CN110355757A - Body feeling interaction system based on 3D vision - Google Patents
Body feeling interaction system based on 3D vision Download PDFInfo
- Publication number
- CN110355757A CN110355757A CN201910602465.7A CN201910602465A CN110355757A CN 110355757 A CN110355757 A CN 110355757A CN 201910602465 A CN201910602465 A CN 201910602465A CN 110355757 A CN110355757 A CN 110355757A
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- Prior art keywords
- control cabinet
- vision
- grinding apparatus
- hand
- mechanical arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of body feeling interaction system based on 3D vision, comprising: host, slave and is polished object；The host includes hand-held grinding apparatus, 3D somatosensory device, control cabinet, teaching machine, and hand-held grinding apparatus and 3D somatosensory device are connect with control cabinet, and control cabinet controls teaching machine；Hand-held grinding apparatus is polished object for polishing, and 3D somatosensory device collects human body action message, is equipped with NI Vision Builder for Automated Inspection and deep learning system in control cabinet, and optimize processing to the information of hand-held grinding apparatus and 3D somatosensory device；Slave includes mechanical arm, including control system and mechanical structure, and control system receives and handle the information of the control cabinet, and the mechanical mechanism is driven to work.It is of the invention it is a kind of 3D reconstruction is carried out to model by hand-held grinding apparatus and 3D somatosensory device based on the body feeling interaction system of 3D vision, and directly generate motion profile on model, make teaching simpler, ensure the safety problem and health problem of worker.
Description
Technical field
The present invention relates to industrial robot fields, the body feeling interaction more particularly, to a kind of milling robot based on 3D vision
System.
Background technique
Domestic in recent years to start gradually to pay attention to and develop industrial automation, milling robot is at present in auto parts and components, pottery
The industries such as porcelain sanitary ware industry, household electric appliances, industrial part, medical instrument have had more mature application, but weld relatively,
Polishing grinding is carried for the robot applications such as stacking, and domestic polishing grinding application scale is also smaller.
Currently used milling robot, center of gravity are placed in the raising of the interactive efficiency between machine and machine, pay close attention to machine
The raising of interactive efficiency between device and people it is less.For the optimization of the teaching process of polishing be concentrated mainly on off-line programing,
Teaching and the optimization to existing teaching machine are dragged, and off-line programing solution is able to solve the complicated problem of track programming,
It require that workpiece consistency is good, work station calibration is accurate, this make industrial robot install, debug during the grinding process and
It is still very big using difficulty；And drag the precision of teaching and dynamics is difficult to hold, it causes to be easy to cause the effect for training off and beating paste.
The intelligence and automation of polishing machine are being studied by part manufacturer at present, but are limited to conventional bruting machine device people,
For example early period operates large machines using dragging teaching to obtain data, the safety problem and health problem of worker is unable to get
It is complete to ensure, and inconvenient victory.
Summary of the invention
The purpose of the present invention is to solve the problems of the prior art, propose that the safety problem of worker a kind of and health are asked
Topic is protected and operates the milling robot of easily body feeling interaction system of the application based on 3D vision.
The technical solution adopted by the invention is as follows:
A kind of body feeling interaction system based on 3D vision, comprising: host, slave and be polished object；The host packet
Include hand-held grinding apparatus, 3D somatosensory device, control cabinet, teaching machine, the hand-held grinding apparatus and the 3D somatosensory device with
The control cabinet connection, the control cabinet control the teaching machine；The hand-held grinding apparatus is polished object for polishing, and
Dynamics and the track of polishing are recorded, and is transmitted information in the control cabinet；The 3D somatosensory device collects human action letter
Breath, and image procossing is carried out, identify human action, and transmit information in the control cabinet；It is equipped in the control cabinet
NI Vision Builder for Automated Inspection and deep learning system, and the information of the hand-held grinding apparatus and the 3D somatosensory device is carried out excellent
Change processing；The teaching machine receives the control cabinet treated information；The slave includes mechanical arm, the mechanical arm and institute
Control cabinet connection is stated, the control cabinet transmits information to the mechanical arm, and controls the mechanical arm and work；The machine
Tool arm includes control system and mechanical structure, and the control system receives and handle the information of the control cabinet, and drives institute
Mechanical mechanism is stated to work.
Further, the mechanical structure includes multivariant arm, the root of the connection arm and connection institute
The chassis of root is stated, the root and the chassis can be with all-directional rotations.
Further, the multivariant arm is equipped with the joint of different freedom degrees, and the joint is correspondingly provided with motor.
Further, the mechanical arm is to the polishing track of the hand-held grinding apparatus and dynamics information and the 3D body
The human action information of sense equipment is handled in real time, and completes corresponding movement.
Further, six-dimensional force sensing displacement sensor is equipped in the hand-held grinding apparatus.
In addition, a kind of body feeling interaction system based on 3D vision, comprising: be polished object；Control cabinet, the control cabinet connect
Catcher holds grinding apparatus, 3D somatosensory device, teaching machine, mechanical arm, is equipped with NI Vision Builder for Automated Inspection and depth in the control cabinet
Learning system；The operating procedure of the body feeling interaction system based on 3D vision is as follows: step 1, the hand-held grinding apparatus polishing
It is polished object, and records corresponding deformation trace and dynamics data, while the 3D somatosensory device identifies human action information；
Step 2, the NI Vision Builder for Automated Inspection and the deep learning system are polished object and mechanical arm progress three-dimensional to described
It rebuilds；Step 3, the model generated using three-dimensional reconstruction and data-optimized optimum trajectory and the dynamics out that are recorded in step 1, and
It stores in control cabinet；Step 4 selects the track generated just now by the teaching machine；Step 5, the mechanical arm carry out
Correction is adjusted, carries out initial alignment in combination with the NI Vision Builder for Automated Inspection and track data.Step 6, the mechanical arm according to
The track polishing of generation is polished object, forms part altogether.
Further, the mechanical arm is equipped with six-dimension force sensor.
The beneficial effects of the present invention are:
Of the invention passes through the hand-held grinding apparatus and the 3D somatosensory device based on the body feeling interaction system of 3D vision
3D reconstruction is carried out to model, and motion profile is directly generated on model, makes teaching simpler, ensure worker safety problem and
Health problem.Another body feeling interaction system based on 3D vision simplifies teaching process, it is only necessary to which worker's teaching is primary, just
Object of the same race can be being processed, do not needed to each machine teaching, it is convenient to operate.Additionally by deep learning system, in conjunction with
NI Vision Builder for Automated Inspection and 3D somatosensory device, optimize path, save the polishing time, more intelligent.
The preferred embodiments of the invention and its advantages will be further described in conjunction with specific embodiment.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, and following specific
Embodiment is used to explain the present invention together, but should not be construed as limiting the invention.In the accompanying drawings,
Fig. 1: the body feeling interaction system connection schematic diagram of the invention based on 3D vision；
Fig. 2: 3D model and track dynamics on the teaching machine of the body feeling interaction system of the invention based on 3D vision are shown
Figure.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It please refers to shown in Fig. 1-2, the body feeling interaction system based on 3D vision disclosed in the embodiment of the present invention, comprising: main
Machine, slave and it is polished object.
The host includes hand-held grinding apparatus, 3D somatosensory device, control cabinet, teaching machine, the hand-held grinding apparatus with
And the 3D somatosensory device is connect with the control cabinet, the control cabinet controls the teaching machine.The hand-held grinding apparatus exists
It is polished object for polishing when teaching, and records dynamics and the track of polishing, and transmit information in the control cabinet.Institute
Human action information when 3D somatosensory device collects teaching is stated, and carries out image procossing, identifies human action, and information is transmitted
To in the control cabinet.Apply the hand-held grinding apparatus and the 3D somatosensory device and collect information, do not need to carry out again from
Line programming, simplifies program and process.
NI Vision Builder for Automated Inspection and deep learning system are equipped in the control cabinet, and to the hand-held grinding apparatus and institute
The information for stating 3D somatosensory device optimizes processing.The teaching machine receives the control cabinet treated information.The machine
Vision system and the deep learning system, the rail of system record when holding grinding apparatus movement based on the worker extracted every time
The data characteristicses such as mark, dynamics assess polishing learning outcome by the NI Vision Builder for Automated Inspection, according to assessment result to the machinery
The position of arm itself is constantly adjusted amendment, final optimization pass polishing path.
The slave includes mechanical arm, and the mechanical arm is connect with the control cabinet, and the control cabinet transmits information to
The mechanical arm, and control the mechanical arm and work.The mechanical arm includes control system and mechanical structure, the control
System receives and handles the information of the control cabinet, and the mechanical mechanism is driven to work.
Further, the mechanical structure includes multivariant arm, the root of the connection arm and connection institute
The chassis of root is stated, the root and the chassis can be with all-directional rotations.
Further, the multivariant arm is equipped with the joint of different freedom degrees, and the joint is correspondingly provided with motor.
Further, the mechanical arm is to the polishing track of the hand-held grinding apparatus and dynamics information and the 3D body
The human action information of sense equipment is handled in real time, and completes corresponding movement.
Further, six-dimensional force sensing displacement sensor is equipped in the hand-held grinding apparatus, conducive to the rail for obtaining movement
The information such as mark and dynamics data.
In addition, a kind of body feeling interaction system based on 3D vision, comprising: be polished object；Control cabinet, the control cabinet connect
Catcher holds grinding apparatus, 3D somatosensory device, teaching machine, mechanical arm, is equipped with NI Vision Builder for Automated Inspection and depth in the control cabinet
Learning system；The operating procedure of the body feeling interaction system based on 3D vision is as follows: step 1, the hand-held grinding apparatus polishing
It is polished object, and records corresponding deformation trace and dynamics data, while the 3D somatosensory device identifies human action information；
Step 2, the NI Vision Builder for Automated Inspection and the deep learning system are polished object and mechanical arm progress three-dimensional to described
It rebuilds；Step 3, the model generated using three-dimensional reconstruction and data-optimized optimum trajectory and the dynamics out that are recorded in step 1, and
It stores in control cabinet；Step 4 selects the track generated just now by the teaching machine；Step 5, the mechanical arm carry out
Correction is adjusted, carries out initial alignment in combination with the NI Vision Builder for Automated Inspection and track data.Step 6, the mechanical arm according to
The track polishing of generation is polished object, forms part altogether.
Further, the mechanical arm is equipped with six-dimension force sensor, and position, the movement of the mechanical arm are corrected conducive to adjustment
Track and dynamics.
In conclusion the body feeling interaction system of the invention based on 3D vision have it is below the utility model has the advantages that
1,3D reconstruction is carried out to model by the hand-held grinding apparatus and the 3D somatosensory device, and on model directly
Motion profile is generated, makes teaching simpler, ensures the safety problem and health problem of worker.
2, a kind of body feeling interaction system based on 3D vision simplifies teaching process, it is only necessary to which worker's teaching is primary, so that it may
To process object of the same race, do not need to each machine teaching, it is convenient to operate.
3, path is optimized in conjunction with NI Vision Builder for Automated Inspection and 3D somatosensory device by deep learning system, saving is beaten
Time consuming, it is more intelligent, the interactive efficiency between people and machine is provided.
4, six-dimension force sensor is carried on the robotic arm, is realized that the leveling to mechanical arm corrects, is prevented mechanical arm and beaten
Mill object damages the grinding wheel of object or polishing there are inclination angle.
Without departing from the thought of the invention, any combination is carried out to various different embodiments of the invention, it should all
When being considered as present disclosure；Within the scope of the technical concept of the present invention, a variety of simple modifications are carried out to technical solution
And any combination of the thought without prejudice to the invention that different embodiments carry out, should all protection scope of the present invention it
It is interior.
Claims (7)
1. a kind of body feeling interaction system based on 3D vision characterized by comprising
Host, slave and it is polished object；
The host includes hand-held grinding apparatus, 3D somatosensory device, control cabinet, teaching machine, the hand-held grinding apparatus and institute
It states 3D somatosensory device to connect with the control cabinet, the control cabinet controls the teaching machine；The hand-held grinding apparatus is for beating
Mill is polished object, and records dynamics and the track of polishing, and transmit information in the control cabinet；The 3D somatosensory device
Human body action message is collected, and carries out image procossing, identifies human action, and transmit information in the control cabinet；Institute
It states and is equipped with NI Vision Builder for Automated Inspection and deep learning system in control cabinet, and the hand-held grinding apparatus and the 3D body-sensing are set
Standby information optimizes processing；The teaching machine receives the control cabinet treated information；
The slave includes mechanical arm, and the mechanical arm is connect with the control cabinet, and the control cabinet transmits information to described
Mechanical arm, and control the mechanical arm and work；The mechanical arm includes control system and mechanical structure, the control system
The information of the control cabinet is received and handled, and the mechanical mechanism is driven to work.
2. as described in claim 1 based on the body feeling interaction system of 3D vision, it is characterised in that: the mechanical structure includes more
The chassis of the arm of freedom degree, the root of the connection arm and the connection root, the root and the chassis can
With all-directional rotation.
3. as claimed in claim 2 based on the body feeling interaction system of 3D vision, it is characterised in that: the multivariant arm
Joint equipped with different freedom degrees, the joint are correspondingly provided with motor.
4. as claimed in claim 3 based on the body feeling interaction system of 3D vision, it is characterised in that: the mechanical arm is to the hand
The human action information of the polishing track and dynamics information and the 3D somatosensory device of holding grinding apparatus is handled in real time, and
Complete corresponding movement.
5. as described in claim 1 based on the body feeling interaction system of 3D vision, it is characterised in that: in the hand-held grinding apparatus
Equipped with six-dimensional force sensing displacement sensor.
6. a kind of body feeling interaction system based on 3D vision characterized by comprising
It is polished object；
Control cabinet, the control cabinet connect hand-held grinding apparatus, 3D somatosensory device, teaching machine, mechanical arm, set in the control cabinet
There are NI Vision Builder for Automated Inspection and deep learning system；
The operating procedure of the body feeling interaction system based on 3D vision is as follows:
Step 1, the hand-held grinding apparatus polishing is polished object, and records corresponding deformation trace and dynamics data, simultaneously
The 3D somatosensory device identifies human action information；
Step 2, the NI Vision Builder for Automated Inspection and the deep learning system are polished object and mechanical arm progress to described
Three-dimensional reconstruction；
Step 3, the model generated using three-dimensional reconstruction and data-optimized optimum trajectory and the dynamics out that are recorded in step 1, and
It stores in control cabinet；
Step 4 selects the track generated just now by the teaching machine；
Correction is adjusted in step 5, the mechanical arm, carries out in combination with the NI Vision Builder for Automated Inspection and track data initial
Positioning.
Step 6, the mechanical arm are polished object according to the track polishing of generation, form part altogether.
7. as claimed in claim 6 based on the body feeling interaction system of 3D vision, it is characterised in that: the mechanical arm is equipped with 6 DOF
Force snesor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910602465.7A CN110355757A (en) | 2019-07-05 | 2019-07-05 | Body feeling interaction system based on 3D vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910602465.7A CN110355757A (en) | 2019-07-05 | 2019-07-05 | Body feeling interaction system based on 3D vision |
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| Publication Number | Publication Date |
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| CN110355757A true CN110355757A (en) | 2019-10-22 |
Family
ID=68218279
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910602465.7A Withdrawn CN110355757A (en) | 2019-07-05 | 2019-07-05 | Body feeling interaction system based on 3D vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712192A (en) * | 2019-10-17 | 2020-01-21 | 佛山智能装备技术研究院 | Somatosensory interaction system based on 3D vision |
| CN111906788A (en) * | 2020-08-12 | 2020-11-10 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN114663513A (en) * | 2022-05-17 | 2022-06-24 | 广州纳丽生物科技有限公司 | Real-time pose estimation and evaluation method for movement track of working end of operation instrument |
-
2019
- 2019-07-05 CN CN201910602465.7A patent/CN110355757A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712192A (en) * | 2019-10-17 | 2020-01-21 | 佛山智能装备技术研究院 | Somatosensory interaction system based on 3D vision |
| CN111906788A (en) * | 2020-08-12 | 2020-11-10 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN111906788B (en) * | 2020-08-12 | 2021-09-14 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN114663513A (en) * | 2022-05-17 | 2022-06-24 | 广州纳丽生物科技有限公司 | Real-time pose estimation and evaluation method for movement track of working end of operation instrument |
| CN114663513B (en) * | 2022-05-17 | 2022-09-20 | 广州纳丽生物科技有限公司 | Real-time pose estimation and evaluation method for movement track of working end of operation instrument |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
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Application publication date: 20191022 |