CN111232346A - Pipe and bar bundling system based on binocular vision - Google Patents
Pipe and bar bundling system based on binocular vision Download PDFInfo
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- CN111232346A CN111232346A CN201911164100.7A CN201911164100A CN111232346A CN 111232346 A CN111232346 A CN 111232346A CN 201911164100 A CN201911164100 A CN 201911164100A CN 111232346 A CN111232346 A CN 111232346A
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- laser line
- horizontal laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
Abstract
The invention provides a binocular vision-based pipe and bar bundling system, which comprises an upper computer, a robot controller, a robot, a moving track and an end effector, wherein the end effector is provided with a first imaging device, a second imaging device and a displacement sensor, the displacement sensor is used for forming a horizontal laser line on the surface of a pipe and bar, the first imaging device and the second imaging device are used for shooting images of the pipe and bar and the horizontal laser line and an image of the horizontal laser line which is distorted, and the moving track is used for the robot to move on the moving track; the upper computer is used for acquiring the images shot by the first imaging device and the second imaging device and processing the images; and the robot controller is used for receiving the instruction of the upper computer, controlling the robot to execute the instruction, and executing the instruction of the upper computer by the robot. The invention can accurately determine the position of the binding wire and damage the tubes and the bars in an effective mode of shearing the binding wire in the gaps between the tubes and the bars.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a pipe and rod bale breaking system based on binocular vision.
Background
In recent years, more and more attention is paid to the development of industrial robot technology at home and abroad. With the change of the human mouth structure of our country, the labor population drops to 72% year by year, the wage cost of workers rises sharply, many enterprises feel that the labor is too much and the profit rate drops, and the use of robots to reduce the production cost becomes an inevitable choice for the enterprises to improve the competitiveness.
The steel industry is one of the process industries with higher automation degree, the finishing process of special steel bars comprises a plurality of procedures such as straightening, bale breaking and flaw detection, a plurality of operation processes with frequent transportation, severe environment, heavy labor and high safety risk exist, the engineering application of an industrial robot is urgently needed to be pushed, and the production efficiency and the product quality are further improved. By 2017, the density of the robots in the domestic steel industry is below 4, which is far lower than the average level of 49 in the manufacturing industry, and the level difference from more than 200 robots in developed countries is huge. In the future, the density of the robots in the steel industry in China can reach 70, and the local processes can reach more than 400. The special steel bar finishing process is used as an entry point, and the important significance is achieved in promoting research and development and engineering application of the metallurgical industrial robot.
Currently, on special steel bar finishing lines, it is first necessary to perform the operations of unpacking and bundling the bars. The bundling is already carried out by a special machine, and the bundle is disassembled by manual operation, so that the labor intensity is high and the cost is high. Therefore, the intelligent automatic bale breaking is completed by using the bale breaking robot system, and the intelligent automatic bale breaking method has great research significance. In current industrial production, the use of mechanical arm adopts teaching system more, and nevertheless the industrial environment is complicated changeable, and the position of actually tearing bundle and ideal position probably have very big error, and special steel rod finishing area transports frequently, dangerous and manual work is heavy.
Therefore, in order to solve the problems in the prior art, a binocular vision based pipe and bar unpacking system is required.
Disclosure of Invention
The invention aims to provide a binocular vision-based pipe and bar bundling system which is characterized by comprising an upper computer, a robot controller, a robot, a movable track and an end effector, wherein,
the end effector is provided with a first imaging device, a second imaging device and a displacement sensor, the displacement sensor is used for forming a horizontal laser line on the surface of the tube rod, the first imaging device and the second imaging device are used for shooting images of the tube rod and the horizontal laser line and images of the horizontal laser line which is distorted,
the moving track is used for the robot to move on the moving track;
the upper computer is used for acquiring images shot by the first imaging device and the second imaging device and processing the images;
the robot controller is used for receiving the instruction of the upper computer and controlling the robot to execute the instruction, and the robot executes the instruction of the upper computer.
In a preferred embodiment, the robot is hand-eye calibrated prior to unpacking.
In a preferred embodiment, the first imaging device and the second imaging device capture images of the tube and bar and the horizontal laser line, and send the images to the upper computer for processing, including:
preprocessing, namely performing binarization processing on the image, and setting the gray value of a pixel point on the image to be 0 or 255;
and extracting a horizontal laser line area, and extracting the horizontal laser line area by a threshold segmentation method.
In a preferred embodiment, the horizontal laser line regions are extracted by thresholding as follows:
an input image f (i, j), an output image g (i, j) is transformed as follows:
wherein T is a threshold;
through the image transformation, the image is divided, and a horizontal laser line area is extracted.
In a preferred embodiment, the horizontal laser lines are extracted by hough transform separating the geometry in the horizontal laser line area.
In a preferred embodiment, the upper computer establishes an image plane coordinate system and a binocular vision coordinate system, performs three-dimensional space coordinate conversion on the image plane coordinate system and the binocular vision coordinate system,
determining the three-dimensional coordinates of the points on the extracted horizontal laser line in a binocular vision coordinate system, and obtaining the three-dimensional coordinates of the points on the horizontal laser line in the binocular vision coordinate system through the conversion between the coordinates of the robot tool and the coordinates of the binocular vision;
and calculating the straightness of the horizontal laser line through curve fitting.
In a preferred embodiment, when the horizontal laser line images shot by the first and second imaging devices are distorted, the shot images are sent to an upper computer for processing, which includes:
and extracting information of the distorted position by a triangle principle, and calculating and acquiring the three-dimensional size of the distorted position in the common view field of the first image device and the second image device and the position coordinate of a point in the distortion.
In a preferred embodiment, the calculated distortion point coordinates (x, y, z) are fed back to a robot controller, and the controller controls the end effector to press down the shear binding wire according to the coordinate z axis.
According to the pipe and bar bundling method, the upper computer can automatically judge whether the bundling station is available or not according to the bundling request of the pipe and bar, and the pipe and bar is hoisted into the designated station by using the travelling crane; the robot receives signals of an upper computer, and the binocular vision guides the robot to adjust the pose of the end effector and enable the horizontal laser line to horizontally hit the surface of the pipe rod; the robot moves along the moving guide rail and obtains a wire binding gap position according to the cooperative action of the industrial camera and the structured light, and the upper computer adjusts the motion of the end effector through the robot controller to enable the metal saw blade to reach the wire binding position and cut the wire binding; the upper computer controls the motor to start to operate by adjusting the feeding amount of the tail end through the robot controller, the servo motor stops operating after the metal saw blade cuts the binding wire, the electromagnet is electrified and sucks the binding wire, and the robot puts the binding wire at a specified position and starts the next binding wire cutting operation; after all the binding wires are placed at the appointed positions, the robot returns to the initial position to wait for the movement instruction of the upper computer, and the upper computer waits for the next bale breaking operation request. The invention can accurately determine the position of the binding wire and damage the pipe bars in an effective mode of shearing the binding wire in the gaps between the pipe bars.
The invention has the following beneficial effects:
the automatic wire binding machine overcomes the defects of large workload and high labor intensity of traditional manual bale breaking, uses machine vision to guide the robot to complete the task of automatically cutting binding wires, and has low cost and high efficiency.
The robot teaching system uses machine vision guidance, and can solve the problems that the traditional mechanical arm is low in teaching automation degree, can be re-taught when industrial production changes, and is low in production precision. The cutting task can be finished in real time through machine vision guidance, and the automation degree is high.
And thirdly, the recognition characteristic combination of the camera and the laser has the advantages of low cost and high working efficiency.
And fourthly, installing the industrial camera at the tail end of the mechanical arm to guide the robot to complete the task of automatically cutting and binding the wires. The invention can cover the identification area of the robot in all directions and can identify the depth of the binding wire.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:
fig. 1 is a block diagram of a binocular vision based pipe and rod bale breaking system of the present invention.
Fig. 2 is a schematic structural diagram of the binocular vision based pipe and bar bale breaking system of the present invention.
Fig. 3 is a cross-sectional view of an end effector of the present invention.
Fig. 4 is a view a-a in fig. 3.
Fig. 5 is a schematic view illustrating a connection between a first image recognition device and a mounting frame according to an embodiment of the invention.
Fig. 6 is a right side view of fig. 3.
Fig. 7 is a view from direction B of fig. 4.
Fig. 8 is a flow chart of a binocular vision-based pipe and bar bundling method of the present invention.
FIG. 9 is a schematic view of a horizontal laser line applied to a bar of pipe.
Fig. 10 is a schematic view of a deployment robot end effector of the present invention.
Fig. 11 is an enlarged view of the working area of the end effector of fig. 10.
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention. Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
In order to clearly explain the present invention, a binocular vision based pipe and bar bale breaking system according to the present invention is first described, as shown in fig. 1, a block diagram of the binocular vision based pipe and bar bale breaking system according to the present invention, and as shown in fig. 2, a schematic structural diagram of the binocular vision based pipe and bar bale breaking system according to the present invention, and the binocular vision based pipe and bar bale breaking system includes an upper computer 100, a robot controller 200, a robot 600, a moving track 500, an end effector 400, and a binocular vision system 300.
And a moving rail 500 for the robot 600 to move on the moving rail 500. And the robot controller 200 is configured to receive the instruction from the host 100 and control the robot 600 to execute the instruction. The robot 600 executes the instructions of the upper computer 100 under the control of the robot controller 200.
The binocular vision system 300 includes a first imaging device and a second imaging device, is installed at the end effector 400, and is matched with the displacement sensor to position the binding wire. The binocular vision system 300 directly communicates with the upper computer, and transmits the acquired image to the upper computer 100 for image processing.
And the upper computer 100 is used for acquiring images shot by the first imaging device and the second imaging device and processing the images.
The end effector 400 is provided with a first imaging device, a second imaging device and a displacement sensor, wherein the displacement sensor is used for forming a horizontal laser line on the surface of the pipe rod, and the first imaging device and the second imaging device are used for shooting images of the pipe rod and the horizontal laser line and images of distortion of the horizontal laser line (which is described in detail in the bale breaking process in the following).
The structure of the end effector of the present invention will be described with reference to specific embodiments, such as a cross-sectional view of the end effector of the present invention shown in fig. 3, a view a-a shown in fig. 3 shown in fig. 4, a schematic view of the connection between the first image recognition device and the mounting frame shown in fig. 5 according to an embodiment of the present invention, a right side view of fig. 3 shown in fig. 6, and a view B shown in fig. 4 shown in fig. 7. Referring to fig. 3 to 7, according to an embodiment of the present invention, the end effector includes a bracket, a magnetic attraction mechanism is installed at a front end of the bracket, the magnetic attraction mechanism includes at least one screw 202, a compression spring 203 is sleeved on the screw, one end of the screw 202 fixes a magnetic pressure head 201, and the other end of the screw 202 passes through a compression spring seat 204, so that the magnetic pressure head 201 drives the screw 202 to compress the compression spring 203 during a movement process. In some embodiments, the compression spring seat 204 is directly welded to the bracket, and in some preferred embodiments, the compression spring seat 204 may be detachably fixed to the lower bracket by bolts or the like. In some preferred embodiments, the magnetic pressure head can be made of permanent magnetic materials, and in other preferred embodiments, the magnetic pressure head adopts an electromagnet, and the electromagnet is electrified to generate magnetic attraction to remove the cut binding wires.
The bracket is provided with a connecting plate 105 for connecting a robot mechanical arm flange 106, and the bracket body is connected with the flange at the tail end of the robot through positioning pins, bolts and other parts, so that the wire binding is cut. The frame body extends outwards.
According to the embodiment of the invention, the magnetic pressure head 201 is fixed on the magnetic pressure head base 206 through bolts, a through hole is formed on the magnetic pressure head base 206, and the screw 202 passes through the through hole to be fixed with the magnetic pressure head base 206.
According to the embodiment of the invention, one end of the screw 202 penetrating through the pressure spring seat 204 is provided with a fixture block 205, and after the pressure spring 203 rebounds, the fixture block 205 is clamped by the pressure spring seat, so that the screw 202 is prevented from sliding out of the pressure spring seat 204. Furthermore, in the embodiment, a copper sleeve is sleeved outside the compression spring 203 for protecting the compression spring.
According to the embodiment of the present invention, two screws 203 are used, but not limited thereto, and in some embodiments, one screw or a plurality of screws may be used.
The bracket is provided with a transverse supporting plate 104, the rear end of the bracket is provided with a driving mechanism 301, the driving mechanism 301 is fixed on the transverse supporting plate 104, a shearing mechanism is arranged in a space 103 between the magnetic suction mechanism and the driving mechanism, and the driving mechanism drives the shearing mechanism to shear the binding wire.
The shearing mechanism comprises a metal saw blade 401, the body of the metal saw blade 401 is a circular saw blade, the metal saw blade 401 is arranged on the driving shaft 303 through a shaft end shaft sleeve 402, and shearing operation is completed along with the rotation of the driving electric shaft. At the end of the drive shaft 303 is mounted a stub bushing 402 to prevent the metal blade 401 from slipping off the drive shaft 303.
In some preferred embodiments, the space 103 between the magnetic attraction mechanism and the driving mechanism is a rectangular frame, and the magnetic attraction mechanism is fixed on the first side 101 of the rectangular frame. The second side 102 of the rectangular frame is provided with a transverse support plate 104. The driving shaft 303 of the driving mechanism 301 passes through the second side surface 102 of the rectangular frame body, and the metal saw blade 401 of the shearing mechanism is mounted on the driving shaft 303 through a shaft end bushing 402.
According to an embodiment of the present invention, the driving mechanism 301 is a motor with a power of 0.75KW and a rotation speed of 1470r/min for driving the cutting mechanism. The driving mechanism is mounted on the motor base 302, and the motor base 302 is fixed on the transverse support plate 104 through bolts.
In some embodiments, the drive motor is a fully-enclosed, self-cooling, three-phase squirrel-cage motor of the type commonly used in the prior art. On the premise of meeting the power requirement, the power-saving type electric vehicle has the advantages of high efficiency, energy conservation, large starting torque, low noise, small vibration, high reliability and the like.
In some embodiments, a metal cover is used in place of the lateral support plate 104, such that the motor is disposed within the metal cover, protecting the motor (drive mechanism).
According to the embodiment of the present invention, a detection mechanism is installed on one side of the bracket, and the detection mechanism includes a mounting bracket 500, on which a first image recognition device 501 and a second image device 502 are arranged at symmetrical positions, and a displacement sensor 505 is arranged between the first image recognition device 501 and the second image device 502. In some embodiments, a camera housing is mounted on the other end of the camera with a lens in order to prevent damage to the lens during operation of the machine.
In this embodiment, displacement sensor adopts laser sensor, and the horizontal laser line that sends is beaten on the pipe rod surface to the wiring degree that needs the shearing among the one hand transmission laser detection shearing process on the one hand, avoids shearing among the process fish tail tubular product or rod, and the other hand is fixed a position the wiring (the wire binding rope). The first image recognition device 501 and the second image device 502 are industrial digital cameras, such as Mercury MER series, and the lens signal is V1214-MP.
According to the embodiment of the present invention, when the position of the binding-wire to be cut is detected, the extension line of the center of the first imaging device 501, the extension line of the center of the second imaging device 502, and the extension line of the center of the displacement sensor 505 converge at one point. Namely, the lens line of sight direction of the first imaging device 501, the line of sight direction of the second imaging device 502 and the laser three lines of the displacement sensor converge at one point. According to the embodiment of the present invention, the mounting frame 500 is an "L" shaped structure, and the first image recognition device 501 and the second image recognition device 502 are disposed on the mounting frame through a connection structure.
As shown in fig. 4 and fig. 5, in the embodiment, taking the installation of the first image recognition device as an example, the connection structure includes a connection rod 5031, one end of the connection rod 5031 is fixed to the first image recognition device 501, which is fixed by welding in this embodiment. The other end of the connecting rod passes through the first connecting plate 503 of the mounting bracket 500 and is fixed by the first nut 5032 and the second nut 5034, and a tapered washer 5035 and a spherical washer 5033 are installed between the first nut 5032 and the second nut 5034, so that the connecting rod can drive the first imaging device 501 to rotate, and adjust the central extension line of the first imaging device 501, the central extension line of the second imaging device 502 and the central extension line of the displacement sensor 505 to converge at one point (point o in fig. 7).
The displacement sensor 505 is fixed on the first connection plate 503 of the mounting frame 500 by bolts, and is located between the first image recognition device 501 and the second image recognition device 502, in this embodiment, the displacement sensor 505 is fixedly mounted by using M6 × 30 screws, M6 nuts, and washers. The first and second imaging devices 501 and 502 and the displacement sensor 505 are installed with a certain distance between the ends thereof and the ends of the metal saw blade 401 in the vertical and horizontal directions, so as to prevent damage to the first and second imaging devices 501 and 502 and the displacement sensor 505.
As shown in fig. 6, the mounting bracket 500 is integrally fixed to the bracket by a second connecting plate 504, which is fixed by bolts in this embodiment, and in other embodiments, the second connecting plate 504 is directly welded to the bracket.
As shown in fig. 8, a flow chart of a binocular vision-based pipe and bar bundling method according to the present invention is provided, and according to an embodiment of the present invention, the binocular vision-based pipe and bar bundling method includes the following steps:
and S101, mounting a camera and a displacement sensor on the end effector. The first imaging device, the second imaging device and the displacement sensor are mounted on the end effector 400, and the first imaging device, the second imaging device and the displacement sensor are ensured to be on the same plane. The first imaging device, the second imaging device and the displacement sensor are installed at one side of the end effector 400, and the identification areas of the first imaging device and the second imaging device are the working range of the mechanical arm. The pose of the end effector 400 is adjusted so that the Z direction of the robot end effector 400 is vertical down, and the robot is hand-eye calibrated before unpacking.
And step S102, checking the in-place information of the pipe and the bar.
A bale breaking operation request is sent to the robot controller 200 through a human-computer interface of the upper computer 100, and the upper computer 100 judges whether the current station is available.
If the station is available (the clamping device on the sliding bed is idle), the bundled tube bars are transferred into the available station through the crane, and after the tube bars are in place, a sensor on the sliding bed sends a position signal to the upper computer 100.
And step S103, the upper computer sends an action command to the robot.
After the tube and bar are in place, the upper computer 100 sends an action command, and the clamping device clamps the tube and bar. Meanwhile, a horizontal laser line emitted by a displacement sensor 505 installed on the end effector 400 is irradiated on the surface of the pipe bar, and the robot 600 moves along the moving track 500.
And S104, identifying the wire binding and the pipe and bar gaps by a camera through a binocular vision identification method.
The first imaging device 501 and the second imaging device 502 capture images of the tube and bar and the horizontal laser line, as shown in fig. 9, the horizontal laser line 901 emitted by the displacement sensor 505 is applied on the surface of the tube and bar 902a, and the robot 600 moves along the moving track 500 to search for the binding wire 903.
According to the embodiment of the invention, the binocular vision identification method for identifying the positions of the wire binding and bar gaps specifically comprises the following steps:
the first imaging device 501 and the second imaging device 502 capture images and send the images to the upper computer 100 for processing, according to the embodiment of the present invention, the first imaging device 501 and the second imaging device 502 capture images of a tube bar and a horizontal laser line and send the images to the upper computer for processing, including:
and preprocessing, performing binarization processing on the image, and setting the gray value of a pixel point on the image to be 0 or 255.
And extracting a horizontal laser line area, and extracting the horizontal laser line area by a threshold segmentation method.
According to an embodiment of the present invention, the horizontal laser line region is extracted by the following threshold segmentation method:
an input image f (i, j), an output image g (i, j) is transformed as follows:
wherein T is a threshold;
through the image transformation, the image is divided, and a horizontal laser line area is extracted.
The horizontal laser lines are extracted by hough transform separating the geometric shapes (e.g., lines, circles, etc.) in the horizontal laser line area.
The upper computer establishes an image plane coordinate system and a binocular vision coordinate system, carries out three-dimensional space coordinate conversion on the image plane coordinate system and the binocular vision coordinate system,
determining the three-dimensional coordinates of the points on the extracted horizontal laser line in a binocular vision coordinate system, and obtaining the three-dimensional coordinates of the points on the horizontal laser line in the binocular vision coordinate system through the conversion between the coordinates of the robot tool and the coordinates of the binocular vision;
and calculating the straightness of the horizontal laser line through curve fitting.
The pose of the end effector is adjusted through horizontal straightness detection, so that the horizontal laser line of the displacement sensor horizontally irradiates the tube bar (namely the horizontal laser line is parallel to the axis of the tube bar), and the fact that no shielding object exists in the identification areas of the first imaging device 501 and the second imaging device 502 is ensured.
When the photographed image of the horizontal laser line 901 is distorted, that is, a distortion point 904 appears on the horizontal laser line 901, the upper computer sends an instruction to the robot controller 200, the robot controller 200 controls the robot 600 to stop moving, and at the same time, the robot controller 200 controls the end effector 400 of the robot 600 to swing.
The robot controller controls the robot end effector 400 to swing (move in the x-axis direction) looking for the tube and bar gap 905. There are two discrimination methods for the identification of the tube and bar gap 905:
and 1, marking two points of the horizontal laser line in the image, wherein the broken part of the laser line is two marked points, and judging that the pipe and bar gaps exist when the distance between the two marked points exceeds a certain threshold value.
2, if the distance does not exceed the specified threshold value, the laser line can be distinguished because the light of the horizontal laser line changes in the moving process and the horizontal laser line irradiates the concave positions of the two tube bars when the horizontal laser line moves to the middle position of the roll gap.
According to the embodiment of the present invention, the tube and bar gap is found in the method 2, when the horizontal laser line 901 on the surface of the tube and bar 902a captured by the first and second imaging devices 501 and 502 disappears and the end effector 400 stops swinging, it is considered that the horizontal laser line 901 falls into the tube and bar gap 905 between the tube and bar 902a and 902 b.
The first and second imaging devices 501 and 502 take a picture of the distortion point again, calculate the coordinates of the distortion point according to the image taken again, and feed back the calculation result to the controller.
According to the embodiment of the invention, when the horizontal laser lines shot by the first and second imaging devices 501 and 502 are distorted, the shot images with the distorted points are sent to an upper computer for processing, which comprises:
and extracting information of the distorted position by a triangle principle, and calculating and acquiring the three-dimensional size of the distorted position in the common view field of the first image device and the second image device and the position coordinate of a point in the distortion.
And feeding back the calculated distortion point coordinates (x, y, z) to the controller.
Step S105: and the robot controller controls the robot to execute wire binding shearing.
According to the embodiment of the invention, the upper computer sends the distortion point coordinates (x, y, z) to the robot controller 200, and the robot controller 200 controls the mechanical arm of the robot 600 to drive the end effector 400 to press down to complete wire binding and cutting according to the coordinate z axis.
Step S106: and repeating the steps S104 to S105 to finish all the binding wire cutting. The upper computer 100 sends an instruction to the robot controller 200, the robot controller 200 controls the robot 600 to move along the moving track, and the steps S104 and S105 are repeated to complete the cutting of all binding wires.
The cutting process of the binding wire of the present invention will be described below, referring to fig. 10, which is a schematic view of the operation process of an end effector of a bale breaking robot according to the present invention, and fig. 11, which is an enlarged view of the operation area of the end effector of fig. 10.
The pipe rods 902 bound by the binding wires (steel wire binding ropes) 800 are conveyed to the sliding bed, after the pipe rods are in place, the upper computer 100 sends an action instruction, and the clamping devices clamp the pipe rods and clamp the pipe rods through the clamping devices.
The first imaging device 501 and the second imaging device 502 identify the positions of the wire binding and the wire binding gap by a binocular vision identification method. The last mechanical arm of the robot drives the end effector to rotate and swing to the position where the magnetic pressure head 201 is just opposite to the binding wire 903, the mechanical arm controls the end effector to press downwards (in the direction of c in fig. 11), the magnetic pressure head 201 presses the binding wire 903 tightly under the action of the elasticity of the pressure spring, and the driving mechanism drives the metal saw blade 401 of the shearing mechanism to cut off the binding wire 903. During the shearing process, the displacement sensor 505 detects the shearing depth to prevent the metal saw blade from damaging the pipe material 902 after the binding wires 903 are sheared.
The clamping device is opened, the pipe rod 902 slides to the bottom of the sliding bed, the magnetic pressure head 201 sucks the cut binding wire away through magnetism after cutting, and the robot controls the mechanical arm to prevent the binding wire from being placed to a proper place. In some preferred embodiments, the magnetic pressure head 201 employs an electromagnet, so that the sucking and placing of the binding wire are more convenient, for example, during the pressing process of the magnetic pressure head 201, the magnetic pressure head 201 is powered on to generate magnetism, the binding wire is sucked after being cut off, when the robot control robot arm is used to check the position of the transportation of the binding wire, the magnetic pressure head 201 is powered off, and the binding wire is separated from the magnetic pressure head 201 and falls into a designated position.
According to the pipe and bar bundling method, the upper computer can automatically judge whether the bundling station is available or not according to the bundling request of the pipe and bar, and the pipe and bar is hoisted into the designated station by using the travelling crane; the robot receives signals of an upper computer, and the binocular vision guides the robot to adjust the pose of the end effector and enable the horizontal laser line to horizontally hit the surface of the pipe rod; the robot moves along the moving guide rail and obtains a wire binding gap position according to the cooperative action of the industrial camera and the structured light, and the upper computer adjusts the motion of the end effector through the robot controller to enable the metal saw blade to reach the wire binding position and cut the wire binding; the upper computer controls the motor to start to operate by adjusting the feeding amount of the tail end through the robot controller, the servo motor stops operating after the metal saw blade cuts the binding wire, the electromagnet is electrified and sucks the binding wire, and the robot puts the binding wire at a specified position and starts the next binding wire cutting operation; after all the binding wires are placed at the appointed positions, the robot returns to the initial position to wait for the movement instruction of the upper computer, and the upper computer waits for the next bale breaking operation request. The invention can accurately determine the position of the binding wire and damage the pipe bars in an effective mode of shearing the binding wire in the gaps between the pipe bars.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (8)
1. A tube and bar material bale breaking system based on binocular vision is characterized by comprising an upper computer, a robot controller, a robot, a movable track and an end effector, wherein,
the end effector is provided with a first imaging device, a second imaging device and a displacement sensor, the displacement sensor is used for forming a horizontal laser line on the surface of the tube rod, the first imaging device and the second imaging device are used for shooting images of the tube rod and the horizontal laser line and images of the horizontal laser line which is distorted,
the moving track is used for the robot to move on the moving track;
the upper computer is used for acquiring images shot by the first imaging device and the second imaging device and processing the images;
the robot controller is used for receiving the instruction of the upper computer and controlling the robot to execute the instruction, and the robot executes the instruction of the upper computer.
2. The tube and bar unpacking system of claim 1 wherein the robot performs hand-eye calibration of the robot prior to unpacking.
3. The system of claim 1, wherein the first and second imaging devices capture images of the pipe and rod material and the horizontal laser line, and send the images to the host computer for processing, and the system comprises:
preprocessing, namely performing binarization processing on the image, and setting the gray value of a pixel point on the image to be 0 or 255;
and extracting a horizontal laser line area, and extracting the horizontal laser line area by a threshold segmentation method.
4. The tube and rod bale breaking system of claim 3, wherein the horizontal laser line regions are extracted by thresholding as follows:
an input image f (i, j), an output image g (i, j) is transformed as follows:
wherein T is a threshold;
through the image transformation, the image is divided, and a horizontal laser line area is extracted.
5. The tube and rod bale breaking system of claim 3 or 4, wherein the horizontal laser lines are extracted by Hough transform separation of the geometric shapes in the horizontal laser line region.
6. The pipe and bar bale breaking system of claim 5, wherein the upper computer establishes an image plane coordinate system and a binocular vision coordinate system, performs three-dimensional space coordinate transformation on the image plane coordinate system and the binocular vision coordinate system,
determining the three-dimensional coordinates of the points on the extracted horizontal laser line in a binocular vision coordinate system, and converting the coordinates of the robot tool with the binocular vision coordinates to obtain the three-dimensional coordinates of the points on the horizontal laser line in the coordinate system of the robot tool;
and calculating the straightness of the horizontal laser line through curve fitting.
7. The system of claim 1, wherein when the horizontal laser line images captured by the first and second imaging devices are distorted, the captured images are sent to an upper computer for processing, and the system comprises:
and extracting information of the distorted position by a triangle principle, and calculating and acquiring the three-dimensional size of the distorted position in the common view field of the first imaging device and the second imaging device and the position coordinate of a point in the distortion.
8. The system of claim 1 or 7, wherein the calculated coordinates (x, y, z) of the distortion point are fed back to the controller, and the controller controls the end effector to press down the shear tie wire according to the z-axis of the coordinates.
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