CN109353815B - Method and system for secondary guiding loading by using existing vision sensor - Google Patents
Method and system for secondary guiding loading by using existing vision sensor Download PDFInfo
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- CN109353815B CN109353815B CN201811415085.4A CN201811415085A CN109353815B CN 109353815 B CN109353815 B CN 109353815B CN 201811415085 A CN201811415085 A CN 201811415085A CN 109353815 B CN109353815 B CN 109353815B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000000463 material Substances 0.000 claims abstract description 48
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000007599 discharging Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 3
- 229910000746 Structural steel Inorganic materials 0.000 claims 2
- 239000000523 sample Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
Abstract
The invention provides a method and a system for secondary guide loading by using the existing vision sensor, wherein the vision sensor is arranged on a robot, and the method comprises the following steps: 1) conveying a common material box with a workpiece to a preset position, fixing, and acquiring image information of all preset characteristic points by using a vision sensor; calculating the deviation between a preset characteristic point and a stored standard position in a visual sensor coordinate system, and transmitting the data to an industrial personal computer; 2) the industrial personal computer corrects the track of the robot by using the deviation data, and the corrected position of the robot is used as an initial position for secondary guidance; 3) and the robot starts to guide for the second time from the initial position, firstly probes to the image acquisition position, shoots, calculates the deviation of the position coordinate of the workpiece and the stored standard position coordinate of the workpiece, corrects the workpiece grabbing position of the robot, grabs the workpiece and discharges the workpiece. The method and the system can realize automatic guiding of the upper part by using the common material box without increasing equipment, using the common material box and turning over the box.
Description
Technical Field
The invention relates to a guiding method for industrial field measurement, in particular to a method and a system for secondary guiding and loading by using an existing vision sensor.
Background
With the development of industrial technology, in the automobile manufacturing industry, automatic guide upper parts become important means for improving production efficiency and liberating productivity. At present, the automatic guiding and loading process is as follows: the workpiece in the common material box is guided into the high-precision material box through box turning, the position of the workpiece in the high-precision material box is determined by the vision sensor, the result is transmitted to the robot, and the robot corrects the track according to the position of the workpiece to complete automatic feeding. The existing automatic guiding upper part mainly depends on high-precision positioning of a high-precision material box and a storage position to ensure that a workpiece is in a detection range of a visual sensor and ensure detection precision; this is because the tolerance range of the vision sensor is only ± 70mm at most, and the detection requirement of the vision sensor cannot be satisfied by using the common bin and the simple positioning. However, the high-precision workbin and the high-precision positioning have high processing difficulty and high processing cost and maintenance cost.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for secondary guiding and loading by using the existing vision sensor, which can realize automatic guiding and loading by using a common material box without increasing equipment, using the common material box and turning over the common material box.
Therefore, the technical scheme of the invention is as follows:
a method for secondary guidance of a workpiece using an existing vision sensor mounted on a robot, comprising the steps of:
1) conveying a common material box with workpieces to a preset position, fixing, photographing at a single time or a plurality of angles by using a vision sensor, and collecting image information of preset characteristic points on all the material boxes; calculating the deviation between a preset characteristic point and a stored standard position in a visual sensor coordinate system, and transmitting the data to an industrial personal computer;
2) the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as the initial position for the second guidance;
3) and (3) starting the robot to perform secondary guidance from the initial position determined in the step 2), firstly detecting to the image acquisition position of the secondary guidance, shooting, calculating the deviation between the position coordinate of the workpiece and the stored standard position coordinate of the workpiece, correcting the position of the workpiece grabbed by the robot, grabbing the workpiece, and discharging the workpiece.
In order to meet the guiding condition when a plurality of workpieces are placed in each common bin, determining the initial position of the second guiding by the method of the steps 1) and 2) by taking the signal fixed by the bin as the signal of a new bin; and 3) finishing the workpiece discharging of the first workpiece in the common material box according to the method of the step 3), and repeating the step 3) until the workpiece discharging of all the workpieces in the common material box is finished.
Further, the preset characteristic points are identification points arranged on the common material box or inherent characteristic points on the workpiece.
Further, the preset characteristic points are identification points arranged on the upper end face of the upright post of the common material box.
Further, the preset feature points are circles, ellipses, polygons, cylinders, elliptic cylinders, prisms, or irregularly-shaped holes.
Further, the deviation of the position coordinates of the workpiece in the second guidance in step 3) from the stored standard position coordinates of the workpiece is calculated using three-dimensional coordinates.
A system for secondary guiding and loading by using the existing vision sensor comprises a common material box, a preset position where the common material box is located during testing, a robot and the vision sensor arranged on the robot;
in a working state, the common material box is placed in a preset position;
a plurality of identification points are arranged on the common material box;
the vision sensor collects image information of preset characteristic points on a common material box, calculates the deviation between the preset characteristic points and a stored standard position under a vision sensor coordinate system, and transmits the data to the industrial personal computer; the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as the initial position for the second guidance;
the robot is arranged on the side surface of the preset position and used for driving the visual sensor to the working position and completing grabbing of the part from the common material box;
the vision sensor also needs to acquire the image of the workpiece, calculate the deviation between the position coordinate of the workpiece and the stored standard position coordinate of the workpiece before the robot grabs the workpiece, and feed back the data to the robot.
The method for secondary guiding and loading by using the existing vision sensor provided by the invention can realize automatic guiding and loading by using a common material box without increasing equipment or turning the box. The single manufacturing cost of the common workbin used in the method is only 10-20% of the manufacturing cost of the high-precision workbin, the common positioning of the bin is only 10% of the manufacturing cost of the high-precision positioning, the box turning is not needed in the feeding process, and the labor cost of at least one post can be saved. And the collision of the workpieces can be reduced by reducing the turnover in the production process, and the cost is saved from another angle.
Detailed Description
The technical solution of the present invention is described in detail below with reference to examples:
a method for secondary guiding of an upper piece by using an existing vision sensor, wherein the vision sensor is installed on a robot, comprises the following steps:
1) the method comprises the following steps of conveying a common material box provided with a top cover outer plate to a preset position, wherein the preset position is a pre-defined rectangular frame, the periphery of the common material box is only separated by simple angle irons, the common material box is clasped, a vision sensor is used for photographing at a single time or a plurality of angles, and image information of all preset characteristic points is collected; calculating the deviation between a preset characteristic point and a stored standard position in a visual sensor coordinate system, and transmitting the data to an industrial personal computer;
when the vision sensor shoots, all the preset feature points which can be covered are taken as a reference, if all the preset feature points can be shot by single shooting, only one picture needs to be shot; otherwise, the position of the vision sensor needs to be adjusted for multiple times to take multiple pictures;
in the implementation process of the invention, the characteristic mark points can be identification points arranged on a common material box, or inherent characteristic points on a workpiece, and the shape of the characteristic points can be a circle, an ellipse, a polygon, a cylinder, an elliptic cylinder or a prism, or other shapes; in one embodiment of the invention, the characteristic mark points are circular marks arranged on the upper end surface of the upright post of the common material box, and the color difference between the colors of the circular marks and the colors of the upright post is larger;
2) the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as an initial position for secondary guidance;
3) the robot starts to perform the second guidance from the initial position determined in the step 2), and then, the robot firstly probes to the image acquisition position (in one embodiment of the invention, 1m position right above the outer plate of the roof cover) of the second guidance, shoots, calculates the deviation between the three-dimensional position coordinates of the front car cover and the stored three-dimensional coordinates of the standard position of the front car cover, and corrects the grabbing position, grabbing and discharging of the robot.
In the implementation process, the cohesion signal of the common material box is a signal for replacing the material box, namely a signal for starting the first guiding process in the steps 1) and 2) of the method.
The method provided by the invention is most suitable for the grabbing work of the top cover outer plate or the top cover assembly, all the stand columns can be directly seen due to more sensors, and the characteristic mark points are usually arranged on the upper end surfaces of the stand columns.
The system for secondary guiding loading by utilizing the existing vision sensor comprises a common material box, a preset position where the common material box is located during testing, a robot and the vision sensor arranged on the robot;
under the working state, a common material box is placed in a preset position;
a plurality of identification points are arranged on the common material box;
the vision sensor collects image information of preset characteristic points on a common material box, calculates the deviation between the preset characteristic points and a stored standard position under a vision sensor coordinate system, and transmits the data to the industrial personal computer; the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as an initial position for secondary guidance;
the robot is arranged on the side surface of the preset position and used for driving the visual sensor to the working position and finishing grabbing a part from the common material box;
the vision sensor also needs to acquire the image of the workpiece before the robot grabs the workpiece, calculate the deviation between the position coordinate of the workpiece and the stored standard position coordinate of the workpiece, and feed back the data to the robot.
Note: the standard data mentioned in the invention are the feature point position data stored by the guidance system when the robot runs the standard track during the guidance system teaching.
The method for secondary guiding and loading by using the existing vision sensor provided by the invention can realize automatic guiding and loading by using a common material box without increasing equipment or turning the box. The single manufacturing cost of the common workbin used in the method is only 10-20% of the manufacturing cost of the high-precision workbin, the common positioning of the bin is only 10% of the manufacturing cost of the high-precision positioning, the box turning is not needed in the feeding process, and the labor cost of at least one post can be saved. And the collision of the workpieces can be reduced by reducing the turnover in the production process, and the cost is saved from another angle.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (7)
1. A method for secondary guidance of an upper part using an existing vision sensor mounted on a robot, characterized by comprising the steps of:
1) conveying a common material box with a workpiece to a preset position, wherein the preset position is a pre-defined rectangular frame, the periphery of the common material box is only separated by simple angle iron, the common material box is clasped and fixed, a vision sensor is used for photographing at a single time or a plurality of angles, and image information of preset characteristic points on all the material boxes is acquired; calculating the deviation between a preset characteristic point and a stored standard position in a visual sensor coordinate system, and transmitting the data to an industrial personal computer;
2) the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as the initial position for the second guidance;
3) and (3) starting the robot to perform secondary guidance from the initial position determined in the step 2), firstly detecting to the image acquisition position of the secondary guidance, shooting, calculating the deviation between the position coordinate of the workpiece and the stored standard position coordinate of the workpiece, correcting the position of the workpiece grabbed by the robot, grabbing the workpiece, and discharging the workpiece.
2. The method of claim 1, wherein: and 3) repeating the step n times, wherein n is equal to the number of workpieces in a single common material box.
3. The method of claim 1 or 2, wherein: the preset characteristic points are identification points arranged on the common material box or inherent characteristic points on the workpiece.
4. The method of claim 1 or 2, wherein: the preset characteristic points are identification points arranged on the upper end face of the upright post of the common material box.
5. The method of claim 1 or 2, wherein: the preset characteristic points are round, oval, polygonal, cylindrical, elliptic cylindrical, prismatic or special-shaped holes.
6. The method of claim 1 or 2, wherein: and 3) calculating the deviation between the position coordinates of the workpiece in the second guiding and the stored standard position coordinates of the workpiece by using three-dimensional coordinates.
7. A system for secondary guide loading by using an existing vision sensor is characterized in that: the automatic feeding device comprises a common feed box, a preset position where the common feed box is located during testing, a robot and a vision sensor arranged on the robot;
in a working state, the common material box is placed in a preset position; the preset position is a pre-defined rectangular frame, and the periphery of the preset position is only separated by simple angle iron;
a plurality of identification points are arranged on the common material box;
the vision sensor collects image information of preset characteristic points on a common material box, calculates the deviation between the preset characteristic points and a stored standard position under a vision sensor coordinate system, and transmits the data to the industrial personal computer; the industrial personal computer corrects the track of the robot by using the deviation data of the preset characteristic point and the stored standard position, and the corrected position of the robot is used as the initial position for the second guidance;
the robot is arranged on the side surface of the preset position and used for driving the visual sensor to the working position and completing grabbing of the part from the common material box;
the vision sensor also needs to acquire the image of the workpiece, calculate the deviation between the position coordinate of the workpiece and the stored standard position coordinate of the workpiece before the robot grabs the workpiece, and feed back the data to the robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811415085.4A CN109353815B (en) | 2018-11-26 | 2018-11-26 | Method and system for secondary guiding loading by using existing vision sensor |
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| CN201811415085.4A CN109353815B (en) | 2018-11-26 | 2018-11-26 | Method and system for secondary guiding loading by using existing vision sensor |
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| CN109353815A CN109353815A (en) | 2019-02-19 |
| CN109353815B true CN109353815B (en) | 2021-01-12 |
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| CN109916346B (en) * | 2019-03-31 | 2021-06-22 | 东莞职业技术学院 | Workpiece flatness detection device and method based on vision system |
| CN111152222A (en) * | 2020-01-07 | 2020-05-15 | 理光图像技术（上海）有限公司 | Target object moving system |
| US11318517B2 (en) | 2020-09-30 | 2022-05-03 | Ford Global Technologies, Llc | System and method for heating metal blanks |
| CN113385930B (en) * | 2021-06-30 | 2022-07-29 | 潍坊路加精工有限公司 | Vision-guided assembly correction method |
| CN113635299B (en) * | 2021-07-23 | 2022-11-25 | 深圳市朗驰欣创科技股份有限公司 | Mechanical arm correction method, terminal device and storage medium |
| CN117125469B (en) * | 2023-09-12 | 2024-03-15 | 天津锐新昌科技股份有限公司 | Automatic loading and unloading control method, system, device, equipment and medium for radiating fins |
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| US20170028557A1 (en) * | 2015-07-28 | 2017-02-02 | Comprehensive Engineering Solutions, Inc. | Robotic navigation system and method |
| CN106625676B (en) * | 2016-12-30 | 2018-05-29 | 易思维（天津）科技有限公司 | Three-dimensional visual accurate guiding and positioning method for automatic feeding in intelligent automobile manufacturing |
| CN108393873A (en) * | 2018-05-09 | 2018-08-14 | 易思维（天津）科技有限公司 | Precise grabbing device and grabbing method for laminated workpieces |
| CN108858191A (en) * | 2018-06-29 | 2018-11-23 | 易思维（杭州）科技有限公司 | Visual guide method suitable for the automatic loading process of automobile top cover |
| CN108839024A (en) * | 2018-06-29 | 2018-11-20 | 易思维（杭州）科技有限公司 | A kind of visual guide method suitable for the automatic loading process of arrangements for automotive doors |
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Address after: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee after: Yi Si Si (Hangzhou) Technology Co.,Ltd. Address before: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee before: ISVISION (HANGZHOU) TECHNOLOGY Co.,Ltd. |