CN111216121A - Intelligent industrial robot control system - Google Patents
Intelligent industrial robot control system Download PDFInfo
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- CN111216121A CN111216121A CN201911148953.1A CN201911148953A CN111216121A CN 111216121 A CN111216121 A CN 111216121A CN 201911148953 A CN201911148953 A CN 201911148953A CN 111216121 A CN111216121 A CN 111216121A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000004438 eyesight Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 206010063385 Intellectualisation Diseases 0.000 abstract 1
- 230000000875 corresponding effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000016776 visual perception Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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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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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses an intelligent industrial robot control system which comprises an upper computer monitoring system, a demonstrator, a robot controller, a servo driver, a machine vision unit and an I/O expansion board, wherein the upper computer monitoring system consists of an industrial PC (personal computer) and is internally provided with cross-platform monitoring software developed by QT (QT); the demonstrator is internally provided with an ARM chip and carries an embedded system; the robot controller is internally provided with an ARM chip and an FPGA chip and is provided with a communication interface, an I/O interface and an intelligent camera interface; the servo driver is internally provided with an ARM chip, drives a servo motor through a pulse signal and forms closed-loop control by a feedback signal of an encoder; the machine vision unit can support a 2D/3D intelligent industrial camera, and is connected with the robot control system through an intelligent camera interface unit; the I/O expansion board is internally provided with an ARM chip and supports input and output of multiple paths of digital quantity and analog quantity; the invention has the beneficial effects that: the system adopts an ARM chip to form a modular component, supports a 2D/3D industrial camera, carries cross-platform monitoring software and realizes the intellectualization of an industrial robot control system.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an intelligent industrial robot control system.
Background
In recent years, with the development of science and technology, robots are more and more widely applied, and particularly industrial robots have great advantages in the fields of welding, assembling, carrying, stacking and the like. The control system is used as the brain of the industrial robot, and the reliability and the intelligence of the control system are important. Most of control systems on the market at present adopt an industrial personal computer or a DSP chip for control, so that the cost is high, the intelligent degree is low, and the application under complex working conditions is difficult to meet. In response to this situation, an intelligent industrial robot control system has been developed.
The intelligent industrial robot control system integrates a machine vision module, and not only has the identification capability of 2D and 3D objects, but also has the modularized expansion capability; the intelligent industrial robot control system adopts ARM as a control core, has low cost and can meet the requirement of large-scale use in the industrial field.
In summary, the intelligent industrial robot control system for industrial application has higher requirements on intelligence, safety and reliability, and can meet the requirements that the control system on the market can not realize at present.
Disclosure of Invention
The invention aims to provide an intelligent industrial robot controller to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent industrial robot control system comprises an upper computer monitoring system, a demonstrator, a robot controller, a servo driver, a machine vision unit and an I/O expansion board, and is characterized in that the upper computer monitoring system consists of an industrial PC (personal computer), and cross-platform monitoring software developed by QT (QT) is built in the upper computer monitoring system; the demonstrator is internally provided with an ARM chip and carries an embedded system; the robot controller is internally provided with an ARM chip and an FPGA chip and is provided with a communication interface, an I/O interface and an intelligent camera interface; the servo driver is internally provided with an ARM chip, drives a servo motor through a pulse signal and forms closed-loop control by a feedback signal of an encoder; the machine vision unit can support a 2D/3D intelligent industrial camera, and is connected with the robot control system through an intelligent camera interface unit; the I/O expansion board is internally provided with an ARM chip and supports multi-path digital quantity and analog quantity input and output.
As a further scheme of the invention: the upper computer monitoring system is composed of an industrial PC, carries a Windows or Linux or Mac system, adopts a C/S mode and communicates with the robot controller through an Ethernet, is internally provided with cross-platform monitoring software developed by QT, carries Open CV and Open GL vision libraries, and can correspondingly process and display images output by the machine vision unit.
As a still further scheme of the invention: the teaching machine is internally provided with an ARM chip, carries a Linux embedded system, communicates with the robot controller through Ethernet or WIFI, and can control the robot to start and stop, teach, plan the motion trail and the like.
As a still further scheme of the invention: the robot controller is internally provided with an ARM chip and an FPGA chip and is provided with a communication interface, an I/O interface and an intelligent camera interface, the communication interface is connected with an upper computer monitoring system and a demonstrator, the I/O interface is connected with an I/O expansion board, and the intelligent camera interface is connected with a machine vision unit.
As a still further scheme of the invention: the servo driver is internally provided with an ARM chip, drives a servo motor through a pulse signal, forms closed-loop control through an encoder feedback signal, has selectable input voltage of 220V and 380V, outputs 3 phases of 380V and has a power range of 100W-100 KW.
As a still further scheme of the invention: the machine vision unit can support a 2D/3D intelligent industrial camera, and the vision unit is connected with the robot control system through an intelligent camera interface unit to realize the collection, coding and transmission of 2D/3D images.
As a still further scheme of the invention: the I/O expansion board is internally provided with an ARM chip and supports multiple paths of digital quantity and analog quantity input and output, a single I/O expansion board supports at most 256 paths of input and output, and a plurality of I/O expansion boards can be cascaded through a 485 bus.
Compared with the prior art, the invention has the beneficial effects that: (1) the monitoring software developed by QT can monitor the state of the industrial robot across platforms, and the integrated visual library is beneficial to solving the visual perception problem of the existing industrial robot; (2) the demonstrator based on the ARM + Linux software and hardware architecture can support wired Ethernet and wireless WIFI communication, so that the robot teaching is more convenient and flexible; (3) the robot controller based on ARM + FPGA enhances the system performance, reduces the system cost, can support the access of an intelligent camera, and meets the intelligent requirement in industrial application; (4) the servo driver based on the ARM chip enhances the system performance, reduces the system cost, can support servo motors with various voltage grades and power grades, and meets the requirements of servo control of various industrial robots; (5) the visual unit based on the intelligent perception technology can support a 2D/3D intelligent industrial camera and realize the collection, coding and transmission of 2D/3D images; (6) the I/O expansion board based on the ARM chip can reduce the system cost while enhancing the system performance, support the componentization expansion and meet the input and output requirements of various digital quantities and analog quantities.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent industrial robot control system.
The specific implementation mode is as follows:
the technical scheme in the embodiment of the invention will be clear and complete by combining the attached drawings in the embodiment of the invention
In the description, it is to be understood that the embodiments described are only some embodiments of the invention, and not all 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, in an embodiment of the present invention, an intelligent industrial robot control system includes an upper computer monitoring system, a demonstrator, a robot controller, a servo driver, a machine vision unit, and an I/O expansion board, where the upper computer monitoring system is composed of an industrial PC, and carries a Windows system, the monitoring system uses a C/S mode and communicates with the robot controller through an ethernet, a cross-platform monitoring software developed by QT is built in the monitoring system, and the monitoring software carries Open CV and Open GL vision libraries, and can perform corresponding processing and display on an image output by the machine vision unit.
The teaching machine is internally provided with an STM32 chip, is provided with a Linux embedded system, and is communicated with the robot controller through the Ethernet.
The robot controller is internally provided with an STM32 chip and an EP2C8 chip, and is provided with a wired Ethernet and wireless WIFI communication interface, an I/O interface and a 2D/3D intelligent camera interface, wherein the communication interface is connected with an upper computer monitoring system and a demonstrator, the I/O interface is connected with an I/O expansion board, and the intelligent camera interface is connected with a machine vision unit.
An STM32 chip is arranged in the servo driver, the servo motor is driven by a pulse signal, closed-loop control is formed by an encoder feedback signal, the input voltage of the servo driver is 380V, 3 phases of 380V are output, and the power is 750W.
The machine vision unit can support a 2D/3D intelligent industrial camera, and the vision unit is connected with the robot control system through an intelligent camera interface unit to realize the collection, coding and transmission of 2D/3D images.
The I/O expansion board is internally provided with an STM32 chip, supports 128 paths of digital quantity and analog quantity input and output and is cascaded through a 485 bus.
The working principle of the invention is as follows: an upper computer monitoring system or a demonstrator sends commands of starting and stopping, trajectory planning and the like to a robot controller through an Ethernet, the robot controller performs corresponding algorithm operation and logic operation according to signals input by an I/O expansion board and received commands, and sends operation results to a servo controller and the I/O expansion board to perform corresponding actions, the servo controller drives a servo motor on an industrial robot body to act, a coder on the servo motor feeds back signals to the servo controller to perform closed-loop control, meanwhile, a machine vision unit transmits collected 2D/3D image codes to the robot controller to perform corresponding operations and then transmits the corresponding operations to an industrial PC to perform corresponding algorithm operation, and monitoring software displays visual perception results by calling an Open CV and an Open GL vision library.
It is obvious to the person skilled in the art that the invention is not restricted to the details of the above-described exemplary embodiments, but that it is also possible to use
The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. An intelligent industrial robot control system comprises an upper computer monitoring system, a demonstrator, a robot controller, a servo driver, a machine vision unit and an I/O expansion board, and is characterized in that the upper computer monitoring system consists of an industrial PC (personal computer), and cross-platform monitoring software developed by QT (QT) is built in the upper computer monitoring system; the demonstrator is internally provided with an ARM chip and carries an embedded system; the robot controller is internally provided with an ARM chip and an FPGA chip and is provided with a communication interface, an I/O interface and an intelligent camera interface; the servo driver is internally provided with an ARM chip, drives a servo motor through a pulse signal and forms closed-loop control by a feedback signal of an encoder; the machine vision unit can support a 2D/3D intelligent industrial camera, and is connected with the robot control system through an intelligent camera interface unit; the I/O expansion board is internally provided with an ARM chip and supports multi-path digital quantity and analog quantity input and output.
2. The intelligent industrial robot control system of claim 1, wherein the upper computer monitoring system is composed of an industrial PC, is equipped with a Windows, Linux or Mac system, adopts a C/S mode and communicates with the robot controller through ethernet, is internally provided with cross-platform monitoring software developed by QT, is equipped with Open CV and Open GL vision libraries, and can correspondingly process and display images output by the machine vision unit.
3. An intelligent industrial robot control system according to claim 1, wherein the demonstrator is internally provided with an ARM chip, carries a Linux embedded system, communicates with the robot controller through Ethernet or WIFI, and can operate the robot to start and stop, teach, plan the motion trail and the like.
4. An intelligent industrial robot control system according to claim 1, wherein the robot controller is internally provided with an ARM chip and an FPGA chip, and is provided with a communication interface, an I/O interface and an intelligent camera interface, the communication interface is connected with the upper computer monitoring system and the demonstrator, the I/O interface is connected with the I/O expansion board, and the intelligent camera interface is connected with the machine vision unit.
5. An intelligent industrial robot control system according to claim 1, wherein the servo driver is internally provided with an ARM chip, drives a servo motor through a pulse signal, and forms closed-loop control through an encoder feedback signal, the input voltage of the servo driver is 220V and 380V selectable, 3 phases of 380V are output, and the power range is 100W-100 KW.
6. An intelligent industrial robot control system according to claim 1, wherein the machine vision unit can support a 2D/3D intelligent industrial camera, and the vision unit is connected with the robot control system through an intelligent camera interface unit to realize the collection, coding and transmission of 2D/3D images.
7. An intelligent industrial robot control system according to claim 1, wherein the I/O expansion board is internally provided with an ARM chip and supports multiple digital quantity and analog quantity input and output, a single I/O expansion board supports at most 256 input and output, and a plurality of I/O expansion boards can be cascaded through a 485 bus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911148953.1A CN111216121A (en) | 2019-11-22 | 2019-11-22 | Intelligent industrial robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911148953.1A CN111216121A (en) | 2019-11-22 | 2019-11-22 | Intelligent industrial robot control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171650A (en) * | 2020-09-25 | 2021-01-05 | 江西小马机器人有限公司 | Novel transformer substation moves and patrols and examines robot |
| CN112548996A (en) * | 2020-12-08 | 2021-03-26 | 广东工业大学 | Open industrial robot control system and open industrial robot |
| CN112706161A (en) * | 2020-11-17 | 2021-04-27 | 中国航空工业集团公司北京长城航空测控技术研究所 | Gluing control system with intelligent sensing capability |
| CN113524192A (en) * | 2021-08-02 | 2021-10-22 | 广州市斯睿特智能科技有限公司 | AI vision robot motion control system |
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| CN107291016A (en) * | 2017-07-31 | 2017-10-24 | 深圳市鸿栢科技实业有限公司 | A kind of control system applied to industrial robot |
| CN107688313A (en) * | 2017-09-27 | 2018-02-13 | 上海焕巍智能科技有限公司 | A kind of opened industrial robot controller |
| US20180361574A1 (en) * | 2017-06-20 | 2018-12-20 | Foshan Shike Intelligent Technology co., LTD | Intelligent digital controller of flexible material cutting robot and realization method |
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- 2019-11-22 CN CN201911148953.1A patent/CN111216121A/en active Pending
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| US20180361574A1 (en) * | 2017-06-20 | 2018-12-20 | Foshan Shike Intelligent Technology co., LTD | Intelligent digital controller of flexible material cutting robot and realization method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171650A (en) * | 2020-09-25 | 2021-01-05 | 江西小马机器人有限公司 | Novel transformer substation moves and patrols and examines robot |
| CN112706161A (en) * | 2020-11-17 | 2021-04-27 | 中国航空工业集团公司北京长城航空测控技术研究所 | Gluing control system with intelligent sensing capability |
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| CN113524192A (en) * | 2021-08-02 | 2021-10-22 | 广州市斯睿特智能科技有限公司 | AI vision robot motion control system |
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