CN112720449A - Robot positioning device and control system thereof - Google Patents
Robot positioning device and control system thereof Download PDFInfo
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- CN112720449A CN112720449A CN201910972396.9A CN201910972396A CN112720449A CN 112720449 A CN112720449 A CN 112720449A CN 201910972396 A CN201910972396 A CN 201910972396A CN 112720449 A CN112720449 A CN 112720449A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a robot positioning device and a control system thereof, and the robot positioning device comprises a programmable controller, an image acquisition device, a control box, a servo amplifier, a manipulator and an execution mechanism, wherein the programmable controller is used for sending an instruction and sending a measurement starting signal to the control box, the control box is used for receiving a signal and controlling the execution mechanism, the servo amplifier is used for driving the manipulator to move and receiving feedback information of the execution mechanism, the manipulator is used for adjusting the position of the execution mechanism, the execution mechanism is used for processing a workpiece, the image acquisition device comprises an acquisition module and a transmission module, the acquisition module is used for acquiring tool image position information, and the transmission module is used for transmitting corresponding image information to the programmable controller. The robot positioning device and the control system thereof can control the high-precision end actuating mechanism, adjust the pose of the robot to reduce deviation and improve the positioning precision of the robot.
Description
Technical Field
The invention relates to the field of positioning robots, in particular to a robot positioning control system;
the invention relates to the field of positioning robots, in particular to a robot positioning device.
Background
At present, with the industrial application of computer software technology and electronic information technology, the machine manufacturing industry has generally shifted to the digitalization and automation of mechanical operation, various servo control subsystem developments for satisfying different types of mechanical arm operation have been successfully approved and put into the production of mechanical products, with the development of industry, the robot industry has been vigorously developed, especially the development on the processing and manufacturing industry is extremely rapid, how to realize the rapid and efficient use of the robot has become a focus of people's attention in related fields, in order to adapt to the flexible, accurate, informationized, automated, rapid and efficient requirements of the use environment, the robot has developed from the previous simple material handling, stacking to the present integrated technology integrating mechanical design, computer science, communication technology, automation technology and management science, generally, the way of handling the workpiece on the fixed station by the robot is to mount the robot on the fixed station, that is, after the robot is fixed, the robot is operated according to the fixed way and posture.
The existing robot positioning control system can only execute preset command actions in a strictly defined structural environment and lacks the strain capacity to the environment, so that the deviation between an execution mechanism and a workpiece is increased, and the positioning precision of the robot positioning control system is influenced.
Therefore, a robot positioning device and a control system thereof are provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a robot positioning device and a control system thereof, wherein the robot positioning device and the control system thereof can control a high-precision end executing mechanism, reposition a workpiece, adjust the pose of a robot to reduce deviation, improve the positioning precision of the robot and solve the problems in the background technology.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a robot positioning control system comprises a programmable controller, an image acquisition device, a control box, a servo amplifier, a manipulator and an execution mechanism, wherein the programmable controller is used for sending an instruction and sending a measurement starting signal to the control box, the control box is used for receiving the signal and controlling the execution mechanism, the servo amplifier is used for driving the manipulator to move and receiving feedback information of the execution mechanism, the manipulator is used for adjusting the position of the execution mechanism, and the execution mechanism is used for processing a workpiece;
the image acquisition device comprises an acquisition module and a transmission module, wherein the acquisition module is used for acquiring the position information of the tool image, and the transmission module is used for transmitting the corresponding image information to the programmable controller;
the programmable controller comprises an input module, a storage module, a processing module and an output module, wherein the input module can be used for setting an expected pose of a workpiece, the storage module is used for memorizing acquired workpiece image information and the set expected pose, the processing module is used for processing the acquired workpiece image information and calculating the deviation between the pose of the workpiece at the tail end of the execution mechanism and the expected pose, and the output module is used for transmitting the information to the control box in a signal mode;
the control box comprises an adjusting module, an industrial power supply and a data processing module, wherein the adjusting module is used for adjusting the position of the manipulator according to a received instruction, and the data processing module is used for processing information transmitted by the programmable controller and making a manipulator pose adjusting strategy according to the information.
Preferably, the image acquisition device is a camera.
Preferably, the step of processing the acquired workpiece image information is to select a tracked local image, match based on a region, extract a tracked image feature, and identify and calculate the tracked image feature.
Preferably, the method for extracting the tracking image features comprises the steps of firstly taking the workpiece as an important feature for identifying the workpiece according to the difference between colors of the workpiece and colors of a workbench, judging boundary points of the workpiece by changing the gray level of the edge of the workpiece, then adopting a scanning line method, taking pixel points with sharply changed gray level in the scanning direction as the boundary points, finally fitting the found boundary points to form a circumference by a least square method, and calculating the position of a circle center.
Preferably, the industrial power supply is an industrial ATX power supply, and the industrial power supply is provided with a 24-port control power supply interface, an 8-port display card power supply interface and a 6-port CPU power supply interface respectively.
The robot positioning device comprises a device main body, a driving mechanism positioned at the upper end of the device main body, an actuating mechanism positioned at one end of the driving mechanism and a base positioned on the outer surface of the lower end of the device main body, wherein a camera is arranged on the outer surface of one side of the actuating mechanism.
Preferably, a fixed plate is fixedly mounted on the outer surface of one side of the executing mechanism, which is close to the upper end of the executing mechanism, a sliding groove is formed in the outer surface of the lower end of the fixed plate, a through hole is formed in the top end of the inner surface of the sliding groove, a sliding block is fixedly mounted on the outer surface of the upper end of the camera, and a fixed hole is formed in the middle position of the outer surface of the upper end of.
Preferably, the sliding block is located inside the sliding groove, the fixing hole and the through hole are located on the same axis, and threads with the same rotation coefficient are arranged on the inner surfaces of the fixing hole and the through hole.
(III) advantageous effects
The invention provides a robot positioning device and a control system thereof, which have the following beneficial effects:
the robot positioning device and the control system thereof combine matching based on regions and shape feature identification to carry out data identification and calculation, can quickly and accurately identify the boundary and the mass center of the object feature, and then cooperate with preset expected pose and workpiece real-time pose comparison, and then control the high-precision end actuating mechanism to adjust the high-precision end actuating mechanism, so as to reduce the deviation between the actual pose and the expected pose of the robot actuating mechanism, thereby solving the problem that the actual pose of the robot actuating mechanism is far away from the expected pose and improving the positioning precision of the robot.
Drawings
FIG. 1 is an overall system block diagram of the present invention;
FIG. 2 is a block diagram of an image capturing device according to the present invention;
FIG. 3 is a block diagram of a programmable controller according to the present invention;
FIG. 4 is a block diagram of the control box of the present invention;
FIG. 5 is a flow chart of the operation of the control actuator of the present invention;
FIG. 6 is a workflow diagram of the present invention comparing real-time pose to expected pose deviations;
FIG. 7 is an overall structural view of the positioning device of the present invention;
fig. 8 is a mating view of a camera head and a fixation plate of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a robot positioning control system comprises a programmable controller, an image acquisition device, a control box, a servo amplifier, a manipulator and an actuating mechanism, wherein the programmable controller is used for sending an instruction and sending a measurement starting signal to the control box;
referring to fig. 2, an image acquisition device includes an acquisition module and a transmission module, the acquisition module is used to acquire tool image position information, the transmission module is used to transmit corresponding image information to a programmable controller, the steps of processing the acquired workpiece image information include selecting a tracked local image, matching based on regions, extracting tracking image features, identifying and calculating the tracking image features, the method of extracting the tracking image features includes firstly using the workpiece as an important feature for identifying the workpiece according to the difference in color between the workpiece and a worktable, determining boundary points of the workpiece by changing the gray level of the edge of the workpiece, then adopting a scanning line method, determining pixel points with sharp gray level change in the scanning direction as the boundary points, finally fitting the found boundary points into a circle by a least square method, and calculating the position of the circle center;
referring to fig. 3, the programmable controller includes an input module, a storage module, a processing module and an output module, the input module can be used to set an expected pose of a workpiece, the storage module is used to memorize the acquired image information of the workpiece and the set expected pose, the processing module is used to process the acquired image information of the workpiece and calculate the deviation between the pose of the workpiece at the end of the execution mechanism and the expected pose, and the output module is used to transmit the information to the control box in the form of signals;
referring to fig. 4, the control box includes an adjustment module, an industrial power supply and a data processing module, the adjustment module is configured to adjust a position of the manipulator according to a received instruction, the data processing module is configured to process information transmitted by the programmable controller, and make a manipulator pose adjustment policy according to the information, the industrial power supply is an industrial-grade ATX power supply, and the industrial power supply is respectively provided with a 24-port control power supply interface, an 8-port graphics card power supply interface, and a 6-port CPU power supply interface.
Referring to fig. 7-8, a robot positioning device includes a device body, a driving mechanism located at an upper end of the device body, an actuator located at one end of the driving mechanism, and a base located at a lower outer surface of the device body, a camera is disposed on an outer surface of one side of the actuator, a fixing plate is fixedly mounted at a position, close to the upper end, of an outer surface of one side of the actuator, a chute is formed in an outer surface of the lower end of the fixing plate, a through hole is formed in a top end of an inner surface of the chute, a slider is fixedly mounted on an outer surface of the upper end of the camera, a fixing hole is formed in a middle position of the outer surface of the upper end of the slider, the slider is located inside the chute, the fixing.
To sum up, firstly, the programmable controller and the control box are enabled to enter a working state through an industrial power supply, a video camera and a 1394 series acquisition card are used for carrying out video shooting on a working area, video signals are input into the programmable controller, meanwhile, the expected pose of a workpiece is preset, the workpiece is rapidly processed through a processing module, a local image of a tracked object is selected as a template image, region-based matching is carried out in an original image, a coordinate system is established by taking the lower left corner of the template as an origin, then a search area ROI is defined, a corresponding area is selected according to the shape of the feature to be extracted, the search area ROI comprises all target features, the features of the workpiece are extracted from the ROI to obtain the relative position relation of the ROI and the workpiece, so that the deviation, the overturn and the like of the workpiece in real-time identification can be accurately shown at a proper position, when the similarity criterion of elements in the search area is maximized, then the elements are considered to be matched, defining P (i, j) P as a point in the template image, taking a certain neighborhood taking P (i, j) P as a center as a correlation window K, the size of which is (2w +1), assuming that K is in the original image, after translating Δ u in the horizontal direction and translating Δ u in the vertical direction, the search area covered by K is called as a subgraph Sk, if K and Sk are the same, the difference between K and Sk is zero, otherwise, the difference is not zero, and thus defining the correlation function of K and Sk as follows:
when D (K, Sk) reaches the minimum, K and Sk reach the best matching;
then according to the difference of the color of the workpiece and the color of the workbench, the workpiece is taken as the important characteristic of identifying the workpiece, the gray scale at the edge of the workpiece is changed, so as to judge the boundary point of the workpiece, then the method of scanning line is adopted, the pixel point with the sharp change of the gray scale in the scanning direction is taken as the boundary point, finally, the found boundary point is fitted into the circumference by the least square method, the circle center position is calculated, the visual system finds the characteristic to be identified through the steps of region matching, threshold value segmentation and edge extraction, then the characteristic on the workpiece is taken as the positioning reference of the robot, the world coordinate of the A (X, Y, Z) circle center, when the circle center is coincident with the center of the visual image, the robot positioning is completed, the camera is calibrated, the image of the workpiece pose is collected by the collection module and is transmitted to the programmable controller, the projection matrix ceM is obtained, namely, the conversion relation between the, after the camera shoots an image, coordinates a (X, Y) of the center of a circle in the image are obtained through feature recognition, offset amounts delta X and delta Y from the center of the image are calculated, and the world coordinate of the actuating mechanism is calculated according to the following formula by taking A (X, Y, Z) as a referenceB(X1，Y1，Z1)：
X1＝△x·Mcw·Mc+X
Y1＝△y·Mcw·Mc+Y
Z1＝Z
Wherein Mc is a coordinate conversion parameter of the camera and the actuating mechanism, determines the three-dimensional coordinate of the workpiece, obtains the given value of the joint position of the mechanical arm, the pose information of the workpiece acquired by the camera is transmitted to the programmable controller, the processing module calculates the deviation between the pose of the workpiece at the tail end of the actuating mechanism and the expected pose to obtain a deviation signal between the pose and the expected pose, the data processing module processes the information transmitted by the programmable controller, and a manipulator pose adjustment strategy is made according to the information, and then the adjustment strategy is sent to a servo amplifier, the manipulator is driven to adjust so as to control the actuating mechanism to adjust the pose of the robot, adjust the pose, reposition the position of a workpiece, reduce the deviation between the two, therefore, the problem that the actual pose of the robot actuating mechanism is far away from the expected pose is solved, and the positioning accuracy of the robot is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A robot positioning control system is characterized in that: the device comprises a programmable controller, an image acquisition device, a control box, a servo amplifier, a manipulator and an execution mechanism, wherein the programmable controller is used for sending an instruction and sending a measurement starting signal to the control box, the control box is used for receiving a signal and controlling the execution mechanism, the servo amplifier is used for driving the manipulator to move and receiving feedback information of the execution mechanism, the manipulator is used for adjusting the position of the execution mechanism, and the execution mechanism is used for processing a workpiece;
the image acquisition device comprises an acquisition module and a transmission module, wherein the acquisition module is used for acquiring the position information of the tool image, and the transmission module is used for transmitting the corresponding image information to the programmable controller;
the programmable controller comprises an input module, a storage module, a processing module and an output module, wherein the input module can be used for setting an expected pose of a workpiece, the storage module is used for memorizing acquired workpiece image information and the set expected pose, the processing module is used for processing the acquired workpiece image information and calculating the deviation between the pose of the workpiece at the tail end of the execution mechanism and the expected pose, and the output module is used for transmitting the information to the control box in a signal mode;
the control box comprises an adjusting module, an industrial power supply and a data processing module, wherein the adjusting module is used for adjusting the position of the manipulator according to a received instruction, and the data processing module is used for processing information transmitted by the programmable controller and making a manipulator pose adjusting strategy according to the information.
2. A robot positioning control system according to claim 1, characterized in that: the image acquisition device is a camera.
3. A robot positioning control system according to claim 1, characterized in that: the steps of processing the acquired workpiece image information are respectively selecting a tracked local image, matching based on the region, extracting the characteristics of the tracked image, and identifying and calculating the characteristics.
4. A robot positioning control system according to claim 3, characterized in that: the method for extracting the tracking image features comprises the steps of firstly taking the workpiece as an important feature for identifying the workpiece according to the difference of colors of the workpiece and a workbench, judging boundary points of the workpiece by changing the gray level at the edge of the workpiece, then adopting a scanning line method, taking pixel points with sharply changed gray level in the scanning direction as the boundary points, finally fitting the found boundary points to form a circumference by a least square method, and calculating the position of a circle center.
5. A robot positioning control system according to claim 1, characterized in that: the industrial power supply is an industrial ATX power supply and is respectively provided with a 24-port control power supply interface, an 8-port display card power supply interface and a 6-port CPU power supply interface.
6. A robot positioning device according to claim 1, characterized in that: the positioning device comprises a device main body, a driving mechanism positioned at the upper end of the device main body, an actuating mechanism positioned at one end of the driving mechanism and a base positioned on the outer surface of the lower end of the device main body, wherein a camera is arranged on the outer surface of one side of the actuating mechanism.
7. A robot positioning device according to claim 6, characterized in that: the camera is characterized in that a fixing plate is fixedly mounted on the outer surface of one side of the executing mechanism, which is close to the upper end of the executing mechanism, a sliding groove is formed in the outer surface of the lower end of the fixing plate, a through hole is formed in the top end of the inner surface of the sliding groove, a sliding block is fixedly mounted on the outer surface of the upper end of the camera, and a fixing hole is formed in the middle position of the.
8. A robot positioning device according to claim 7, characterized in that: the sliding block is located inside the sliding groove, the fixing hole and the through hole are located on the same axis, and threads with the same rotation coefficient are arranged on the inner surfaces of the fixing hole and the through hole.
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Application publication date: 20210430 |