CN112621750B - Automatic control system of industrial robot - Google Patents
Automatic control system of industrial robot Download PDFInfo
- Publication number
- CN112621750B CN112621750B CN202011416691.5A CN202011416691A CN112621750B CN 112621750 B CN112621750 B CN 112621750B CN 202011416691 A CN202011416691 A CN 202011416691A CN 112621750 B CN112621750 B CN 112621750B
- Authority
- CN
- China
- Prior art keywords
- module
- program
- controller
- industrial robot
- server
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
-
- 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
-
- 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
Abstract
The invention relates to an automatic control system, in particular to an automatic control system of an industrial robot, which comprises a server, a controller, a data acquisition module and a binocular camera, wherein the controller, the data acquisition module and the binocular camera are installed on the industrial robot; the technical scheme provided by the invention can effectively overcome the defects that the prior art can not carry out optimized regulation and control according to the working state of the industrial robot in time, the control program is easy to steal, and the accuracy of identifying the target object is low.
Description
Technical Field
The invention relates to an automatic control system, in particular to an automatic control system of an industrial robot.
Background
The increased level of factory robotics means that there will be less exposure to fluctuations in the labor market. Therefore, in the past few years, manufacturing industry has been heavily shaking worldwide, and manufacturing industry that was once outsourced to areas with lower labor costs has been collected at home. In addition, as robotics matures, machines become easier to deploy and maintain, and more agile and flexible, allowing for higher levels of product customization.
In terms of control technology of the robot, the introduction of vision, laser detection and positioning sensors makes autonomous operation of the robot possible. The robot control system needs to detect and position the workpiece from the grabbing position to the mounting position in a large range, and ensures high positioning precision in different positions and distances so as to ensure the accuracy of product accessory transportation.
Most of existing industrial robot automatic control systems adopt manual methods to analyze the working state of each industrial robot in a factory, and the industrial robots cannot be optimally regulated and controlled in time according to the working state of the industrial robots, so that the factory can effectively improve the production efficiency. In addition, the control program of the existing industrial robot automatic control system is easy to be stolen, and the accuracy of identifying the target object is low.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides an automatic control system of an industrial robot, which can effectively overcome the defects that the prior art cannot carry out optimized regulation and control according to the working state of the industrial robot in time, a control program is easy to steal, and the accuracy of identifying a target object is low.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
an automatic control system of an industrial robot comprises a server, a controller, a data acquisition module and a binocular camera, wherein the controller, the data acquisition module and the binocular camera are installed on the industrial robot;
the server is connected with a first program storage module used for storing a control program, the controller is connected with a second program storage module used for storing an execution program, the controller is connected with a program identification module used for identifying the control program, the controller is connected with a program calling module used for calling the corresponding execution program according to the identified control program, and the controller is connected with a program deleting module used for deleting the identified control program;
the controller is connected with a first coordinate conversion module which is used for converting the position of a target object identified by the binocular camera into a position in a visual coordinate system of the controller, the controller is connected with an image segmentation module which is used for segmenting a converted image of the first coordinate conversion module and identifying the edge contour of the target object, and the controller is connected with a position point judgment module which is used for judging a position point according to the identification result of the target object;
the controller is connected with a second coordinate conversion module which is used for converting the position of a target object identified by the binocular camera into a position in a visual coordinate system of the controller, the controller is connected with a grabbing path judgment module which is used for judging a grabbing path according to a converted image of the second coordinate conversion module, the controller is connected with a compensation calculation module which is used for calculating a grabbing compensation angle, and the controller is connected with a joint driving control module which is used for driving a joint to move according to the grabbing path and the grabbing compensation angle.
Preferably, the data acquisition module is used for acquiring the workshop, the working time, the task type and the task number of the industrial robot.
Preferably, the data analysis module fits the data collected by the data collection module and calculates a P value of each industrial robot hypothesis test;
when the P value is larger than 0.05, the data analysis module judges that no difference exists between the compared industrial robots; otherwise, the data analysis module judges that the compared industrial robots have differences.
Preferably, when the comparison and judgment module judges that the number of the industrial robots with the difference exceeds a threshold value, the server randomly sends a stop instruction to the industrial robots according to the number of the industrial robots with the difference;
otherwise, the server sends a starting instruction to the industrial robots at random according to the number of the industrial robots with the difference.
Preferably, the first program storage module stores an initialization program and a timing calling program, and when the server sends a control instruction to the controller, the server sends the corresponding initialization program and the timing calling program to the second program storage module through the first program storage module.
Preferably, the second program storage module stores therein an initialization subprogram and a timing execution subprogram, and when the program identification module identifies the initialization program, the program call module calls the initialization subprogram; and when the program identification module identifies the time sequence calling program, the program calling module calls a corresponding time sequence execution subprogram.
Preferably, the second program storage module is provided with a first storage area and a second storage area, the first storage area is used for storing an initialization subprogram and a time sequence execution subprogram, and the second storage area is used for storing an initialization program and a time sequence calling program sent by the first program storage module;
and when the program identification module identifies one control program each time and the program calling module completes the calling action, the program deleting module deletes the control program from the second storage area.
Preferably, the first coordinate conversion module and the second coordinate conversion module calculate a conversion matrix of a coordinate system where the binocular camera identifies the target object and a visual coordinate system of the binocular camera, and convert the image of the target object according to the conversion matrix.
Preferably, the position point judging module judges a traveling arrival point and an object center point according to the target object recognition result, and the controller controls the industrial robot to move along the specified path through the driving module according to the traveling arrival point.
Preferably, the controller is connected with an identity transmission module for sending identity authentication information to a server, and the server is connected with an identity recognition module for receiving the identity authentication information and performing identity authentication;
and when the identity identification module cannot verify the identity verification information sent by the identity transmission module, the server cuts off the communication with the controller.
(III) advantageous effects
Compared with the prior art, the automatic control system for the industrial robots, provided by the invention, can be used for carrying out big data acquisition on the working state of each industrial robot, carrying out optimized regulation and control on each industrial robot in a factory in time according to an analysis result, and improving the production efficiency of the factory through integral control; when the control program is executed, the program identification module identifies one control program every time, and when the program calling module completes the calling action, the program deleting module deletes the control program from the second storage area, so that the control program can be effectively prevented from being stolen; through the secondary identification of the target object and the conversion of the identification coordinate system, the accuracy of identifying the target object can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of a server-side system according to the present invention;
fig. 2 is a system diagram of the controller side according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. It is to be understood that the embodiments described are only a few embodiments of the present 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.
The utility model provides an industrial robot automatic control system, as shown in fig. 1 and fig. 2, includes the server to and install controller, data acquisition module and binocular camera on industrial robot, the server links to each other with the data analysis module that is used for carrying out the analysis to data acquisition module data collection, the server with be used for carrying out the contrast judgement module of contrast judgement based on the data analysis result and link to each other, the server is according to contrast judgement result to controller send control command.
The data acquisition module is used for acquiring the affiliated workshop, the working time, the task type and the task quantity of the industrial robot.
And the data analysis module fits the data acquired by the data acquisition module and calculates the P value of each industrial robot hypothesis test. When the P value is larger than 0.05, the data analysis module judges that no difference exists between the compared industrial robots; otherwise, the data analysis module judges that there is a difference between the industrial robots being compared.
When the comparison and judgment module judges that the quantity of the industrial robots with the difference exceeds a threshold value, the server randomly sends a stop instruction to the industrial robots according to the quantity of the industrial robots with the difference; otherwise, the server sends a start instruction to the industrial robots at random according to the number of the industrial robots with the difference.
In the technical scheme, the server sends a stop instruction to the industrial robots, and the number of the industrial robots needing to be stopped is determined according to the number of the industrial robots with the difference; similarly, the number of industrial robots to be started by the server is determined according to the number of different industrial robots, and the production efficiency of a factory can be improved by integral control.
The server is connected with a first program storage module used for storing the control program, the controller is connected with a second program storage module used for storing the execution program, the controller is connected with a program identification module used for identifying the control program, the controller is connected with a program calling module used for calling the corresponding execution program according to the identified control program, and the controller is connected with a program deleting module used for deleting the identified control program.
The first program storage module stores an initialization program and a time sequence calling program, and when the server sends a control instruction to the controller, the server sends the corresponding initialization program and the time sequence calling program to the second program storage module through the first program storage module.
The second program storage module stores an initialization subprogram and a time sequence execution subprogram, and the program calling module calls the initialization subprogram when the program identification module identifies the initialization program; and when the program identification module identifies the time sequence calling program, the program calling module calls the corresponding time sequence execution subprogram.
The second program storage module is provided with a first storage area and a second storage area, the first storage area is used for storing an initialization subprogram and a time sequence execution subprogram, and the second storage area is used for storing an initialization program and a time sequence calling program sent by the first program storage module.
When the program identification module identifies one control program and the program calling module completes the calling action, the program deleting module deletes the control program from the second storage area, so that the control program can be effectively prevented from being stolen.
The controller is connected with an identity transmission module used for sending identity authentication information to the server, and the server is connected with an identity recognition module used for receiving the identity authentication information and carrying out identity authentication. And when the identity identification module cannot verify the identity verification information sent by the identity transmission module, the server cuts off the communication with the controller.
The communication security is enhanced, and the control program can be prevented from being stolen, because the technical scheme of deleting the control program can achieve the purpose of preventing the control program from being stolen only when the controller end is ensured to be in a safe state, the communication security of the controller end is ensured before the communication is established.
The controller is connected with a first coordinate conversion module which is used for converting the position of a target object identified by the binocular camera into a position in a visual coordinate system of the controller, the controller is connected with an image segmentation module which is used for segmenting a converted image of the first coordinate conversion module and identifying the edge contour of the target object, and the controller is connected with a position point judgment module which is used for judging a position point according to a target object identification result.
The controller is connected with a second coordinate conversion module which is used for converting the position of the target object recognized by the binocular camera into the position in the visual coordinate system of the controller, the controller is connected with a grabbing path judgment module which is used for judging a grabbing path according to the converted image of the second coordinate conversion module, the controller is connected with a compensation calculation module which is used for calculating a grabbing compensation angle, and the controller is connected with a joint driving control module which is used for driving a joint to move according to the grabbing path and the grabbing compensation angle.
The first coordinate conversion module and the second coordinate conversion module calculate a conversion matrix of a coordinate system where the binocular camera identifies the target object and a visual coordinate system of the binocular camera, and convert the image of the target object according to the conversion matrix.
The position point judging module judges a traveling arrival point and an object center point according to a target object recognition result, and the controller controls the industrial robot to move along the specified path through the driving module according to the traveling arrival point.
When the industrial robot moves to a traveling arrival point along the designated path, the target object is secondarily identified through the second coordinate conversion module, the object center point of the target object is further accurately identified, and guarantee is provided for accurate implementation of follow-up grabbing actions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. An industrial robot automatic control system which characterized in that: the system comprises a server, a controller, a data acquisition module and a binocular camera, wherein the controller, the data acquisition module and the binocular camera are installed on an industrial robot, the server is connected with a data analysis module used for analyzing data acquired by the data acquisition module, the server is connected with a comparison judgment module used for performing comparison judgment based on a data analysis result, and the server sends a control instruction to the controller according to the comparison judgment result;
the server is connected with a first program storage module used for storing a control program, the controller is connected with a second program storage module used for storing an execution program, the controller is connected with a program identification module used for identifying the control program, the controller is connected with a program calling module used for calling the corresponding execution program according to the identified control program, and the controller is connected with a program deleting module used for deleting the identified control program;
the second program storage module is provided with a first storage area and a second storage area, the first storage area is used for storing an initialization subprogram and a time sequence execution subprogram, and the second storage area is used for storing an initialization program and a time sequence calling program which are sent by the first program storage module;
when the program identification module identifies one control program each time and the program calling module completes the calling action, the program deleting module deletes the control program from the second storage area;
the controller is connected with a first coordinate conversion module which is used for converting the position of a target object identified by the binocular camera into a position in a visual coordinate system of the controller, the controller is connected with an image segmentation module which is used for segmenting a converted image of the first coordinate conversion module and identifying the edge contour of the target object, and the controller is connected with a position point judgment module which is used for judging a position point according to the identification result of the target object;
the controller is connected with a second coordinate conversion module which is used for converting the position of a target object identified by the binocular camera into a position in a visual coordinate system of the controller, the controller is connected with a grabbing path judgment module which is used for judging a grabbing path according to a converted image of the second coordinate conversion module, the controller is connected with a compensation calculation module which is used for calculating a grabbing compensation angle, and the controller is connected with a joint driving control module which is used for driving a joint to move according to the grabbing path and the grabbing compensation angle.
2. An industrial robot automatic control system according to claim 1, characterized in that: the data acquisition module is used for acquiring the affiliated workshop, the working time, the task type and the task quantity of the industrial robot.
3. An industrial robot automatic control system according to claim 2, characterized in that: the data analysis module fits the data acquired by the data acquisition module and calculates the P value of each industrial robot hypothesis test;
when the P value is larger than 0.05, the data analysis module judges that no difference exists between the compared industrial robots; otherwise, the data analysis module judges that the compared industrial robots have differences.
4. An industrial robot automatic control system according to claim 3, characterized in that: when the comparison and judgment module judges that the quantity of the industrial robots with the difference exceeds a threshold value, the server randomly sends a stop instruction to the industrial robots according to the quantity of the industrial robots with the difference;
otherwise, the server sends a starting instruction to the industrial robots at random according to the number of the industrial robots with the difference.
5. An industrial robot automatic control system according to claim 1, characterized in that: the first program storage module stores an initialization program and a time sequence calling program, and when the server sends a control instruction to the controller, the server sends the corresponding initialization program and the time sequence calling program to the second program storage module through the first program storage module.
6. An industrial robot automatic control system according to claim 5, characterized in that: the second program storage module stores an initialization subprogram and a time sequence execution subprogram, and the program calling module calls the initialization subprogram when the program identification module identifies the initialization program; and when the program identification module identifies the time sequence calling program, the program calling module calls a corresponding time sequence execution subprogram.
7. An industrial robot automatic control system according to claim 1, characterized in that: the first coordinate conversion module and the second coordinate conversion module calculate a conversion matrix of a coordinate system where the binocular camera identifies the target object and a visual coordinate system of the binocular camera, and convert the image of the target object according to the conversion matrix.
8. An industrial robot automatic control system according to claim 7, characterized in that: the position point judging module judges a traveling arrival point and an object center point according to a target object recognition result, and the controller controls the industrial robot to move along a specified path through the driving module according to the traveling arrival point.
9. An industrial robot automatic control system according to claim 1, characterized in that: the controller is connected with an identity transmission module used for sending identity authentication information to the server, and the server is connected with an identity recognition module used for receiving the identity authentication information and performing identity authentication;
and when the identity identification module cannot verify the identity verification information sent by the identity transmission module, the server cuts off the communication with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011416691.5A CN112621750B (en) | 2020-12-07 | 2020-12-07 | Automatic control system of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011416691.5A CN112621750B (en) | 2020-12-07 | 2020-12-07 | Automatic control system of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112621750A CN112621750A (en) | 2021-04-09 |
| CN112621750B true CN112621750B (en) | 2022-12-16 |
Family
ID=75308635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011416691.5A Active CN112621750B (en) | 2020-12-07 | 2020-12-07 | Automatic control system of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112621750B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211449B (en) * | 2021-06-10 | 2022-06-17 | 哈工大机器人集团股份有限公司 | Robot calibration method and system based on path analysis |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902271A (en) * | 2012-10-23 | 2013-01-30 | 上海大学 | Binocular vision-based robot target identifying and gripping system and method |
| FI127100B (en) * | 2016-08-04 | 2017-11-15 | Zenrobotics Oy | A method and apparatus for separating at least one object from the multiplicity of objects |
| CN108549296B (en) * | 2018-05-22 | 2020-12-08 | 佛山科学技术学院 | Automatic control method and device for industrial robot work saturation |
| CN109968359A (en) * | 2019-03-28 | 2019-07-05 | 台州九牛慧联机器人技术有限公司 | A kind of industrial robot control system |
| CN110660104A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力电器股份有限公司 | Industrial robot visual identification positioning grabbing method, computer device and computer readable storage medium |
| CN111421528A (en) * | 2020-03-24 | 2020-07-17 | 广州市轻工职业学校 | Industrial robot's automated control system |
-
2020
- 2020-12-07 CN CN202011416691.5A patent/CN112621750B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112621750A (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110658819B (en) | Obstacle avoidance method and device, electronic equipment and storage medium | |
| US9864913B2 (en) | Device and method for safeguarding an automatically operating machine | |
| US20230106134A1 (en) | Warehouse robot control method and apparatus, device, and readable storage medium | |
| EP3590093A1 (en) | Methods and systems for detecting, recognizing, and localizing pallets | |
| CN108214487B (en) | Robot target positioning and grabbing method based on binocular vision and laser radar | |
| CN111693050B (en) | Indoor medium and large robot navigation method based on building information model | |
| CN113424079A (en) | Obstacle detection method, obstacle detection device, computer device, and storage medium | |
| CN112621750B (en) | Automatic control system of industrial robot | |
| CN107305380A (en) | A kind of automatic obstacle-avoiding method and apparatus | |
| CN111095139B (en) | Method and system for detecting abnormal state of machine | |
| CN112171675A (en) | Obstacle avoidance method and device for mobile robot, robot and storage medium | |
| US11392136B2 (en) | Automated guided vehicle system and own-position estimation method for automated guided vehicle | |
| CN112000094A (en) | Single-and-double-eye combined high-voltage transmission line hardware fitting online identification and positioning system and method | |
| CN112684804B (en) | Obstacle crossing method, device and equipment of overhead line robot based on AI visual identification | |
| CN110567983B (en) | Method and system for detecting appearance problem of robot | |
| CN111674818B (en) | Intelligent monitoring method and device for stacking equipment and storage medium | |
| US20210323158A1 (en) | Recovery system and method using multiple sensor inputs | |
| CN113485318A (en) | Position correction method, device, equipment and storage medium | |
| Kang et al. | Safety monitoring for human robot collaborative workspaces | |
| CN112775971A (en) | Method for improving safety performance, robot control cabinet and storage medium | |
| CN113703460A (en) | Method, device and system for identifying vacancy of navigation vehicle | |
| CN107516328B (en) | AGV working point positioning method and system | |
| CN112091973A (en) | Mechanical arm protective door anti-collision detection method and system | |
| Grigorescu et al. | Controlling Depth Estimation for Robust Robotic Perception | |
| CN113436241B (en) | Interference verification method and system adopting depth information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |