CN109454639A - The method and system of robots arm's adjustment in a kind of intelligence manufacture production line - Google Patents
The method and system of robots arm's adjustment in a kind of intelligence manufacture production line Download PDFInfo
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- CN109454639A CN109454639A CN201811315597.3A CN201811315597A CN109454639A CN 109454639 A CN109454639 A CN 109454639A CN 201811315597 A CN201811315597 A CN 201811315597A CN 109454639 A CN109454639 A CN 109454639A
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- diiva
- robotic arm
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The present invention provides the method and system that robots arm in a kind of intelligence manufacture production line adjusts, its system includes the control equipment and multiple industrial robots applied to intelligence manufacture, the control equipment includes apparatus body and the Centralized Controller on apparatus body, and the Centralized Controller includes: display module, central processing unit, USB module, DiiVA daisy chain module, DiiVA Switching Module, coaxial cable interface.Implement to extend DiiVA technology in the present invention on Centralized Controller, the conversion that DiiVA supports multichannel input source and output source can be achieved, to support the extension and application of Centralized Controller Yu multiple signal sources, application of the signals such as digital high-definition in intelligence manufacture equipment can be especially supported.
Description
Technical field
The present invention relates to intelligent Manufacturing Technology fields, and in particular into a kind of intelligence manufacture production line, robots arm is adjusted
Method and system.
Background technique
Intelligence manufacture (Intelligent Manufacturing, IM) is a kind of common by intelligence machine and human expert
The man-machine integration intelligence system of composition, it can be carried out intelligency activity in the fabrication process, such as analysis, reasoning, judgement, design
With decision etc..By the cooperation of people and intelligence machine, goes to expand, extends and partly replace human expert in manufacturing process
In mental labour.The concept updating of manufacturing automation is expanded to flexibility, intelligence and Highgrade integration by it.It is intelligent
It is the developing direction of manufacturing automation.Artificial intelligence technology is nearly all widely applied in the links of manufacturing process.Expert system
System technology can be used for engineering design, process engineering, production scheduling, fault diagnosis etc..It can also be by neural network and mould
It pastes the advanced computer intelligence methods such as control technology and is applied to product formula, production scheduling etc. realizes that manufacturing process is intelligent.
Intelligence manufacture is related to the fusion of various technologies, and Centralized Controller involved in existing master control equipment is more single
One, the application that each communication interface realizes different function can not be integrated, received such as the video data under each application scenarios and
Exchange, and it can not be directed to the corresponding controller function of all types of Function Extensions and effect, it needs based on existing centralized control
Device realizes the extension and application of corresponding functional module, reaches corresponding data processing and to the corresponding extension process function of data processing
Energy.And how entire vision system realizes the transmitting of video data, and ensure the data processing of control equipment, it realizes to corresponding machine
The control etc. of device arm.
Summary of the invention
In order to overcome existing difficulty, it is each that a kind of expansible application reception is provided between control equipment and industrial robot
Data type and the method for supporting robots arm's adjustment in the intelligence manufacture production line to robotic arm end transmitting information.
The present invention provides the methods that robots arm in a kind of intelligence manufacture production line adjusts, including are applied to intelligence manufacture
Control equipment and multiple industrial robots, the control equipment includes apparatus body and the centralized control on apparatus body
Device, the Centralized Controller include: display module, central processing unit, USB module, DiiVA daisy chain module, DiiVA interchange mode
Block, coaxial cable interface, in which: the display module is connected to central processing unit, the central processing unit and the USB module
It being connected to based on communication line, the central processing unit is based on Ethernet with the DiiVA daisy chain module and HDMI wire is connected to,
The DiiVA chrysanthemum lotus module and the DiiVA Switching Module are based on DiiVA line and are connected to, the central processing unit and described
DiiVA chrysanthemum lotus module is based on built-in integrated circuit I2C mode and is coupled in parallel on coaxial cable interface, the coaxial cable interface
The control module on robotic arm is connect based on coaxial cable；Each industrial robot on the multiple industrial robot is provided with
Vision system and the control module on robotic arm, the vision system access the DiiVA Switching Module, the method packet
It includes:
Based on the digital video frame on the optical finder acquisition industrial robot on the vision system；
The digital video frame is based on the DiiVA chrysanthemum lotus module transfer to central processing unit；
Central processing unit is that the slave trace point in the image coordinate system for identify the digital video frame extends to and image spy
Levy the trace vector of associated target point；
The trace vector is mapped in the configuration space of associated robot coordinate system's building；
The machine in the robot coordinate system is exported from the mapping of the trace vector in the configuration space
Arm posture；
The actual positional relationship and practical rotation angle information of the robotic arm are obtained according to the robotic arm posture；
Central control processor adjusts machine according to the actual positional relationship of the robotic arm and practical rotation angle information
The motion profile order of device arm, the motion profile order include the theoretical position relationship and theoretical rotation in each joint on robotic arm
Gyration；
The control module on robotic arm is sent based on the coaxial cable interface by the motion profile order.
The DiiVA Switching Module is connected to multichannel input source and multiple-channel output source, and the DiiVA Switching Module is based on
Control command controls the switching between multichannel input source and multiple-channel output source, completes input source and inputs to the audio-video of output source, institute
State the vision system that can access industrial robot all the way per input source all the way in multichannel input source.
It is linked together between the display module and the central processing unit based on expansible driving chip.
Digital video frame on the optical finder acquisition industrial robot based on the vision system includes:
Vision system establishes Gaussian mixture model-universal background model using color histogram, textural characteristics；
Using the motion profile of the method detection robotic arm based on region；
Obtain the image information of the robotic arm region.
The motion profile of the method detection robotic arm using based on region includes:
Obtain original state video background in target area；
Obtain the dynamic image frame of video under target area；
The moving target of current machine arm is isolated using relief method based on original state video background.
The USB module: USB joint, power supply common mode filtering module, signal common mode filtering module, power supply differential mode filter mould
Block, signal differential mode filter module and electrostatic protection module, the USB joint is connected to voltage common mode filtering module and signal is total
Mould filter module, the power supply common mode filtering module are connected to power supply differential mode filter module, and the signal common mode filtering module connects
Then signal differential mode filter module, the power supply differential mode filter module and the signal differential mode filter module are connected to the electrostatic
Protective module.
Correspondingly, the present invention also provides the system that robots arm in a kind of intelligence manufacture production line adjusts, the system
Including be applied to intelligence manufacture control equipment and multiple industrial robots, which is characterized in that the control equipment includes equipment
Ontology and the Centralized Controller on apparatus body, the Centralized Controller include: display module, central processing unit, USB mould
Block, DiiVA daisy chain module, DiiVA Switching Module, coaxial cable interface, in which: the display module is connected to central processing
Device, the central processing unit are connected to the USB module based on communication line, the central processing unit and the DiiVA chrysanthemum
Chain module is based on Ethernet and HDMI wire is connected to, and the DiiVA chrysanthemum lotus module and the DiiVA Switching Module are based on DiiVA
Line is connected to, and the central processing unit and the DiiVA chrysanthemum lotus module are based on built-in integrated circuit I2C mode and are coupled in parallel to together
On axis cable interface, the coaxial cable interface connects the control module on robotic arm based on coaxial cable；The multiple industrial machine
Each industrial robot on device people is provided with vision system and the control module on robotic arm, and the vision system connects
Enter the DiiVA Switching Module, in which:
Each industrial robot on the multiple industrial robot is adopted based on the optical finder on the vision system
Collect the digital video frame on industrial robot；The digital video frame is based on the DiiVA chrysanthemum lotus module transfer to centre
It manages on device；
Central processing unit in the control equipment is in the image coordinate system for identify the digital video frame from tracking
Point extends to the trace vector of target point associated with characteristics of image；The trace vector is mapped to associated robot
In the configuration space of coordinate system building；The robot is exported from the mapping of the trace vector in the configuration space
Robotic arm posture in coordinate system；The actual positional relationship and practical rotation of the robotic arm are obtained according to the robotic arm posture
Gyration information；Central control processor is adjusted according to the actual positional relationship of the robotic arm and practical rotation angle information
The motion profile order of robotic arm, the motion profile order include the theoretical position relationship and theory in each joint on robotic arm
Rotate angle；The control module on robotic arm is sent based on the coaxial cable interface by the motion profile order.
The USB module: USB joint, power supply common mode filtering module, signal common mode filtering module, power supply differential mode filter mould
Block, signal differential mode filter module and electrostatic protection module, the USB joint is connected to voltage common mode filtering module and signal is total
Mould filter module, the power supply common mode filtering module are connected to power supply differential mode filter module, and the signal common mode filtering module connects
Then signal differential mode filter module, the power supply differential mode filter module and the signal differential mode filter module are connected to the electrostatic
Protective module.
DiiVA technology is extended on Centralized Controller in the present invention, it can be achieved that DiiVA supports multichannel input source and output
The conversion in source can especially support digital high-definition etc. to support the extension and application of Centralized Controller Yu multiple signal sources
Application of the signal in intelligence manufacture equipment.DiiVA technology can be supported to answer in control equipment incessantly based on the Centralized Controller
With the functions such as control original to signal each on robotic arm can also be kept, while can be met USB technology and DiiVA technology and be passed
A possibility that defeated signal, can also based on central processing unit based on data line realize data transmission.
It is available to posture locating for robotic arm by vision system, it is then based on the transmission signal of DiiVA technology
Reliability is transferred to control equipment end and carries out data run processing, to ensure master control equipment to the functionality of industrial robot
Control, view-based access control model system are quickly obtained video requency frame data, can be by the transmitting of video requency frame data large capacity based on DiiVA technology
To central processing unit, central processing unit can fast implement robotic arm Attitude Calculation based on video requency frame data, to obtain machine
The information such as the various actual positional relationships of arm and selected angle are acted in next step with self adaptive control robotic arm.Using video data
The hardware configuration mutually separated with control information has ensured that control information and data acquisition information is mutually interference-free, has reduced data
Conflict and safe and reliable property between stream etc..
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the system structure diagram of robots arm's adjustment in intelligence manufacture production line in the embodiment of the present invention；
Fig. 2 is the USB module structural schematic diagram in the embodiment of the present invention；
Fig. 3 is the method flow diagram of robots arm's adjustment in intelligence manufacture production line in the embodiment of the present invention.
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 all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 shows the control device structure schematic diagram applied to intelligence manufacture in the embodiment of the present invention, which sets
Standby includes apparatus body and control equipment and multiple industrial robots on apparatus body, and the control equipment includes equipment
Ontology and the Centralized Controller on apparatus body, the Centralized Controller include: display module, central processing unit, USB mould
Block, DiiVA daisy chain module, DiiVA Switching Module, coaxial cable interface, in which: the display module is connected to central processing
Device, the central processing unit are connected to the USB module based on communication line, the central processing unit and the DiiVA chrysanthemum
Chain module is based on Ethernet and HDMI wire is connected to, and the DiiVA chrysanthemum lotus module and the DiiVA Switching Module are based on DiiVA
Line is connected to, and the central processing unit and the DiiVA chrysanthemum lotus module are based on built-in integrated circuit I2C mode and are coupled in parallel to together
On axis cable interface, the coaxial cable interface connects the control module on robotic arm based on coaxial cable；The multiple industrial machine
Each industrial robot on device people is provided with vision system and the control module on robotic arm, and the vision system connects
Enter the DiiVA Switching Module.
In specific implementation process, each industrial robot on the multiple industrial robot is based on the vision system
Optical finder acquisition industrial robot on digital video frame；The digital video frame is based on the DiiVA chrysanthemum lotus mould
Block is transmitted on central processing unit；Central processing unit in the control equipment is the image coordinate for identifying the digital video frame
Slave trace point in system extends to the trace vector of target point associated with characteristics of image；The trace vector is mapped to institute
In the configuration space of associated robot coordinate system's building；It is led from the mapping of the trace vector in the configuration space
Robotic arm posture in the robot coordinate system out；Show that the physical location of the robotic arm is closed according to the robotic arm posture
System and practical rotation angle information；Central control processor is rotated according to the actual positional relationship and reality of the robotic arm
Angle information adjusts the motion profile order of robotic arm, and the motion profile order includes the theoretical position in each joint on robotic arm
Set relationship and theoretical rotation angle；The control on robotic arm is sent based on the coaxial cable interface by the motion profile order
Molding block.
DTV high definition interaction view sound interface (DiiVA, Digital Interactive Interface for
Video&Audio it is) a kind of digital high-definition interaction coffret technology, video bandwidth is supported to reach 13.5Gbps, supports that mixing is logical
Road bandwidth is total can to do bi-directional data and audio transmission more than 2Gbps, while also supporting that HDCP2.0 (protect by high-bandwidth digital content
Shield technology) and DTCP-IP (passing through the Digital Transmission Content Protection of Internet protocol).The data type of transmission can go here and there simultaneously
Stream regards sound format, USB (universal serial bus), Ethernet, device including the existing uncompressed high-resolution with the following application
Control instruction etc..DiiVA specification includes transport layer and network layer, allows video, audio and data packet, can be based on DiiVA
Family's Internet of Things in, safely change the path that any display is transmitted to from either signal source.In addition, family's Internet of Things base
Network connection and the charge function of Mobile portable equipment can be provided in DiiVA specification, has the function of Integrated Service Digital Network, it can be fine
Meet family wiring etc., can also be with data such as transparent transmission HDMI, USB.
It should be noted that DiiVA Switching Module here is connected to multichannel input source and multiple-channel output source, it is described
DiiVA Switching Module controls the switching between multichannel input source and multiple-channel output source based on control command, completes input source to output
The audio-video in source inputs, the vision system that can access industrial robot all the way per input source all the way in the multichannel input source.It should
DiiVA Switching Module controls the switching between multichannel input source and multiple-channel output source based on control command, completes input source to output
The audio-video in source inputs.The multichannel input source and multiple-channel output source generally can be with are as follows: 2 road input sources and 3 road output sources, 3 roads are defeated
Enter source and 4 road output sources, 4 road input sources and 3 road output sources etc..The input source is the vision system on industrial robot,
The video frame images of acquisition are based on DiiVA Switching Module and are sent to central processing unit progress data processing by vision system.
It should be noted that being connected to one based on expansible driving chip between display module and central processing unit here
It rises.Various data handled by central processing unit can be based on graph image form and carried out in display module by the display module
It has been shown that, for user refering to or realize the functions such as various signal interactions transmitting.
Fig. 2 shows the USB module structural schematic diagram in the embodiment of the present invention, which includes: USB joint, power supply
Common mode filtering module, signal common mode filtering module, power supply differential mode filter module, signal differential mode filter module and electrostatic protection mould
Block, the USB joint are connected to voltage common mode filtering module and signal common mode filtering module, and the power supply common mode filtering module connects
Then power supply differential mode filter module, the signal common mode filtering module are connected to signal differential mode filter module, the power supply differential mode
Filter module and the signal differential mode filter module are connected to the electrostatic protection module.This USB module can eliminate circuit
Common mode interference, poor film interference, electrostatic interference on middle power supply line, signal wire etc., the power supply common mode filtering module especially added
It can eliminate the common mode interference problem between power supply and place of working, it is small in size, at low cost shared by circuit, to static discharge and electromagnetism
The protection effect of interference is all fine, so that usb signal is no longer distorted, it is ensured that product passes through USB certification and EMC certification, real
It is strong with property.Furthermore the high voltage signal interference that can also be eliminated in circuit and high-frequency signal interference of the invention, further increase
The anti-interference ability of usb circuit improves its signal transmission performance.
It should be noted that communication line here is Ethernet.The communication line be specifically as follows RS485 or
RS232 or CAN etc..
It should be noted that the number acquired based on the optical finder on the vision system on industrial robot here
Word video frame includes: that vision system uses color histogram, textural characteristics to establish Gaussian mixture model-universal background model；Using based on region
Method detection robotic arm motion profile；Obtain the image information of the robotic arm region.Here use is based on area
The motion profile of the method detection robotic arm in domain includes: to obtain original state video background in target area；Obtain target area
The dynamic image frame of lower video；The moving target of current machine arm is isolated using relief method based on original state video background.
Correspondingly, Fig. 3 shows the method stream that robots arm adjusts in the intelligence manufacture production line in the embodiment of the present invention
Cheng Tu, including be applied to intelligence manufacture control equipment and multiple industrial robots, the control equipment include apparatus body with
Centralized Controller on apparatus body, the Centralized Controller include: display module, central processing unit, USB module,
DiiVA daisy chain module, DiiVA Switching Module, coaxial cable interface, in which: the display module is connected to central processing unit, institute
It states central processing unit and is connected to the USB module based on communication line, the central processing unit and the DiiVA daisy chain module
It is connected to based on Ethernet and HDMI wire, the DiiVA chrysanthemum lotus module is based on DiiVA line with the DiiVA Switching Module and connect
, the central processing unit and the DiiVA chrysanthemum lotus module are based on built-in integrated circuit I2C mode and are coupled in parallel to coaxial cable
On interface, the coaxial cable interface connects the control module on robotic arm based on coaxial cable；On the multiple industrial robot
Each industrial robot be provided with vision system and the control module on robotic arm, described in the vision system access
DiiVA Switching Module, this method realization specific as follows:
S301, the digital video frame on industrial robot is acquired based on the optical finder on the vision system；
The step implements process are as follows: vision system establishes Gaussian Mixture background using color histogram, textural characteristics
Model；Using the motion profile of the method detection robotic arm based on region；Obtain the image information of the robotic arm region.
Here the motion profile of method detection robotic arm of the use based on region includes: to obtain original state video back in target area
Scape；Obtain the dynamic image frame of video under target area；Current machine is isolated using relief method based on original state video background
The moving target of device arm.
S302, the digital video frame is based on the DiiVA chrysanthemum lotus module transfer to central processing unit；
S303, central processing unit are that the slave trace point in the image coordinate system for identify the digital video frame extends to and schemes
As the trace vector of the associated target point of feature；
S304, the trace vector is mapped in the configuration space of associated robot coordinate system's building；
S305, it is exported in the robot coordinate system from the mapping of the trace vector in the configuration space
Robotic arm posture；
S306, the actual positional relationship that the robotic arm is obtained according to the robotic arm posture and practical rotation angle letter
Breath；
The actual positional relationship and practical rotation angle information tune of S307, central control processor according to the robotic arm
The motion profile order of whole robotic arm, the motion profile order include the theoretical position relationship and reason in each joint on robotic arm
By rotation angle；
S308, the control module on robotic arm is sent based on the coaxial cable interface by the motion profile order.
It should be noted that DiiVA Switching Module here is connected to multichannel input source and multiple-channel output source, it is described
DiiVA Switching Module controls the switching between multichannel input source and multiple-channel output source based on control command, completes input source to output
The audio-video in source inputs, the vision system that can access industrial robot all the way per input source all the way in the multichannel input source.
It is linked together between the display module and the central processing unit based on expansible driving chip.
The USB module: USB joint, power supply common mode filtering module, signal common mode filtering module, power supply differential mode filter mould
Block, signal differential mode filter module and electrostatic protection module, the USB joint is connected to voltage common mode filtering module and signal is total
Mould filter module, the power supply common mode filtering module are connected to power supply differential mode filter module, and the signal common mode filtering module connects
Then signal differential mode filter module, the power supply differential mode filter module and the signal differential mode filter module are connected to the electrostatic
Protective module.To sum up, DiiVA technology is extended on Centralized Controller in the present invention, it can be achieved that DiiVA supports multichannel input source
Number can be especially supported with the conversion of output source to support the extension and application of Centralized Controller Yu multiple signal sources
Application of the signals such as high definition in intelligence manufacture equipment.DiiVA technology can be supported to control incessantly based on the Centralized Controller
Equipment application can also keep the functions such as control original to signal each on robotic arm, while can meet USB technology and DiiVA
A possibility that technical transmission signal, can also based on central processing unit based on data line realize data transmission.
Centralized Controller referred to above is relatively simple, can integrate the application that each communication interface realizes different function,
It receives and exchanges such as the video data under each application scenarios, such as usb signal, DiiVA signal lamp, can be directed to all types of
The corresponding controller function of Function Extension and effect, Centralized Controller realize the extension and application of corresponding functional module, reach
Corresponding data handles and to the corresponding extended processing functions of data processing.
It is available to posture locating for robotic arm by vision system, it is then based on the transmission signal of DiiVA technology
Reliability is transferred to control equipment end and carries out data run processing, to ensure master control equipment to the functionality of industrial robot
Control, view-based access control model system are quickly obtained video requency frame data, can be by the transmitting of video requency frame data large capacity based on DiiVA technology
To central processing unit, central processing unit can fast implement robotic arm Attitude Calculation based on video requency frame data, to obtain machine
The information such as the various actual positional relationships of arm and selected angle are acted in next step with self adaptive control robotic arm.Using video data
The hardware configuration mutually separated with control information has ensured that control information and data acquisition information is mutually interference-free, has reduced data
Conflict and safe and reliable property between stream etc..
Be provided for the embodiments of the invention above method and system that robots arm in intelligence manufacture production line adjusts into
It has gone and has been discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, the above implementation
The explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (8)
1. a kind of method that robots arm adjusts in intelligence manufacture production line, which is characterized in that including being applied to intelligence manufacture
Equipment and multiple industrial robots are controlled, the control equipment includes apparatus body and the centralized control on apparatus body
Device, the Centralized Controller include: display module, central processing unit, USB module, DiiVA daisy chain module, DiiVA interchange mode
Block, coaxial cable interface, in which: the display module is connected to central processing unit, the central processing unit and the USB module
It being connected to based on communication line, the central processing unit is based on Ethernet with the DiiVA daisy chain module and HDMI wire is connected to,
The DiiVA chrysanthemum lotus module and the DiiVA Switching Module are based on DiiVA line and are connected to, the central processing unit and described
DiiVA chrysanthemum lotus module is based on built-in integrated circuit I2C mode and is coupled in parallel on coaxial cable interface, the coaxial cable interface
The control module on robotic arm is connect based on coaxial cable；Each industrial robot on the multiple industrial robot is provided with
Vision system and the control module on robotic arm, the vision system access the DiiVA Switching Module, the method packet
It includes:
Based on the digital video frame on the optical finder acquisition industrial robot on the vision system；
The digital video frame is based on the DiiVA chrysanthemum lotus module transfer to central processing unit；
Central processing unit is that the slave trace point in the image coordinate system for identify the digital video frame extends to and characteristics of image phase
The trace vector of associated target point；
The trace vector is mapped in the configuration space of associated robot coordinate system's building；
The robotic arm appearance in the robot coordinate system is exported from the mapping of the trace vector in the configuration space
State；
The actual positional relationship and practical rotation angle information of the robotic arm are obtained according to the robotic arm posture；
Central control processor adjusts robotic arm according to the actual positional relationship of the robotic arm and practical rotation angle information
Motion profile order, the motion profile order includes the theoretical position relationship and theoretical rotation angle in each joint on robotic arm
Degree；
The control module on robotic arm is sent based on the coaxial cable interface by the motion profile order.
2. the method that robots arm adjusts in intelligence manufacture production line as described in claim 1, which is characterized in that described
DiiVA Switching Module is connected to multichannel input source and multiple-channel output source, and the DiiVA Switching Module is controlled based on control command
Switching between multichannel input source and multiple-channel output source is completed input source and is inputted to the audio-video of output source, the multichannel input source
In the vision system that can access industrial robot all the way per input source all the way.
3. the method that robots arm adjusts in intelligence manufacture production line as described in claim 1, which is characterized in that the display
It is linked together between module and the central processing unit based on expansible driving chip.
4. the method that robots arm adjusts in intelligence manufacture production line as described in claim 1, which is characterized in that described to be based on
On the vision system optical finder acquisition industrial robot on digital video frame include:
Vision system establishes Gaussian mixture model-universal background model using color histogram, textural characteristics；
Using the motion profile of the method detection robotic arm based on region；
Obtain the image information of the robotic arm region.
5. the method that robots arm adjusts in intelligence manufacture production line as claimed in claim 4, which is characterized in that the use
Based on region method detection robotic arm motion profile include:
Obtain original state video background in target area；
Obtain the dynamic image frame of video under target area；
The moving target of current machine arm is isolated using relief method based on original state video background.
6. the method that robots arm adjusts in intelligence manufacture production line as described in claim 1, which is characterized in that the USB
Module: USB joint, power supply common mode filtering module, signal common mode filtering module, power supply differential mode filter module, the filtering of signal differential mode
Module and electrostatic protection module, the USB joint is connected to voltage common mode filtering module and signal common mode filtering module, described
Power supply common mode filtering module is connected to power supply differential mode filter module, and the signal common mode filtering module is connected to the filtering of signal differential mode
Module, the power supply differential mode filter module and the signal differential mode filter module are connected to the electrostatic protection module.
7. the system that robots arm adjusts in a kind of intelligence manufacture production line, which is characterized in that the system comprises be applied to intelligence
Can manufacture control equipment and multiple industrial robots, which is characterized in that the control equipment includes apparatus body and positioned at setting
Centralized Controller on standby ontology, the Centralized Controller includes: display module, central processing unit, USB module, DiiVA daisy chain
Module, DiiVA Switching Module, coaxial cable interface, in which: the display module is connected to central processing unit, the centre
Reason device is connected to the USB module based on communication line, and the central processing unit and the DiiVA daisy chain module are based on ether
Net and HDMI wire are connected to, and the DiiVA chrysanthemum lotus module and the DiiVA Switching Module are based on DiiVA line and are connected to, it is described in
Central processor and the DiiVA chrysanthemum lotus module are based on built-in integrated circuit I2C mode and are coupled in parallel on coaxial cable interface, institute
It states coaxial cable interface and connects control module on robotic arm based on coaxial cable；Each work on the multiple industrial robot
Industry robot is provided with vision system and the control module on robotic arm, and the vision system accesses the DiiVA exchange
Module, in which:
Each industrial robot on the multiple industrial robot acquires work based on the optical finder on the vision system
Digital video frame in industry robot；The digital video frame is based on the DiiVA chrysanthemum lotus module transfer to central processing unit
On；
Central processing unit in the control equipment is that the slave trace point in the image coordinate system for identify the digital video frame prolongs
Extend to the trace vector of target point associated with characteristics of image；The trace vector is mapped to associated robot coordinate
It is in the configuration space of building；The robot coordinate is exported from the mapping of the trace vector in the configuration space
Robotic arm posture in system；The actual positional relationship and practical rotation angle of the robotic arm are obtained according to the robotic arm posture
Spend information；Central control processor adjusts machine according to the actual positional relationship of the robotic arm and practical rotation angle information
The motion profile order of arm, the motion profile order include the theoretical position relationship and theoretical rotation in each joint on robotic arm
Angle；The control module on robotic arm is sent based on the coaxial cable interface by the motion profile order.
8. the system of robots arm's adjustment in intelligence manufacture production line as claimed in claim 7, which is characterized in that the USB
Module: USB joint, power supply common mode filtering module, signal common mode filtering module, power supply differential mode filter module, the filtering of signal differential mode
Module and electrostatic protection module, the USB joint is connected to voltage common mode filtering module and signal common mode filtering module, described
Power supply common mode filtering module is connected to power supply differential mode filter module, and the signal common mode filtering module is connected to the filtering of signal differential mode
Module, the power supply differential mode filter module and the signal differential mode filter module are connected to the electrostatic protection module.
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