CN109108975A - A kind of 6 axis robot of binocular vision guidance system - Google Patents
A kind of 6 axis robot of binocular vision guidance system Download PDFInfo
- Publication number
- CN109108975A CN109108975A CN201811015409.5A CN201811015409A CN109108975A CN 109108975 A CN109108975 A CN 109108975A CN 201811015409 A CN201811015409 A CN 201811015409A CN 109108975 A CN109108975 A CN 109108975A
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- CN
- China
- Prior art keywords
- ccd camera
- side ccd
- binocular vision
- robot
- output end
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention relates to robotic technology fields, and disclose a kind of 6 axis robot of binocular vision guidance system, including six-joint robot, left side CCD camera, right side CCD camera and the workbench conveyed for cargo for transporting goods, the six-joint robot includes the machine human organism being mounted on mill floor and the mechanical arm linked with machine human organism, the left side CCD camera and right side CCD camera are respectively and movably connected to the left and right sides of mechanical arm output end, and the workbench is located at the underface of mechanical arm output end.The 6 axis robot of binocular vision guides system, right side CCD camera is cooperated to take pictures the cargo on workbench by left side CCD camera, information after taking pictures is transferred to computer and carries out analytical calculation, data precise quantification can be carried out to the location information of cargo, also data standard and measured value are effectively saved, it can greatly can increase the precision to freight detection by digitized statistics object space.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of 6 axis robot of binocular vision guides system.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type
It can be moved along three rectangular co-ordinates；The arm of circular cylindrical coordinate type can go up and down, turn round and expanding-contracting action；The arm energy of spherical coordinates type
Revolution, pitching and flexible；The arm of joint type has multiple cradle heads.Industrial robot presses the control machine of executing agency's movement
Can, and can branch bit-type and continuous path type.Point bit-type only controls accurate positionin of the executing agency by any to another point, is applicable in
In operations such as lathe loading and unloading, spot welding and general carrying, handling；Continuous path type can control executing agency to transport by given trace
It is dynamic, it is suitable for the operations such as continuous welding and coating.
To the three-dimensional perception of object, mode that the crawl of object space is often taken pictures using list CCD or with the naked eye
The operating mode of acquisition, but this operating mode in terms of accurate tracking, three dimensional signal space, aimed at precision presence compared with
Big defect.
The essence that work pattern before cannot carry out data precise quantification to product space, not be capable of measuring binocular vision guidance
Degree, data standard and measured value cannot effectively be saved, can not digitized statistics object space, this allows for industrial machine
The precision that device is manually made is restricted, and is unable to satisfy the production of high-accuracy high-efficiency rate, therefore proposes a kind of 6 axis machine of binocular vision
Device people guides system to solve the above problems.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of 6 axis robots of binocular vision to guide system, and having can be real
Existing automatic sorting simultaneously produces data sheet, realizes automatic detection, greatly improves production efficiency, promotes product testing quality
The advantages that, work pattern before solving cannot carry out data precise quantification to product space, not be capable of measuring binocular vision draws
The precision led cannot effectively save data standard and measured value, can not digitized statistics object space the problem of.
(2) technical solution
To realize above-mentioned achievable automatic sorting and producing data sheet, realizes automatic detection, greatly improve production
Efficiency, the purpose for promoting product testing quality, the invention provides the following technical scheme: a kind of 6 axis robot of binocular vision guides
System, including six-joint robot, left side CCD camera, right side CCD camera and the work conveyed for cargo for transporting goods
Platform, the six-joint robot include the machine human organism being mounted on mill floor and the machinery linked with machine human organism
Arm, the left side CCD camera and right side CCD camera are respectively and movably connected to the left and right sides of mechanical arm output end, the work
Platform is located at the underface of mechanical arm output end, and the top of the left side CCD camera and the equal face workbench of right side CCD camera
Portion.
Preferably, model Epson C4-A901S industrial robot of the six-joint robot, the industrial robot
Nominal load is 1Kg, and maximum load is maximum 4Kg, and the normal cycle time of the industrial robot is 0.47S, the industrial machine
The repetitive positioning accuracy of people is that positive and negative 0.03mm freedom of motion is table top installation, and the brachium of the industrial robot is 900mm, should
This body weight (being free of cable weight) of industrial robot is 29Kg.
Preferably, the left side CCD camera can carry out multi-faceted with right side CCD camera around the mechanical arm of six-joint robot
Rotation.
Preferably, the output end of the output end of the left side CCD camera and right side CCD camera with the computer of peripheral hardware
Input terminal electrical connection, the inside of the computer includes converter, processor, contrast module, extraction module and memory, described
The output end of left side CCD camera is electrically connected with the input terminal of converter with the output end of right side CCD camera, the converter
Output end is electrically connected with the input terminal of processor, the processor with contrast module is two-way is electrically connected, the processor and extract
The two-way electrical connection of module, the contrast module with memory is two-way is electrically connected, the extraction module with memory is two-way is electrically connected.
Preferably, the inside of the workbench includes being connected automatically for sorting the automatic sorting device of cargo, power supply
The USB automatic plug mechanism that device is connected with for USB, the output end of the processor and the input terminal electricity of automatic sorting device
Connection, the output end of the processor are electrically connected with the input terminal of USB automatic plug mechanism.
Preferably, the bottom of the left side CCD camera and right side CCD camera is fixedly connected to testing base, the survey
The mobile phone of pedestal being internally provided with for observing data is tried, the input terminal of the mobile phone and the output end signal of processor connect
It connects.
Preferably, the shooting area for being monitored to cargo, and left side CCD phase are provided at the top of the workbench
Machine and right side CCD camera are located at the left and right sides in shooting area.
Preferably, the model ADC0809 of the converter, by 8 path analoging switch, address latch and decoder, compared with
Device, 8 bit switch tree-shaped A/D converters, successive approximation register, logic control and timing circuit composition.
Preferably, the model of the processor is AT89S52 single-chip microcontroller, and AT89S52 single board computer provides following standard function
Can: 8KB byte FLASH flash memory reservoir, 256 byte inner RAM, 32 I/O mouth lines, 3 16 bit timings/counters, one 6
Vector two-stage interrupt structure, a full duplex serial communication port, piece internal oscillator and clock circuit.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of 6 axis robots of binocular vision to guide system, has following beneficial
Effect:
1, the 6 axis robot of binocular vision guides system, can complete conveying and sorting to cargo by workbench,
The efficiency of cargo sorting and transport is increased, and can greatly increase the conevying efficiency of cargo by six-joint robot, is improved
The efficiency of cargo production, increases the production efficiency of the entire production line.
2, the 6 axis robot of binocular vision guides system, cooperates right side CCD camera flat to work by left side CCD camera
Cargo on platform is taken pictures, and the information after taking pictures is transferred to computer and carries out analytical calculation, can be to the location information of cargo
Data precise quantification is carried out, also data standard and measured value are effectively saved, digitized statistics object position can be passed through
It sets, can greatly increase the precision to freight detection.
Detailed description of the invention
Fig. 1 is that a kind of 6 axis robot of binocular vision proposed by the present invention guides system structure diagram；
Fig. 2 is the system structure diagram that a kind of 6 axis robot of binocular vision proposed by the present invention guides system.
In figure: 1 six-joint robot, 2 left side CCD cameras, 3 right side CCD cameras, 4 workbenches.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of 6 axis robot of binocular vision guides system referring to FIG. 1-2, including the six axis machines for transporting goods
People 1, left side CCD camera 2, right side CCD camera 3 and the workbench 4 for cargo conveying, six-joint robot 1 include being mounted on
Machine human organism on mill floor and the mechanical arm linked with machine human organism, left side CCD camera 2 are divided with right side CCD camera 3
It is not movably connected in the left and right sides of mechanical arm output end, workbench 4 is located at the underface of mechanical arm output end, and left side
The top of CCD camera 2 and the equal face workbench 4 of right side CCD camera 3.
Wherein, model Epson C4-A901S industrial robot of six-joint robot 1, the specified of the industrial robot are born
Carrying is 1Kg, and maximum load is maximum 4Kg, and the normal cycle time of the industrial robot is 0.47S, the weight of the industrial robot
Multiple positioning accuracy is that positive and negative 0.03mm freedom of motion is table top installation, and the brachium of the industrial robot is 900mm, the industrial machine
This body weight of device people is 29Kg without cable weight, which includes multiple rotation axis, guarantees the movable model of mechanical arm
It encloses, increases the range of goods clamping, so that the working range of industrial robot is bigger.
Wherein, left side CCD camera 2 and right side CCD camera 3 can carry out multi-faceted turn around the mechanical arm of six-joint robot 1
Dynamic, left side CCD camera 2 and right side CCD camera 3 multi-faceted can rotate, so that left side CCD camera 2 and right side CCD camera 3
Coverage is bigger, can effectively ensure that the cargo on workbench 4 is always positioned at left side CCD camera 2 and right side CCD camera 3
Coverage in.
Wherein, the input of the output end of left side CCD camera 2 and the output end of right side CCD camera 3 with the computer of peripheral hardware
End electrical connection, the inside of computer includes converter, processor, contrast module, extraction module and memory, left side CCD camera 2
Output end be electrically connected with the input terminal of converter with the output end of right side CCD camera 3, the output end and processor of converter
Input terminal electrical connection, processor with contrast module is two-way is electrically connected, processor with extraction module is two-way is electrically connected, contrast module
With memory is two-way is electrically connected, extraction module with memory is two-way is electrically connected, left side CCD camera 2 and right side CCD camera 3 will clap
The image transmitting taken the photograph converts picture signal to converter, converter, and picture signal, which is converted to processor, to divide
The signal calculated is analysed, processor is analyzed and processed to the signal after conversion and transmits a signal to contrast module, contrast module
The signal in signal and memory that cooperation extraction module transmits processor carries out analysis comparison, completes to cargo location
Digitization precision positioning.
Wherein, the inside of workbench 4 include for sort the automatic conducting device of the automatic sorting device of cargo, power supply and
For the USB automatic plug mechanism of USB connection, the output end of processor is electrically connected with the input terminal of automatic sorting device, processing
The output end of device is electrically connected with the input terminal of USB automatic plug mechanism, and USB push-pull structure is used for left side CCD camera 2 and right side
It data line in CCD camera 3 and the connection of computer and separates, so that left side CCD camera 2 and right side CCD camera 3 and computer
Connection with separate more convenient, automatic sorting device can complete the efficient automatic sorting to cargo.
Wherein, the bottom of left side CCD camera 2 and right side CCD camera 3 is fixedly connected to testing base, testing base
It is internally provided with the mobile phone for observing data, the input terminal of mobile phone and the output end signal of processor connect, can by mobile phone
Very easily to observe the cargo location information transmitted on computer in real time, enable to staff to the information of cargo
Obtain more accurate understanding.
Wherein, the top of workbench 4 is provided with the shooting area for being monitored to cargo, and left side CCD camera 2 with
Right side CCD camera 3 is located at the left and right sides in shooting area, guarantees the shooting effect to cargo, so that cargo is always positioned at two
In the coverage of a camera.
Wherein, the model ADC0809 of converter, by 8 path analoging switch, address latch and decoder, comparator, 8
Tree-shaped A/D converter, successive approximation register, logic control and timing circuit composition are switched, the converter is small in size, conversion speed
Rate is high, and conversion accuracy is also very high, and low in cost.
Wherein, the model of processor is AT89S52 single-chip microcontroller, and AT89S52 single board computer provides following standard feature: 8KB
Byte FLASH flash memory reservoir, 256 byte inner RAM, 32 I/O mouth lines, 3 16 bit timings/counters, 6 vectors two
Grade interrupt structure, a full duplex serial communication port, piece internal oscillator and clock circuit, the processing analysis rate of the processor is very
Fastly, and small volume, processing accuracy height are easily installed use, and low in cost, cost needed for reducing production.
In conclusion the 6 axis robot of binocular vision guides system, right side CCD camera 3 is cooperated by left side CCD camera 2
Multi-faceted shooting is carried out to the cargo in 4 photographs area of workbench, since left side CCD camera 2 and right side CCD camera 3 detect
To be the coordinate of cargo in image space, and the target only has 2 freedom degrees, and unit is pixel, and space object is 6
Freedom degree can restore 6 freedom degrees of object by technique of binocular stereoscopic vision using double camera using the principle of human eye vision
Information, the image founding mathematical models taken by computer to left side CCD camera 2 and right side CCD camera 3, can determine
Image space is mapped to robot space so as to add by the preset parameter in model, then can be with by six-joint robot 1
Cargo after precise positioning is clamped, carried and detected, production efficiency is greatly improved, promotes product testing quality.
Also, left side CCD camera 2 is connect with computer with right side CCD camera 3, and mobile phone is placed in left side CCD camera 2
In the testing base of 3 lower end of right side CCD camera setting, for the observation of cargo location, passing through USB automatic plug machine in real time
Structure plugs data line, realizes left side CCD camera 2 and right side CCD camera 3 and the connection of computer and separates, USB oneself
After dynamic plug, data line is communicated at camera, and camera shoots object specific location, then by camera shoot picture by computer into
Row analysis processing, it is final to grab object exact position.
Gradually by manipulator, station is mobile backward from the first station for object, and the shooting result computer of each station will do it note
Record.
Specific steps are as follows:
A, upper workshop section is dosed to material position；B, motor rotation position rotation after the completion of filling, so that product is rotated to program
It carries area and carries out program downloading；C, after the completion of program downloading, left side CCD camera 2 and right side CCD camera 3 shoot cargo, clap
Take the photograph to obtain image by computer analyzing and positioning, the work such as the cargo after 1 pair of six-joint robot positioning is clamped and detected；D,
Each station measurement result has computer record, and data are uploaded to computer,.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of 6 axis robot of binocular vision guides system, including the six-joint robot (1) for transporting goods, left side CCD phase
Machine (2), right side CCD camera (3) and the workbench (4) for cargo conveying, it is characterised in that: the six-joint robot (1)
Including the machine human organism being mounted on mill floor and the mechanical arm linked with machine human organism, the left side CCD camera (2)
The left and right sides of mechanical arm output end is respectively and movably connected to right side CCD camera (3), the workbench (4) is located at machinery
The underface of arm output end, and the top of the left side CCD camera (2) and right side CCD camera (3) face workbench (4).
2. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the six axis machine
Model Epson C4-A901S industrial robot of device people (1), the nominal load of the industrial robot are 1Kg, maximum load
For maximum 4Kg, the normal cycle time of the industrial robot is 0.47S, and the repetitive positioning accuracy of the industrial robot is positive and negative
0.03mm freedom of motion is table top installation, and the brachium of the industrial robot is 900mm, this body weight of the industrial robot
(being free of cable weight) is 29Kg.
3. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the left side CCD
Camera (2) and right side CCD camera (3) can carry out multi-faceted rotation around the mechanical arm of six-joint robot (1).
4. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the left side CCD
The output end of camera (2) is electrically connected with the input terminal of the computer of peripheral hardware with the output end of right side CCD camera (3), the meter
The inside of calculation machine includes converter, processor, contrast module, extraction module and memory, the left side CCD camera (2) it is defeated
Outlet is electrically connected with the input terminal of converter with the output end of right side CCD camera (3), the output end of the converter and processing
The input terminal of device is electrically connected, the processor with contrast module is two-way is electrically connected, the processor with extraction module is two-way is electrically connected
Connect, the contrast module with memory is two-way is electrically connected, the extraction module with memory is two-way is electrically connected.
5. 6 axis robot of a kind of binocular vision according to claim 4 guides system, it is characterised in that: the work is flat
The inside of platform (4) includes the USB connected for sorting the automatic conducting device of the automatic sorting device of cargo, power supply with for USB
Automatic plug mechanism, the output end of the processor are electrically connected with the input terminal of automatic sorting device, the output of the processor
End is electrically connected with the input terminal of USB automatic plug mechanism.
6. 6 axis robot of a kind of binocular vision according to claim 4 guides system, it is characterised in that: the left side CCD
The bottom of camera (2) and right side CCD camera (3) is fixedly connected to testing base, and the testing base is internally provided with use
In the mobile phone of observation data, the input terminal of the mobile phone and the output end signal of processor are connected.
7. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the work is flat
The shooting area for being monitored to cargo, and left side CCD camera (2) and right side CCD camera (3) are provided at the top of platform (4)
It is located at the left and right sides in shooting area.
8. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the converter
Model ADC0809, by 8 path analoging switch, address latch and decoder, comparator, 8 bit switch tree-shaped A/D converters, by
It is secondary to approach register, logic control and timing circuit composition.
9. 6 axis robot of a kind of binocular vision according to claim 1 guides system, it is characterised in that: the processor
Model be AT89S52 single-chip microcontroller, AT89S52 single board computer provides following standard feature: 8KB byte FLASH flash memory reservoir,
256 byte inner RAM, 32 I/O mouth lines, 3 16 bit timings/counters, a 6 vector two-stage interrupt structures, one complete double
Work serial communication port, piece internal oscillator and clock circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811015409.5A CN109108975A (en) | 2018-08-31 | 2018-08-31 | A kind of 6 axis robot of binocular vision guidance system |
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| CN201811015409.5A CN109108975A (en) | 2018-08-31 | 2018-08-31 | A kind of 6 axis robot of binocular vision guidance system |
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| CN110103476A (en) * | 2019-05-24 | 2019-08-09 | 硅湖职业技术学院 | Full-automatic 3D printing work platform based on MES system |
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