CN111102925A - Optical detection cooperation robot - Google Patents
Optical detection cooperation robot Download PDFInfo
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- CN111102925A CN111102925A CN201911424754.9A CN201911424754A CN111102925A CN 111102925 A CN111102925 A CN 111102925A CN 201911424754 A CN201911424754 A CN 201911424754A CN 111102925 A CN111102925 A CN 111102925A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses an optical detection cooperative robot which comprises a fixed box, wherein the top of the fixed box is fixedly connected with a control core, the bottom of an inner cavity of the fixed box is fixedly connected with a placing plate, the top of the placing plate is provided with a light-reflecting coordinate system strip, and two sides of the inner cavity of the fixed box are fixedly connected with Z-axis moving mechanisms. This optical detection cooperation robot, shoot through the camera, extract the position that the module drawed reflection of light coordinate system strip through reflection of light coordinate system strip, use coordinate system cover module to judge the position of microscope module on placing the board, then through mobile control unit control module control X axle moving mechanism, Z axle moving mechanism and Y axle moving mechanism remove, it removes microscope module top to drive the detection head, cooperation through reflection of light coordinate system strip, can be quick fix a position microscope module, and is fast, and the location is accurate, and the detection speed has been increased.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an optical detection cooperative robot.
Background
The robot is a common name of an automatic control machine, the automatic control machine comprises all machines (such as a robot dog, a robot cat and the like) for simulating human behaviors or ideas and other organisms, a plurality of taxonomies and disputes exist for the definition of the robot in a narrow sense, some computer programs are even called as the robot, in the modern industry, the robot refers to an artificial machine device capable of automatically executing tasks and used for replacing or assisting human work, the ideal high-simulation robot is a product of a high-level integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is developing in the direction at present.
When the existing optical microscope industry detects, a cooperative robot is often adopted for detection, but when the existing detection robot positions a microscope, the speed is low, the position of the microscope cannot be quickly judged, and the positioning precision is low.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an optical detection cooperative robot, which solves the problems that the existing detection robot is slow in speed, cannot quickly judge the position of a microscope and is low in positioning precision when the existing detection robot positions the microscope.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an optical detection cooperation robot, includes the fixed case, the top fixedly connected with control core of fixed case, the bottom fixedly connected with of fixed incasement chamber places the board to place the top of board and seted up the reflection of light coordinate system strip, the equal fixedly connected with Z axle moving mechanism in both sides of fixed incasement chamber, two equal threaded connection in one side that Z axle moving mechanism is relative has X axle moving mechanism, and the bottom threaded connection of X axle moving mechanism has Y axle moving mechanism, the bottom threaded connection of Y axle moving mechanism has the detector head, and the bottom fixedly connected with camera of Y axle moving mechanism, the control core includes central processing unit, image extraction unit, coordinate system extraction unit, coordinate confirmation unit, reset unit and mobile control unit, the output of central processing unit respectively with camera, coordinate system extraction unit, The mobile control unit is connected with the input end of the reset unit, the output end of the camera is connected with the input end of the image extraction unit, the output end of the image extraction unit is connected with the input end of the coordinate system extraction unit, and the output end of the coordinate system extraction unit is connected with the input end of the coordinate confirmation unit.
Preferably, the output end of the reset unit is connected with the input end of the movement control unit, and the output end of the movement control unit is connected with the input ends of the X-axis movement mechanism, the Y-axis movement mechanism and the Z-axis movement mechanism respectively.
Preferably, the movement control unit includes a movement decomposition module, an X coordinate system movement control module, a Y coordinate system movement control module, a Z coordinate system movement control module, and a position determination module.
Preferably, the output end of the movement decomposition module is respectively connected with the input ends of the X coordinate system movement control module, the Y coordinate system movement control module and the Z coordinate system movement control module.
Preferably, the output ends of the X coordinate system movement control module, the Y coordinate system movement control module and the Z coordinate system movement control module are respectively connected with the input end of the position determination module.
Preferably, the reset unit includes a return-to-zero point coordinate setting module, a position positioning module, and a moving path setting module.
Preferably, the output end of the zeroing point coordinate setting module is connected with the input end of the position positioning module, and the output end of the position positioning module is connected with the input end of the moving path setting module.
Preferably, the coordinate system extraction unit comprises a reflective coordinate system strip extraction module and a coordinate system covering module, and the output end of the reflective coordinate system strip extraction module is connected with the input end of the coordinate system covering module.
Preferably, the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are all driven by driving motors.
(III) advantageous effects
The invention provides an optical detection cooperative robot. Compared with the prior art, the method has the following beneficial effects:
(1) the optical detection cooperative robot comprises a control core fixedly connected to the top of a fixed box, a placing plate fixedly connected to the bottom of an inner cavity of the fixed box, a light-reflecting coordinate system strip arranged on the top of the placing plate, Z-axis moving mechanisms fixedly connected to both sides of the inner cavity of the fixed box, X-axis moving mechanisms respectively connected to opposite sides of the two Z-axis moving mechanisms in a threaded manner, Y-axis moving mechanisms respectively connected to the bottom of the X-axis moving mechanisms in a threaded manner, a detection head connected to the bottom of the Y-axis moving mechanisms in a threaded manner, a camera fixedly connected to the bottom of the Y-axis moving mechanisms, a central processing unit, an image extraction unit, a coordinate confirmation unit, a reset unit and a movement control unit, wherein the output end of the central processing unit is respectively connected with the input ends of the camera, the coordinate extraction unit, the movement control unit and, the output of camera is connected with the input of image extraction unit, and the output of image extraction unit is connected with the input of coordinate system extraction unit, the output of coordinate system extraction unit is connected with the input of coordinate confirmation unit, shoot through the camera, extract the position of module extraction reflection of light coordinate system strip through reflection of light coordinate system strip, use coordinate system cover module to judge the position of microscope module on placing the board, then through mobile control unit control module control X axle moving mechanism, Z axle moving mechanism and Y axle moving mechanism remove, it moves microscope module top to drive the detection head, cooperation through reflection of light coordinate system strip, can be quick fix a position microscope module, and is fast, and accurate in positioning, increased detection speed.
(2) The optical detection cooperative robot is connected with the input end of a mobile control unit at the output end of a reset unit, the output end of the mobile control unit is connected with the input ends of an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism respectively, the mobile control unit comprises a mobile decomposition module, an X-coordinate system mobile control module, a Y-coordinate system mobile control module, a Z-coordinate system mobile control module and a position judgment module, the output end of the mobile decomposition module is connected with the input ends of the X-coordinate system mobile control module, the Y-coordinate system mobile control module and the Z-coordinate system mobile control module respectively, the self position is judged by the reset unit, a route is set by the mobile decomposition module in the mobile control unit, and the X-axis moving mechanism is controlled by the X-coordinate system mobile control module, the Y-coordinate system mobile control module and the Z-coordinate system mobile control module respectively, The Z-axis moving mechanism and the Y-axis moving mechanism are reset to the zero point set by the zero point coordinate setting module in the reset unit, and the mechanical arm is reset frequently, so that the mechanical arm can still find the position after long-time operation, and errors caused by long-time operation are reduced.
(3) This optical detection cooperation robot, through extracting the unit including reflection of light coordinate system strip extraction module and coordinate system cover module at the coordinate system, the output that reflection of light coordinate system strip extracted the module is connected with the input that the coordinate system covers the module, shoot through the camera, the picture that will shoot is extracted through the image extraction unit and is carried in the coordinate system extraction unit, extract the position that the module extracted reflection of light coordinate system strip through reflection of light coordinate system strip, can be quick extract picture information, be convenient for location operation on next step.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a schematic block diagram of the system of the present invention;
FIG. 3 is a schematic block diagram of a mobile control unit of the present invention;
FIG. 4 is a functional block diagram of the reset unit of the present invention;
fig. 5 is a schematic block diagram of the coordinate system extracting unit of the present invention.
In the figure, 1-a fixed box, 2-a control core, 3-a placing plate, 4-a reflecting coordinate system strip, 5-Z axis moving mechanism, 6-X axis moving mechanism, 7-Y axis moving mechanism, 8-a detection head, 9-a camera, 21-a central processing unit, 22-an image extracting unit, 23-a coordinate system extracting unit, 24-a coordinate confirming unit, 25-a resetting unit, 26-a moving control unit, 231-a reflecting coordinate system strip extracting module, 232-a coordinate system covering module, 251-a zero point coordinate setting module, 252-a position positioning module, 253-a moving path setting module, 261-a moving decomposition module, 262-X coordinate system moving control module, 263-Y coordinate system moving control module, 261-a moving decomposition module, 264-Z coordinate system movement control module, 265-position determination module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention provides a technical solution: an optical detection cooperative robot comprises a fixed box 1, wherein the top of the fixed box 1 is fixedly connected with a control core 2, the bottom of the inner cavity of the fixed box 1 is fixedly connected with a placing plate 3, the top of the placing plate 3 is provided with a light-reflecting coordinate system strip 4, two sides of the inner cavity of the fixed box 1 are fixedly connected with Z-axis moving mechanisms 5, one opposite sides of the two Z-axis moving mechanisms 5 are respectively connected with an X-axis moving mechanism 6 in a threaded manner, the bottom of the X-axis moving mechanism 6 is connected with a Y-axis moving mechanism 7 in a threaded manner, the bottom of the Y-axis moving mechanism 7 is connected with a detection head 8 in a threaded manner, the X-axis moving mechanism 6, the Y-axis moving mechanism 7 and the Z-axis moving mechanisms 5 are all driven by a driving motor, the bottom of the Y-axis moving mechanism 7 is fixedly connected with a camera 9 and is shot by the camera 9, and shot pictures are extracted, the position of the reflecting coordinate system strip 4 is extracted by the reflecting coordinate system strip extraction module 231, the picture information can be extracted rapidly, the next positioning operation is convenient, the control core 2 comprises a central processing unit 21, an image extraction unit 22, a coordinate system extraction unit 23, a coordinate confirmation unit 24, a reset unit 25 and a mobile control unit 26, the coordinate system extraction unit 23 comprises a reflecting coordinate system strip extraction module 231 and a coordinate system covering module 232, the output end of the reflecting coordinate system strip extraction module 231 is connected with the input end of the coordinate system covering module 232, the reset unit 25 comprises a zero point coordinate setting module 251, a position positioning module 252 and a mobile path setting module 253, the output end of the zero point coordinate setting module 251 is connected with the input end of the position positioning module 252, and the output end of the position positioning module 252 is connected with the input end of the mobile path setting module 253, the self position is judged by the reset unit 25, the route is set by the movement decomposition module 261 in the movement control unit 26, the X-axis movement mechanism 6, the Z-axis movement mechanism 5 and the Y-axis movement mechanism 7 are respectively reset to the zero point set by the zero point coordinate setting module 251 in the reset unit 25 by the X-coordinate system movement control module 262, the Y-coordinate system movement control module 263 and the Z-coordinate system movement control module 264, the mechanical arm can still find the self position after long-time operation by frequently resetting the mechanical arm, the error generated by long-time operation is reduced, the output end of the central processing unit 21 is respectively connected with the input ends of the camera 9, the coordinate system extraction unit 23, the movement control unit 26 and the reset unit 25, the output end of the reset unit 25 is connected with the input end of the movement control unit 26, the movement control unit 26 comprises the movement decomposition module 261, the route is set by the movement decomposition, An output end of the movement decomposition module 261 is connected with input ends of the X-coordinate system movement control module 262, the Y-coordinate system movement control module 263 and the Z-coordinate system movement control module 264, respectively, output ends of the X-coordinate system movement control module 262, the Y-coordinate system movement control module 263 and the Z-coordinate system movement control module 264 are connected with input ends of the position determination module 265, output ends of the movement control unit 26 are connected with input ends of the X-axis movement mechanism 6, the Y-axis movement mechanism 7 and the Z-axis movement mechanism 5, respectively, an output end of the camera 9 is connected with an input end of the image extraction unit 22, an output end of the image extraction unit 22 is connected with an input end of the coordinate system extraction unit 23, an output end of the coordinate system extraction unit 23 is connected with an input end of the coordinate confirmation unit 24, shoot through camera 9, extract the position that module 231 drawed reflection of light coordinate system strip 4 through reflection of light coordinate system strip, use coordinate system to cover module 232 and judge the position of microscope module on placing board 3, then control X axle moving mechanism 6 through mobile control unit 26 control module 264, Z axle moving mechanism 5 and Y axle moving mechanism 7 remove, it removes microscope module top to drive detection head 8, cooperation through reflection of light coordinate system strip 4, can be quick fix a position microscope module, and is fast, and the location is accurate, and the detection speed has been increased.
When the microscope module is used, the microscope module is placed on the placing plate 3, the self position is judged through the reset unit 25 at the moment, a route is set through the movement decomposition module 261 in the movement control unit 26, the X-axis movement mechanism 6, the Z-axis movement mechanism 5 and the Y-axis movement mechanism 7 are respectively reset to the zero point set by the zero point coordinate setting module 251 in the reset unit 25 through the X-coordinate movement control module 262, the Y-coordinate movement control module 263 and the Z-coordinate movement control module 264, shooting is carried out through the camera 9, the shot picture is extracted and conveyed into the coordinate system extraction unit 23 through the image extraction unit 22, the position of the reflecting coordinate system strip 4 is extracted through the reflecting coordinate system strip extraction module 231, the position of the microscope module on the placing plate 3 is judged through the coordinate system covering module 232, and X, B, C and C are subjected to the movement decomposition module 261 in the movement control unit 26, The moving distance of the Y axis and the Z axis is decomposed, and then the X axis moving mechanism 6, the Z axis moving mechanism 5 and the Y axis moving mechanism are controlled to move by the X coordinate system moving control module 262, the Y coordinate system moving control module 263 and the Z coordinate system moving control module 264, so as to drive the detection head 8 to move above the microscope module.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An optical detection cooperative robot, comprising a fixed box (1), wherein a control core (2) is fixedly connected to the top of the fixed box (1), and is characterized in that: the bottom of the inner cavity of the fixed box (1) is fixedly connected with a placing plate (3), the top of the placing plate (3) is provided with a reflecting coordinate system strip (4), two sides of the inner cavity of the fixed box (1) are fixedly connected with Z-axis moving mechanisms (5), one opposite sides of the two Z-axis moving mechanisms (5) are respectively in threaded connection with an X-axis moving mechanism (6), the bottom of the X-axis moving mechanism (6) is in threaded connection with a Y-axis moving mechanism (7), the bottom of the Y-axis moving mechanism (7) is in threaded connection with a detection head (8), the bottom of the Y-axis moving mechanism (7) is fixedly connected with a camera (9), the control core (2) comprises a central processing unit (21), an image extracting unit (22), a coordinate system extracting unit (23), a coordinate confirming unit (24), a resetting unit (25) and a moving control unit (26), the output end of the central processing unit (21) is respectively connected with the input ends of the camera (9), the coordinate system extraction unit (23), the movement control unit (26) and the reset unit (25), the output end of the camera (9) is connected with the input end of the image extraction unit (22), the output end of the image extraction unit (22) is connected with the input end of the coordinate system extraction unit (23), and the output end of the coordinate system extraction unit (23) is connected with the input end of the coordinate confirmation unit (24).
2. An optical inspection collaboration robot as claimed in claim 1 wherein: the output end of the reset unit (25) is connected with the input end of the mobile control unit (26), and the output end of the mobile control unit (26) is connected with the input ends of the X-axis moving mechanism (6), the Y-axis moving mechanism (7) and the Z-axis moving mechanism (5) respectively.
3. An optical inspection collaboration robot as claimed in claim 1 wherein: the movement control unit (26) comprises a movement decomposition module (261), an X coordinate system movement control module (262), a Y coordinate system movement control module (263), a Z coordinate system movement control module (264) and a position determination module (265).
4. An optical inspection collaboration robot as claimed in claim 3 wherein: and the output end of the movement decomposition module (261) is respectively connected with the input ends of an X coordinate system movement control module (262), a Y coordinate system movement control module (263) and a Z coordinate system movement control module (264).
5. An optical inspection collaboration robot as claimed in claim 3 wherein: and the output ends of the X coordinate system movement control module (262), the Y coordinate system movement control module (263) and the Z coordinate system movement control module (264) are respectively connected with the input end of the position judgment module (265).
6. An optical inspection collaboration robot as claimed in claim 1 wherein: the reset unit (25) comprises a return-to-zero point coordinate setting module (251), a position positioning module (252) and a moving path setting module (253).
7. An optical inspection collaboration robot as claimed in claim 6 wherein: the output end of the return-to-zero point coordinate setting module (251) is connected with the input end of the position positioning module (252), and the output end of the position positioning module (252) is connected with the input end of the moving path setting module (253).
8. An optical inspection collaboration robot as claimed in claim 1 wherein: the coordinate system extraction unit (23) comprises a light reflection coordinate system strip extraction module (231) and a coordinate system covering module (232), and the output end of the light reflection coordinate system strip extraction module (231) is connected with the input end of the coordinate system covering module (232).
9. An optical inspection collaboration robot as claimed in claim 1 wherein: the X-axis moving mechanism (6), the Y-axis moving mechanism (7) and the Z-axis moving mechanism (5) are all driven by a driving motor.
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| CN201911424754.9A CN111102925A (en) | 2019-12-31 | 2019-12-31 | Optical detection cooperation robot |
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| CN201911424754.9A CN111102925A (en) | 2019-12-31 | 2019-12-31 | Optical detection cooperation robot |
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