CN1289270C - Vision controlling platform for opened industrial robot - Google Patents
Vision controlling platform for opened industrial robot Download PDFInfo
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- CN1289270C CN1289270C CN 01141591 CN01141591A CN1289270C CN 1289270 C CN1289270 C CN 1289270C CN 01141591 CN01141591 CN 01141591 CN 01141591 A CN01141591 A CN 01141591A CN 1289270 C CN1289270 C CN 1289270C
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Abstract
The present invention relates to an open-type vision controlling platform for industrial robots, which belongs to a universal industrial robot controlling system. The open-type vision controlling platform for industrial robots has an outstanding characteristic that an open-type industrial robot controller is applied to a vision controlling system of a robot. Multiplex visual information is collected and merged by a device with a plurality of CCD pickup cameras. A head platform and a lighting device of adjustable light are controlled by the open-type industrial robot controller. A computer is provided with a plurality of sets of operating systems and can complete control tasks of different time sequence requirements. As an open-type robot vision system, the controlling platform has important functions for increasing the control precision of robots and enhancing the adaptability of robots to unknown environments. The existing robot production can be more applicable to the requirements of small batches and multiple varieties of modernized industrial production, and the application domain of robots in industrial production is further widened.
Description
Technical field
The invention belongs to the general-purpose industrial robot control system, its outstanding characteristics are that technology such as computer vision, multi-robot coordination, control are in real time introduced in the opened industrial robot control system, increased the ability of opened industrial robot control system adaptation circumstances not known, made the function of opened industrial robot control system more powerful.
Background technology
The basic structure of traditional industry robot as shown in Figure 1, A1 is a controller, R1 is an industrial robot, D1 is the CCD camera, this vision system lacks independence and intelligent, the ROBOT CONTROL device mostly is controller and the incorporate configuration of manipulator (MANIPULATOR), the sealing of sort controller structure, and the user can not add new function on the basis of original vision system; Minority generally can only be installed the camera (CCD) of same model based on the robot vision controller of PC, can not choose at random vision sensor equipment; Do not possess The Cloud Terrace adjusting automatically, focal length and aperture and regulate automatically, therefore can not select to be suitable for the angle and the effect of PC identification flexibly; Only be equipped with common light source, or general shadowless lamp, do not have the FEEDBACK CONTROL of light intensity, so can not select light source flexibly and regulate light intensity according to the situation of reality; Have only the stereoscopic vision function or have only coordination function of hands and eyes, do not have a kind of robot vision controller can have stereoscopic vision and hand eye coordination concurrently; Because it is not enough that Common Controller can only be controlled the vision sensor quantity of single machine people and outfit, so can not realize the visually coordinated of multirobot; Operating system all is based on traditional Windows operating system, and real-time is relatively poor.
Also there are many incomplete places in the existing vision control system that is used for industrial robot at present, can not satisfy the requirement that robot discerns under circumstances not known, handles problems.On the market almost without comparison the success product-level industrial robot vision's control system, the research in this field is in laboratory stage substantially.
Summary of the invention
The present invention is a kind of multi-functional open robot vision control platform.At first, the present invention can finish the visual performance of at present all industrial robots, comprises the visually coordinated etc. of stereoscopic vision, visual servo, hand eye coordination and multirobot; Secondly, the present invention has open structural system, can control polytype industrial robot, servo controller, video equipment (comprising video frequency collection card and CCD camera), can control industrial robot more neatly, increase or change its hardware configuration more easily, realize different functions, make existing robots produce the requirement that further adapts to the many kinds of modern industry production small lot; At last, the present invention also can be used as a kind of experiment porch, by the control software of layer exploitation thereon based on different operating system, can be to can only experimentizing by the various control strategies of Computer Simulation in the past, for the research and the exploitation of futurity industry robot provides a kind of experiment porch.
Difference among the present invention and Fig. 1 is:
Increased external PC 11, made the user work out and to revise control program according to the actual needs of oneself.
But disposed the CCD camera (D2, D3, D4, D5...) that a plurality of fixed-site and random device robot end move, comprehensively realized stereoscopic vision, visual servo, hand eye coordination.
But disposed the The Cloud Terrace of regulating by the multiple degrees of freedom of opened industrial robot controller control (Y1, Y2...), can freely control the attitude and the shooting angle of CCD camera.
Disposed the adjustable lighting apparatus (L1...) of light intensity, can regulate light intensity according to actual needs by the control of opened industrial robot controller.
Can under visual environment, realize multirobot (R1, R2...) coordination by many robots of a controller control.
The many covers of computer configuration operating system can require to select according to different sequential.
Technological core of the present invention also is the opened industrial robot controller is applied to robotic vision system, connects the CCD camera of a plurality of different models by computer, and passes through opened industrial robot controller control The Cloud Terrace and lighting apparatus.Fig. 2 is the concrete line schematic diagram of this control platform, and I1 is industrial computer (PC) among the figure; A2 is the opened industrial robot controller; D2, D3 are the CCD camera of fixed-site, and the data wire of D2, D3 is connected on the video port of the video frequency collection card among the A2; D4 and D5 are the CCD camera that is fixed on the robot end, and data wire also is connected to the video port of the video frequency collection card among the A2, the variation of its position random device robot end and changing; Y1, Y2 are the The Cloud Terrace of D1 and D2, and the basic exercise of Y1, Y2 is by being installed in driven by servomotor on its turning cylinder, and the servomotor of Y1, Y2 links to each other with the servo output port of A2, and its attitude can be by robot controller A2 control; L1 be one can light modulation illuminating lamp, it links to each other with A2 by a light adjusting and controlling device (C6 among Fig. 3), the adjusting of light intensity also realizes by A2; R2 and R3 are two industrial robots, and their drive wire and holding wire all are connected to A2, and the motion planning of R2 and R3 and attitude adjustment are all controlled by A2.
The operation principle of Fig. 2 is as follows: computer links to each other with the CCD camera by the video frequency collection card that is inserted on its pci bus, capture card is the multichannel input, can select different cameras for use according to different needs, at first be sent to computer by multichannel camera collection image and by video line, obtain needed stereoscopic vision by Computer Analysis, from this stereoscopic vision signal, can extract needed various information (as object space, color etc.).According to resulting information, go out the movement locus of robot by specific algorithmic rule, decompose each joint then.Computer passes to open architecture robot controller A2 to the kinematic parameter in each joint, and the driving signal of the servo bag output in the controller can driven machine people R2 and the servomotor of R3, the motion of control robot.The position in R2 and each joint of R3 obtains by the code-disc that is installed on the joint motor.End at R2 and R3 also is equipped with CCD camera D4 and D5, they also link to each other with video frequency collection card in the computer, the picture signal of its collection changes along with the variation of robot end position and attitude, when carrying out hand eye coordination, picture signal that computer generalization analysis D4, D5 obtain and the joint position of R2, R3 carry out path planning to robot.Below D2, the D3 of fixed-site controlled The Cloud Terrace is housed all, the control of The Cloud Terrace also drives by the servo bag among the controller A2.It is very big that the sampled images effect of CCD camera is influenced by light intensity, so design A2 has the illuminating lamp L1 of a tunable optical of one tunnel output control, if the image effect that D2～the D5 sampling obtains is undesirable, system can regulate the light intensity of L1 automatically according to actual needs.Computer I 1 is inner to adopt multiple operating system, but all operations system hardware in the back-up system all, and the user can be according to different needs establishment user programs under different operating system environments.
Fig. 3 is an open architecture robot controller internal drive part line graph, C1 is multi-axis motion controller PMAC2-PCR (being called for short PMAC) among the figure, it can be inserted on the slot of the isa bus on the industrial computer, C2 and C3 are YASKAWA absolute encoder converter ACC-8D-OPTION9, C4 is Signal Matching converter ACC-8E, C5 also is Signal Matching converter ACC-8F, and C6 is a voltage regulator circuit, and C2, C3, C4, C5 and C6 are installed in A2 inside; The JMAC1 port of C1 is connected with the P6 mouth of C2, and JMAC2 is connected with the JMACH mouth of C4 and C5 respectively with the JMAC4 port; The J1 of C2 and C4, J2 port link to each other, and J1, the J2 port of C3 and C5 link to each other, and the P5 port of C2 links to each other with the P6 port of C3; S1, S2 and S3 are respectively the dissimilar servo bags of two classes, and S1 and S2 are the imported servo bags of voltage signal, and input voltage is 0～6V, and S3 is the imported servo bag of pulsewidth modulation (PWM), is input as the PWM ripple; The P1 of C2 and P2 port are connected respectively to the EO port of S1 and S2, and the TB3 of C4 and TB5 port are connected respectively to the CI port of S2 and S1, and the TB4 port links to each other with C6.M1 and M3 are the robot servomotor, and M2 is that The Cloud Terrace is adjusted motor, and M1, M2 link to each other with S3 with servo bag S1, S2 respectively with M3; E1, E2 and E3 are respectively the code-disc signal output unit (ENCODER) of M1, M2 and M3; L1 is the adjustable illuminating lamp of light intensity, links to each other with C6.
The operation principle of Fig. 3 is as follows:
Send voltage control signal by operating in the control program of working out on the industrial computer, send C4 to by the JMAC2 interface on the C1, send servo bag S1 by C4 to through amplifying again, and then the driving pulse of formation servomotor M1, computer is also controlled multi-axis motion controller (PMAC) and is produced another road pwm signal in addition, and pass to interface board C5 by JMAC4, and export to the servo bag S3 that needs the PWM input signal by the P5 port of C5 again, the driving signal of servomotor M3 is just from S3.
The variation of the position in each joint of robot is to produce by the code-disc that is installed on the servomotor, because servo bag is inequality, so the pipeline of code-disc signal also is different.The code-disc signal of the M1 that is produced by E1 is given S1 earlier, and EO (ENCODE OUTPUT) port by S1 passes to absolute encoder converter C2 again, and C2 is converted to the increment code wheel signal with the absolute encoder signal, and absolute encoder signal and increment code wheel signal are all passed PMAC back; And the code-disc signal of M3 is to be directly passed to C3 after being produced by E3, and the signal of C3 produces absolute signal and increment signal respectively through C2 and C5 again, and finally is aggregated into PMAC by JMAC1 on the PMAC and JMAC4.Computer has just obtained the code-disc signal of two kinds of servomotors like this, just can understand these code-disc signals by computer program, to determine the position and the motion state in each joint of robot.
The adjustment of The Cloud Terrace is to realize that by the rotation that is installed in the servomotor M2 on the The Cloud Terrace adjusting of M2 and M1 is similar, and different is that the driving signal of S1 comes from the TB5 of C4, and the driving signal of S2 comes from the TB3 of C4.
The adjustment of illuminating ray intensity also realizes by controller, computer is given C1 according to regulation voltage of situation output of camera sampled images, C1 sends this signal to C4, the voltage signal of the 0～6V of TB4 port output of C4 is given voltage regulator circuit C6, the output of C6 is entered as linear change according to it, therefore, can regulate the brightness of L1.
The major advantage of the opened industrial robot vision platform that the present invention proposes is as follows: the opened industrial robot controller is applied in the vision system, adopt open structure, the user on the one hand can be according to the needs flexible customization hardware configuration of oneself, can on this controls the basis of platform, carry out secondary development on the other hand, finish the not available task of some original systems; Have automatic light intensity regulatory function, can overcome well because light changes the influence that characteristic information extracts and identification brings to vision system; System adopts the The Cloud Terrace of opened industrial robot controller control CCD camera, the visual angle of attitude flexible modulation camera that can be by regulating The Cloud Terrace, and it is low and regulate the shortcoming of uniformity difference to have overcome the manual adjustments precision; Employing comprises many CCD cameras fixed-site and that be installed in the robot end, can realize stereoscopic vision and coordination function of hands and eyes simultaneously; Computer is installed the many covers operating system comprise Windows, real-time Linux, VXWorks and QNX, the task that different sequential require such as can adapt to from the off-line programing to the real-time operation.During off-line programing, computer is obtained visual information by camera, through the extraction of bianry image and level and smooth, obtains the line graph that is made of hachure by thin line of imageization again.Thinning lines in the disposable extraction line graph can be cooked up the kinematic parameter in each joint of robot as robot end's execution route.Computer sends instruction to open architecture robot controller, the motion of control robot; During real-time operation, the information of computer real-time acquisition fixed-site and the camera that moves, obtain the visual information of robot end's position and attitude and circumstances not known, multichannel visual information is carried out binaryzation, graph thinning processing, merge each road information then and carry out integrated treatment, form the kinematic parameter in each joint of robot, by open architecture robot controller instruction is passed to industrial robot then, the motion in control each step of robot realizes the vision tracking.
Description of drawings
Fig. 1 is the configuration connection layout of traditional industrial robot control system;
Fig. 2 is for adopting the vision platform configuration connection layout of opened industrial robot controller;
Fig. 3 is an opened industrial robot controller internal drive part connection layout.
The specific embodiment
This control platform has been realized the control of servomotor, multiple degrees of freedom The Cloud Terrace and Dimmable lighting lamp to the different machines people by circuit shown in Figure 3.In an embodiment, built by an industrial robot, an opened industrial robot controller, two CCD cameras, a video frequency collection card and the opened industrial robot vision platform that parts such as controlled The Cloud Terrace are formed.Industrial computer can adopt ADVANTECH-610, adopt peace river YASKAWA MOTOMAN SK10 humanoid robot body as the control object, two kinds of servo bags adopt a day intrinsic safety river YASKAWACACR-SR15SZ1SD-Y214 type single shaft to drive servo bag and four servo bags of driving of DELTA TAU respectively, the former is the servo bag of voltage-controlled type, the S that is used for the driven machine people, L, four joints of U and R, the latter is the servo bag of PWM ripple control type, B and two joints of T of being used for driven machine people wrist, camera adopts SONY Digital Hyper HAD colour imagery shot, video frequency collection card is selected the OK-C80/M capture card of pci bus for use, and The Cloud Terrace is selected the indoor The Cloud Terrace of Y3030W for use.
The present invention is the device that religion is reproduced and vision is followed the tracks of of looking of realizing industrial robot.
When looking religion and reproducing, computer is obtained the reflection of a width of cloth picture by the camera of fixed position, through the extraction of bianry image and level and smooth, obtains the line graph that is made of hachure by thin line of imageization again.Thinning lines in the extraction line graph is as robot end's execution route, can cook up the kinematic parameter in each joint of robot, according to aforesaid principle, computer sends instruction to controller, controller is issued each joint with instruction, the motion of control robot, like this, robot just can draw the captured image of fixing camera to come out on chart board.The result that robot vision control is handled can reflect the feature of input picture substantially, for the planning of open architecture robot controller provides the foundation.The image that robot goes out with stroke then is the reproduction of robot vision control result fully, has reached the effect of vision control.
The vision tracking is to realize with the dollying head that is installed in the robot end is common by the camera of fixed position.The image that computer is at first obtained by the camera of fixed position is judged the relative position of robot end and workbench, and the control robot end is to movable workbench, and the position obtains to assign all with movement instruction carries out in real time.Clamp a drawing pen the robot end,, introduce the image information of dollying head, can obtain the reflection of the curve of painting in advance on the workbench when drawing pen end during near work top.Analysis obtains its starting point, and with close this point of terminal drawing pen, gathers the information that fixed position, next door camera obtains simultaneously, forms stereoscopic vision, can locate more accurately.Behind the location, computer forms control instruction according to the aim curve that the dollying head is obtained, by controller driven machine robot end tracking target curve, and the camera assist location of while fixed position.So just can finish tasks such as vision tracking.Because this mission requirements real-time is higher, so operating system is selected the real-time Linux system.
The present invention adopts the opened industrial robot controller to replace the machine of traditional structure sealing People's controller has been realized the information fusion of fixing camera and dollying head, by open worker The industry robot controller is realized the multiple degrees of freedom adjustment of The Cloud Terrace and the automatic adjusting of illuminating ray intensity, And designed the multiple operating system structure. It is flexible that this invention makes the user of robot pass through computer Ground is adjusted and is changed the robotic vision job task, can construct newly at open vision platform The adaptation upper strata control software of different production requirements separately. Therefore can increase for robot easily Add the function that does not possess when some dispatch from the factory, improved the control ability of user to robot. This creation Control accuracy for improving industrial robot increases it to the adaptive capacity of circumstances not known, expands The application of robot in industrial production has important effect.
Claims (3)
1. vision controlling platform for opened industrial robot that is made of opened industrial robot controller, multiplex image acquisition device, the controlled The Cloud Terrace of multiple degrees of freedom, automatic light modulation device and industrial computer is characterized in that:
A. industrial computer links to each other with industrial robot controller, the opened industrial robot controller links to each other with a plurality of robot ends' of being fixed on CCD camera, also link to each other with the CCD camera of a plurality of fixed-site, the CCD camera of this fixed-site places on the The Cloud Terrace, The Cloud Terrace links to each other with the opened industrial robot controller, the opened industrial robot controller also connects a lighting apparatus, and this controller links to each other with a plurality of robots, and controls the position and the attitude of a plurality of robots;
B. the internal drive of vision controlling platform for opened industrial robot partly adopts the architecture that absolute encoder converter, Signal Matching converter, servo bag, voltage regulator circuit, servomotor and multi-axis motion controller are worked in coordination; Multi-axis motion controller C1 is inserted on the slot of the isa bus on the industrial computer, the JMAC1 port of C1 is connected with the P6 port of absolute encoder converter C2, the P5 port of C2 links to each other with the P6 port of absolute encoder converter C3, the J1 port of C2 connects the J1 port of Signal Matching converter C4, and the J2 port of C2 connects the J2 port of C4; The P1 port of C2 connects the EO port of servo bag S1, and S1 also is connected with servomotor M1, and M1 is connected with S1 by code-disc E1, and the P2 port of C2 is connected with the port EO of servo bag S2, and S2 is connected with servomotor M2, and M2 is connected with S2 by code-disc E2; The J1 port of C3 is connected with the J1 of Signal Matching converter C5, and the J2 port of C3 is connected with the J2 of C5; The JMAC2 port of C1 is connected with the JMACH port of C4, and the TB5 port of C4 connects the CI port of servo bag S1, and the TB4 port connects voltage regulator circuit C6, and C6 is connected with illuminating lamp L1, and port TB3 connects the CI port of servo bag S2; The JMAC4 port of C1 connects the JMACH port of Signal Matching converter C5, and the P5 port of C5 connects the CI port of servo bag S3, and S3 is connected with servomotor M3, and M3 is connected with the P1 port of C3 by code-disc E3.
2. vision controlling platform for opened industrial robot as claimed in claim 1, it is characterized in that: lighting apparatus L1 is for can regulate the illuminating lamp of light intensity according to actual needs.
3. vision controlling platform for opened industrial robot as claimed in claim 1 is characterized in that:
Windows, real-time Linux, VXWorks and QNX are installed overlap operating system more, can adapt to the task that different sequential require from the off-line programing to the real-time operation; During off-line programing, computer is obtained visual information by camera, the extraction of process bianry image and level and smooth, obtain the line graph that constitutes by hachure by thin line of imageization again, thinning lines in the disposable extraction line graph is as robot end's execution route, can cook up the kinematic parameter in each joint of robot, computer sends instruction to open architecture robot controller, the motion of control robot; During real-time operation, the information of computer real-time acquisition fixed-site and the camera that moves, obtain the visual information of robot end's position and attitude and circumstances not known, multichannel visual information is carried out binaryzation, graph thinning processing, merge each road information then and carry out integrated treatment, form the kinematic parameter in each joint of robot, by open architecture robot controller instruction is passed to industrial robot then, the motion in control each step of robot realizes the vision tracking.
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| CN 01141591 CN1289270C (en) | 2001-11-09 | 2001-11-09 | Vision controlling platform for opened industrial robot |
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| CN 01141591 CN1289270C (en) | 2001-11-09 | 2001-11-09 | Vision controlling platform for opened industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI616268B (en) * | 2012-02-16 | 2018-03-01 | 循環工程股份有限公司 | Apparatus and method for controlling stage apparatus comprising multiple shafts |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100336635C (en) * | 2004-07-15 | 2007-09-12 | 中国科学院自动化研究所 | Stereoscopic vision monitoring device with five degrees of freedom |
| CN100389013C (en) * | 2005-04-01 | 2008-05-21 | 北京理工大学 | Reconstruction of human emulated robot working scene based on multiple information integration |
| CN100457357C (en) * | 2007-06-11 | 2009-02-04 | 南京航空航天大学 | Microvision servo-system of platinum aurum fiber drawing bushing nozzle arc welding robot and the method thereof |
| CN102495638A (en) * | 2011-12-01 | 2012-06-13 | 王鹏勃 | Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof |
| WO2013150596A1 (en) * | 2012-04-02 | 2013-10-10 | 株式会社安川電機 | Robot system and work facility |
| CN102699912B (en) * | 2012-05-17 | 2014-09-24 | 华中科技大学 | Pick-and-placement control method and system for fragile materials |
| CN104850108B (en) * | 2015-05-19 | 2017-12-19 | 国家电网公司 | Brightness controllable compensating vision positioning device and method for mobile industrial robot |
| CN106656706B (en) * | 2017-02-25 | 2020-06-19 | 华南理工大学 | Software bus-based service-oriented robot open control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI616268B (en) * | 2012-02-16 | 2018-03-01 | 循環工程股份有限公司 | Apparatus and method for controlling stage apparatus comprising multiple shafts |
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