noise image during the removal camera shooting of non-local mean filtering algorithm
It includes：
Discrete noise image v=v (i) | and i ∈ I } to the estimated value NL [v] (i) of a pixel i, it is calculated as in image
The weighted average of all pixels, w (i, j) be weight, 0≤w (i, j)≤1 and
Gray vector v (Ni) and v (Nj) similitude indicate pixel i and pixel j between similitude,For square of the weighted euclidean distance in the region i, j, a (a > 0) indicates Gaussian kernel standard deviation, and h is control
System considers the coefficient of wave-path degree, all areas similarity summation within the scope of Z (i) picture search.
Further, the monitor video that the display module is shown and the data information of detection carry out gray level processing, so that
The monitor video of display and the data information of detection clearly indicate on a display screen, are conducive to observation and read, gray level is to send out
Light length of time indicates that the chromaticity coordinate calculation formula of display screen is as follows：
Wherein, X, Y, Z are tristimulus values, and t is fluorescent lifetime；
There is linear relationship relevant to time t between gray level and XYZ tristimulus values；When the total gray level grade of display screen
When number is N, XYZ tristimulus values corresponding to each gray level step-length " 1 " is：
Show an arbitrary color, when the red, green, blue display screen gray level that shines is respectively m, its corresponding XYZ when n, k
Tristimulus values is：
Further, the lifting module elevating method is as follows：
Firstly, determining the range of the lifting cylinder；
Secondly, detecting the stroke of the lifting cylinder by the stroke sensor, stroke and range are compared
Judge the retracted position of lifting cylinder；
Then, the lifting oil is detected by the rod chamber pressure sensor and the rodless cavity pressure sensor respectively
The rod chamber pressure and rodless cavity pressure of cylinder have bar according to described when the bolt hoistable platform is in lifting pole leg-shaped state
Cavity pressure judges the upper bolt stress and the lower bolt stress；It is put down when the bolt hoistable platform is in lifting
When platform subjective situation, the upper bolt stress and the lower bolt stress are judged according to the rodless cavity pressure；
Finally, according to the retracted position and the upper bolt stress and the lower bolt stress judgement
The load transfer state of bolt hoistable platform；The bolt hoistable platform is controlled according to the load transfer state.
Further, the retracted position that the lifting cylinder is judged according to the stroke and the range, packet
It includes：
The stroke generated when by lifting cylinder elongation is set as positive stroke, what the lifting cylinder generated when shortening
Stroke is set as negative stroke；
When the absolute value of the positive stroke is equal to the range, the lifting cylinder extends to longest；
When the absolute value of the negative stroke is equal to the range, the lifting cylinder is reduced to most short.
Further, the mechanical arm locating module localization method is as follows：
Firstly, obtaining first coordinate of the image of target object in image coordinate system；
Then, according to the depth information of the target object and first coordinate, the target object is obtained in camera
The second coordinate in coordinate system；
Finally, second coordinate to be converted to the third coordinate in mechanical arm coordinate system；
Wherein, described image coordinate system is with the camera where the image of the target object as plane is with reference to foundation, institute
Camera coordinates system is stated with depth camera as with reference to establishing, the mechanical arm coordinate system is that reference is established with mechanical arm.
Further, the depth information of the target object and first coordinate, obtain the target object in the phase
The step of the second coordinate in machine coordinate system includes：
Using the distance value and the first coordinate corresponding with the pixel of the pixel of the image of the target object, with
Obtain second coordinate.
Further, the step of third coordinate second coordinate is converted in the mechanical arm coordinate system packet
It includes：
The camera coordinates system is converted into the mechanical arm coordinate system using the first conversion formula；
Wherein, first conversion formula：
(XT,YT,ZT) indicate the mechanical arm coordinate system, (Xc,Yc,Zc) indicating the camera coordinates system, R indicates the first rotation
Torque battle array, T indicate the first translation matrix.
Further, the step of third coordinate second coordinate is converted in the mechanical arm coordinate system packet
It includes：
Mechanical arm base coordinate system is established, and is obtained between the mechanical arm base coordinate system and the mechanical arm coordinate system
Transformational relation；
The camera coordinates system is converted into the mechanical arm base coordinate system by the second conversion formula；
Wherein, second conversion formula：
Wherein, (XB,YB,ZB) indicate the mechanical arm base coordinate system, (Xc,Yc,Zc) indicate the camera coordinates system, R '
Indicate the second spin matrix, the second translation matrix of T ' expression.
Another object of the present invention is to provide a kind of machinery productions for implementing the machinery production manufacture bearing method
Manufacture bearing system, the machinery production manufacture include with bearing system：
Traction module, video monitoring module, pressure detecting module, central control module, loading module, lifting module, machine
Tool arm locating module, lighting module, display module；
Traction module is connect with central control module, for being drawn by traction electric machine to machine-building product；
Video monitoring module is connect with central control module, for monitoring machine-building process in real time by camera；
Pressure detecting module, connect with central control module, for detecting engineering goods carrying by pressure sensor
Pressure data；
Central control module, with traction module, video monitoring module, pressure detecting module, loading module, lifting module,
Mechanical arm locating module, lighting module, display module connection, work normally for controlling modules；
Loading module, connect with central control module, for being carried by load carrier to engineering goods；
Module is gone up and down, is connect with central control module, for carrying out descending operation to engineering goods；
Mechanical arm locating module, connect with central control module, for being deployed by mechanical arm to engineering goods；
Lighting module is connect with central control module, for being illuminated by headlamp to load bearing process；
Display module is connect with central control module, the data for video and detection by display screen display monitoring
Information.
Another object of the present invention is to provide a kind of information datas using the machinery production manufacture bearing method
Processing terminal.
Advantages of the present invention and good effect are：The present invention is by lifting module according to retracted position, upper bolt stress shape
State and lower bolt stress judge the load transfer state of bolt hoistable platform jointly, judge load transfer shape so improving
The accuracy of state, and then improve the working efficiency of bolt hoistable platform.Also, even bolt hoistable platform breaks down,
Lead to that retracted position can only be obtained, also can be single by retracted position, to judge the load transfer shape of bolt hoistable platform
State improves the reliability of bolt hoistable platform；Pass through compensation for calibrating errors, three-dimensional coordinate of the mechanical arm locating module from camera simultaneously
The system of complete set is given in terms of the conversion of system, the generation of point cloud chart and the workflows such as the identification of target and positioning
Solution.This method directly acquires target three-dimensional information using depth camera, can effectively ensure that mechanical arm positions target
Real-time and accuracy；Greatly improve the accuracy that carrier is deployed in allotment, and allotment efficiency.
Machinery production manufacture bearing system provided by the invention, specific (1) motor utilize status information reliability model,
Improve the traction electric machine reliability and accuracy drawn to machine-building product, be conducive to improve working efficiency, bring through
Ji benefit；(2) camera is using the discrete noise image during the removal camera shooting of non-local mean filtering algorithm, so that prison in real time
The process for controlling machine-building is cheer and bright, conducive to finding the problem in the course of work, quickly solving the problems, such as in time, is convenient for integrated pipe
Reason；(3) gray level processing is carried out to the data information of the monitor video and detection shown for display screen, so that the monitoring of display
Video and the data information of detection clearly indicate, and read conducive to the observation of video and information, improve clarity and information is accurate
Property.
Detailed description of the invention
Fig. 1 is machinery production manufacture bearing system structural schematic diagram provided in an embodiment of the present invention；
In figure：1, traction module；2, video monitoring module；3, pressure detecting module；4, central control module；5, loading mould
Block；6, module is gone up and down；7, mechanical arm locating module；8, lighting module；9, display module.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, machinery production manufacture provided in an embodiment of the present invention includes with bearing system：Traction module 1, video
Monitoring module 2, central control module 4, loading module 5, lifting module 6, mechanical arm locating module 7, shines at pressure detecting module 3
Bright module 8, display module 9.
Traction module 1 is connect with central control module 4, for being drawn by traction electric machine to machine-building product；
The motor utilizes status information reliability model, improves reliability and standard that traction electric machine draws machine-building product
Exactness；
Specifically mathematical expression formula is：
In formula：S1 is the failure threshold of state parameter characteristic quantity；S2 is state parameter feature under equipment normal running (operation) conditions
The minimum value of amount；
It include m status information in system, the reliability based on each status information distinguishes R2,1, R2,2..., R2, m；Cause
This, the system dependability R of the assessment models based on status information2It is represented by：
R2=g (R2,1, R2,2..., R2, m)
Further, it is rewritten as：
R2=R2,1R2,2..., R2, m
Video monitoring module 2 is connect with central control module 4, for monitoring machine-building process in real time by camera；
The camera, using the discrete noise image during the removal camera shooting of non-local mean filtering algorithm, so that real
When monitor machine-building process it is cheer and bright, specifically use following algorithm：
Discrete noise image v=v (i) | and i ∈ I } to the estimated value NL [v] (i) of a pixel i, it is calculated as in image
The weighted average of all pixels, w (i, j) be weight, 0≤w (i, j)≤1 and
Gray vector v (Ni) and v (Nj) similitude indicate pixel i and pixel j between similitude,For square of the weighted euclidean distance in the region i, j, a (a > 0) indicates Gaussian kernel standard deviation, and h is control
System considers the coefficient of wave-path degree, all areas similarity summation within the scope of Z (i) picture search.
Pressure detecting module 3 is connect with central control module 4, for detecting engineering goods carrying by pressure sensor
Pressure data；
Central control module 4, with traction module 1, video monitoring module 2, pressure detecting module 3, loading module 5, lifting
Module 6, mechanical arm locating module 7, lighting module 8, display module 9 connect, and work normally for controlling modules；
Loading module 5 is connect with central control module 4, for being carried by load carrier to engineering goods；
Module 6 is gone up and down, is connect with central control module 4, for carrying out descending operation to engineering goods；
Mechanical arm locating module 7 is connect with central control module 4, for being deployed by mechanical arm to engineering goods；
Lighting module 8 is connect with central control module 4, for being illuminated by headlamp to load bearing process；
Display module 9 is connect with central control module 4, the number for video and detection by display screen display monitoring
It is believed that breath；
The display screen carries out gray level processing to the data information of the monitor video and detection shown for display screen,
So that the monitor video of display and the data information of detection clearly indicate on a display screen, it is conducive to observation and reads, the ash
Degree grade indicates that the chromaticity coordinate calculation formula of display screen is as follows with fluorescent lifetime length：
Wherein, X, Y, Z are tristimulus values, and t is fluorescent lifetime.
There is linear relationship relevant to time t between gray level and XYZ tristimulus values.When the total gray level grade of display screen
When number is N, XYZ tristimulus values corresponding to each gray level step-length " 1 " is：
Show an arbitrary color, when the red, green, blue display screen gray level that shines is respectively m, its corresponding XYZ when n, k
Tristimulus values is：
6 elevating methods of lifting module provided by the invention are as follows：
Firstly, determining the range of the lifting cylinder；
Secondly, detecting the stroke of the lifting cylinder by the stroke sensor, stroke and range are compared
Judge the retracted position of lifting cylinder；
Then, the lifting oil is detected by the rod chamber pressure sensor and the rodless cavity pressure sensor respectively
The rod chamber pressure and rodless cavity pressure of cylinder have bar according to described when the bolt hoistable platform is in lifting pole leg-shaped state
Cavity pressure judges the upper bolt stress and the lower bolt stress；It is put down when the bolt hoistable platform is in lifting
When platform subjective situation, the upper bolt stress and the lower bolt stress are judged according to the rodless cavity pressure；
Finally, according to the retracted position and the upper bolt stress and the lower bolt stress judgement
The load transfer state of bolt hoistable platform；The bolt hoistable platform is controlled according to the load transfer state.
The retracted position provided by the invention that the lifting cylinder is judged according to the stroke and the range, packet
It includes：
The stroke generated when by lifting cylinder elongation is set as positive stroke, what the lifting cylinder generated when shortening
Stroke is set as negative stroke；
When the absolute value of the positive stroke is equal to the range, the lifting cylinder extends to longest；
When the absolute value of the negative stroke is equal to the range, the lifting cylinder is reduced to most short.
7 localization method of mechanical arm locating module provided by the invention is as follows：
Firstly, obtaining first coordinate of the image of target object in image coordinate system；
Then, according to the depth information of the target object and first coordinate, the target object is obtained in camera
The second coordinate in coordinate system；
Finally, second coordinate to be converted to the third coordinate in mechanical arm coordinate system；
Wherein, described image coordinate system is with the camera where the image of the target object as plane is with reference to foundation, institute
Camera coordinates system is stated with depth camera as with reference to establishing, the mechanical arm coordinate system is that reference is established with mechanical arm.
The depth information of target object provided by the invention and first coordinate, obtain the target object in the phase
The step of the second coordinate in machine coordinate system includes：
Using the distance value and the first coordinate corresponding with the pixel of the pixel of the image of the target object, with
Obtain second coordinate.
The step of third coordinate provided by the invention second coordinate is converted in the mechanical arm coordinate system packet
It includes：
The camera coordinates system is converted into the mechanical arm coordinate system using the first conversion formula；
Wherein, first conversion formula：
(XT,YT,ZT) indicate the mechanical arm coordinate system, (Xc,Yc,Zc) indicating the camera coordinates system, R indicates the first rotation
Torque
Battle array, T indicate the first translation matrix.
The step of third coordinate provided by the invention second coordinate is converted in the mechanical arm coordinate system packet
It includes：
Mechanical arm base coordinate system is established, and is obtained between the mechanical arm base coordinate system and the mechanical arm coordinate system
Transformational relation；
The camera coordinates system is converted into the mechanical arm base coordinate system by the second conversion formula；
Wherein, second conversion formula：
Wherein, (XB,YB,ZB) indicate the mechanical arm base coordinate system, (Xc,Yc,Zc) indicate the camera coordinates system, R '
Indicate the second spin matrix, the second translation matrix of T ' expression.
When the invention works, machine-building product is drawn by traction module 1；It is real by video monitoring module 2
When monitor mechanical manufacturing process；The pressure data of engineering goods carrying is detected by pressure detecting module 3；Central control module 4
Scheduling loading module 5 carries engineering goods by load carrier；Lifting behaviour is carried out to engineering goods by going up and down module 6
Make；Engineering goods are deployed by mechanical arm locating module 7；Load bearing process is illuminated by lighting module 8；Most
Afterwards, pass through the video of the display monitoring of display module 9 and the data information of detection.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (10)
1. a kind of machinery production manufacture bearing method, which is characterized in that the machinery production manufacture includes with bearing method：
(1) machine-building product is drawn by traction module；Machine-building is monitored in real time by video monitoring module
Journey；The pressure data of engineering goods carrying is detected by pressure detecting module；Central control module scheduling loading module is by holding
Mounted mechanism carries engineering goods；
(2) descending operation is carried out to engineering goods by lifting module；Engineering goods are adjusted by mechanical arm locating module
Match；Load bearing process is illuminated by lighting module；
(3) pass through the video of display module display monitoring and the data information of detection；
The mathematical expression formula of the traction electric machine is：
In formula：S1 is the failure threshold of state parameter characteristic quantity；S2 is state parameter characteristic quantity under equipment normal running (operation) conditions
Minimum value；Comprising m status information, the reliability based on each status information distinguishes R2,1, R2,2..., R2, m；Believed based on state
The system dependability R of the assessment models of breath2It is expressed as：
R2=g (R2,1, R2,2..., R2, m)；
Further, it is rewritten as：
R2=R2,1R2,2..., R2, m；
The camera is specifically included using the discrete noise image during the removal camera shooting of non-local mean filtering algorithm：
Discrete noise image v=v (i) | and i ∈ I } to the estimated value NL [v] (i) of a pixel i, it is calculated as all in image
The weighted average of pixel, w (i, j) be weight, 0≤w (i, j)≤1 and
Gray vector v (Ni) and v (Nj) similitude indicate pixel i and pixel j between similitude,
For square of the weighted euclidean distance in the region i, j, a (a > 0) indicates Gaussian kernel standard deviation, and h is the coefficient that wave-path degree is considered in control, Z
(i) all areas similarity summation within the scope of picture search.
2. machinery production manufacture bearing method as described in claim 1, which is characterized in that the prison that the display module is shown
The data information for controlling video and detection carries out gray level processing, so that the monitor video of display and the data information of detection are clearly
Display on a display screen, is conducive to observation and reads, and gray level is indicated with fluorescent lifetime length, and the chromaticity coordinate of display screen calculates public
Formula is as follows：
Wherein, X, Y, Z are tristimulus values, and t is fluorescent lifetime；
There is linear relationship relevant to time t between gray level and XYZ tristimulus values；When the total gray level series of display screen is
When N, XYZ tristimulus values corresponding to each gray level step-length " 1 " is：
Show an arbitrary color, when the red, green, blue display screen gray level that shines is respectively m, its corresponding XYZ tri- is pierced when n, k
Sharp value is：
3. machinery production manufacture bearing method as described in claim 1, which is characterized in that the lifting module elevating method
It is as follows：
Firstly, determining the range of the lifting cylinder；
Secondly, detecting the stroke of the lifting cylinder by the stroke sensor, stroke and range judgement are compared
The retracted position of lifting cylinder；
Then, the lifting cylinder is detected by the rod chamber pressure sensor and the rodless cavity pressure sensor respectively
Rod chamber pressure and rodless cavity pressure, when the bolt hoistable platform is in lifting pole leg-shaped state, according to the rod chamber pressure
Power judges the upper bolt stress and the lower bolt stress；When the bolt hoistable platform is in hoistable platform master
When body state, the upper bolt stress and the lower bolt stress are judged according to the rodless cavity pressure；
Finally, judging the bolt according to the retracted position and the upper bolt stress and the lower bolt stress
The load transfer state of hoistable platform；The bolt hoistable platform is controlled according to the load transfer state.
4. machinery production as claimed in claim 3 manufacture bearing method, which is characterized in that it is described according to the stroke and
The range judges the retracted position of the lifting cylinder, including：
The stroke generated when by lifting cylinder elongation is set as positive stroke, and the lifting cylinder generates flexible when shortening
Amount is set as negative stroke；
When the absolute value of the positive stroke is equal to the range, the lifting cylinder extends to longest；
When the absolute value of the negative stroke is equal to the range, the lifting cylinder is reduced to most short.
5. machinery production manufacture bearing method as described in claim 1, which is characterized in that the mechanical arm locating module is fixed
Position method is as follows：
Firstly, obtaining first coordinate of the image of target object in image coordinate system；
Then, according to the depth information of the target object and first coordinate, the target object is obtained in camera coordinates
The second coordinate in system；
Finally, second coordinate to be converted to the third coordinate in mechanical arm coordinate system；
Wherein, described image coordinate system is with the camera where the image of the target object as plane is with reference to foundation, the phase
Machine coordinate system is with reference to foundation with depth camera, and the mechanical arm coordinate system is that reference is established with mechanical arm.
6. machinery production manufacture bearing method as claimed in claim 5, which is characterized in that the depth of the target object is believed
Breath and first coordinate, the step of obtaining the second coordinate of the target object in the camera coordinates system include：
Using the distance value and the first coordinate corresponding with the pixel of the pixel of the image of the target object, to obtain
Second coordinate.
7. machinery production manufacture bearing method as claimed in claim 6, which is characterized in that described to turn second coordinate
The step of third coordinate being changed in the mechanical arm coordinate system includes：
The camera coordinates system is converted into the mechanical arm coordinate system using the first conversion formula；
Wherein, first conversion formula：
(XT,YT,ZT) indicate the mechanical arm coordinate system, (Xc,Yc,Zc) indicating the camera coordinates system, R indicates the first spin moment
Battle array, T indicate the first translation matrix.
8. machinery production manufacture bearing method as claimed in claim 5, which is characterized in that described to turn second coordinate
The step of third coordinate being changed in the mechanical arm coordinate system includes：
Mechanical arm base coordinate system is established, and obtains and turns between the mechanical arm base coordinate system and the mechanical arm coordinate system
Change relationship；
The camera coordinates system is converted into the mechanical arm base coordinate system by the second conversion formula；
Wherein, second conversion formula：
Wherein, (XB,YB,ZB) indicate the mechanical arm base coordinate system, (Xc,Yc,Zc) indicate the camera coordinates system, R ' expression
Second spin matrix, the second translation matrix of T ' expression.
9. a kind of machinery production for implementing the manufacture bearing method of machinery production described in claim 1, which manufactures, uses bearing system,
It is characterized in that, the machinery production manufacture includes with bearing system：
Traction module, video monitoring module, pressure detecting module, central control module, loading module, lifting module, mechanical arm
Locating module, lighting module, display module；
Traction module is connect with central control module, for being drawn by traction electric machine to machine-building product；
Video monitoring module is connect with central control module, for monitoring machine-building process in real time by camera；
Pressure detecting module, connect with central control module, for detecting the pressure of engineering goods carrying by pressure sensor
Data；
Central control module, with traction module, video monitoring module, pressure detecting module, loading module, lifting module, machinery
Arm locating module, lighting module, display module connection, work normally for controlling modules；
Loading module, connect with central control module, for being carried by load carrier to engineering goods；
Module is gone up and down, is connect with central control module, for carrying out descending operation to engineering goods；
Mechanical arm locating module, connect with central control module, for being deployed by mechanical arm to engineering goods；
Lighting module is connect with central control module, for being illuminated by headlamp to load bearing process；
Display module is connect with central control module, the data information for video and detection by display screen display monitoring.
10. a kind of information data using machinery production manufacture bearing method described in claim 1~8 any one is handled eventually
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065112.XA CN108873811A (en) | 2018-09-13 | 2018-09-13 | A kind of machinery production manufacture bearing system and method |
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