CN201410665Y - Motion control device for industrial robot based on machine vision - Google Patents
Motion control device for industrial robot based on machine vision Download PDFInfo
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- CN201410665Y CN201410665Y CN2009200443038U CN200920044303U CN201410665Y CN 201410665 Y CN201410665 Y CN 201410665Y CN 2009200443038 U CN2009200443038 U CN 2009200443038U CN 200920044303 U CN200920044303 U CN 200920044303U CN 201410665 Y CN201410665 Y CN 201410665Y
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- control device
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Abstract
The utility model discloses a motion control device for an industrial robot based on machine vision. The motion control device comprises an industrial robot, an external PC, a camera and a video capture card, and is characterized in that the camera uses a CMOS sensor; the video signal collected by the camera generates the motion control signal after the collecting and processing by the external PC, then the processing result is transferred to a control cabinet of the industrial robot, and the industrial robot moves under the control of the control cabinet according to the preset operation content. The position between the camera and a worktable can be adjusted through a camera installing holder.
Description
One, technical field
The utility model belongs to the machine vision and the movement control technology field of industrial robot, is specifically related to a kind of industrial robot and utilizes the CMOS camera to carry out the technology of visual identity and motion control.
Two, background technology
Existing industrial robot generally is programme-control, in case set movement locus and content of operation, just can only carry out work by given movement locus and content of operation.For the independence that improves industrial robot and intelligent, technology such as computer vision and control in real time can be introduced among the industrial robot control system, make the industrial robot control system have more ability open and the adaptation circumstances not known, make existing industrial robot further adapt to the requirement of modern industry production small lot, multi-assortment production.Increase the visual identity function, can make the function of robot more become intelligent, man-machine cooperation is coordinated more, can finish some original robot systems the task of can't carrying out.But still incomparable at present ripe, practical industrial robot vision's identification and motion control device, the real-time of a few experiments device is not ideal enough, and manufacturing cost is high.
Three, summary of the invention
Purpose of design of the present utility model provides the device that a kind of CMOS of utilization camera carries out industrial robot vision's identification and motion control.
Technical solution of the present utility model is: a kind of industrial robot motion control device based on machine vision that is made of industrial robot, external PC, camera, video frequency collection card etc., it is characterized in that camera uses cmos sensor, camera is installed in the top of workbench, the two-dimentional coordinate position of detecting workpiece on job platform, and will be used for the motion control of industrial robot after this detection signal processing; The Cloud Terrace adjustment can be installed by camera in position between camera and the workbench.。
The utlity model has open structural system, can control polytype industrial robot, the user can make existing industrial robot further adapt to the requirement of modern industry production small lot, multi-assortment production according to the actual needs establishment of oneself and the movement locus and the content of operation of modification industrial robot.Owing to increased the Machine Vision Recognition function, it is intelligent that the function of robot more becomes, and man-machine cooperation is coordinated more, can finish some original robot systems the task of can't carrying out.
Four, description of drawings
Fig. 1 is the formation schematic diagram based on the industrial robot motion control device of machine vision.(1) is industrial robot among the figure, and (2) are the robot switch board, and (3) are communication cable, and (4) are PC, and (5) are video frequency collection card, and (6) are camera, and (7) install The Cloud Terrace for camera, and (8) are workpiece, and (9) are job platform.
Fig. 2 is the configuration schematic diagram of camera system.(6) are camera among the figure, and (7) install The Cloud Terrace for camera, and (8) are workpiece, and (9) are job platform.
Fig. 3 is the control software flow of PC.
Five, the specific embodiment
Embodiment 1:
The RS232 communication cable (3) that adopts peace river YASKAWA MOTOMAN-UP6 standard industry robot (1), YASNAC-XRC-UP6 robot switch board (2) and support and PC to carry out data communication.Wherein industrial robot (1) body is 6 vertical multi-joint types, and each joint shaft is by AC servo machinery driving; Have the built-in pci bus video frequency collection card (5) of VIDEO acquisition interface, be installed in the external PC (4) by Standard PC I slot.
External PC (4) adopts general-purpose computer, use universal CMOS camera (6), the VIDEO signal that CMOS camera (6) is gathered inserts video frequency collection card (5) by video trace, obtain workpiece (8) position on the job platform (9) by the signal processing software analysis, and export the position signalling of workpiece (8) to industrial robot switch board (2) by external PC (4) and control the motion of industrial robot (1).Position between CMOS camera (6) and the job platform (9) can be installed The Cloud Terrace (7) by camera and be adjusted.
Embodiment 2:
CMOS camera (6) is selected Philip SPC1330NC for use, this camera adopts the HD HD video, refresh rate up to 90 frame/seconds, have hardware 2,000,000 cmos sensors, 8 multiple sign indicating number zoom and wide-angle lens, the more details and the visual field can be at utmost guaranteed under the situation of not losing video image, to incorporate, the needs of visual identity can be satisfied to a greater degree.This camera adopts the USB interface outputting video signal, adopts process software providing with the machine, can omit video frequency collection card (5).
All the other configurations are with embodiment 1.
Robot (1) is when work, the visual information of workpiece (8) gathered and obtains in real time by PC (4) by CMOS camera (6), the extraction of process bianry image and level and smooth, obtain the real-time position information of workpiece (8) on job platform (9), and this positional information carried out comprehensive analysis processing by PC (4), then result is passed to industrial robot switch board (2), industrial robot (1) moves under the control of switch board (2) according to the predetermined operations content.The user can make existing industrial robot further adapt to the requirement of modern industry production small lot, multi-assortment production according to the actual needs establishment of oneself and the movement locus and the content of operation of modification industrial robot.Owing to increased the Machine Vision Recognition function, it is intelligent that the function of robot more becomes, and man-machine cooperation is coordinated more, can finish some original robot systems the task of can't carrying out.
Beneficial effect: the utility model can be finished visual identity and the motion control function of industrial robot, by In adopting general CMOS camera and built-in video capture card, manufacturing cost reduces greatly.
Claims (1)
1. industrial robot motion control device that constitutes by industrial robot (1), external PC (4), camera (6), video frequency collection card (5) etc. based on machine vision, it is characterized in that camera (6) uses cmos sensor, camera (6) is installed in the top of workbench (9), position between camera (6) and the workbench (9) can be installed The Cloud Terrace (7) by camera and be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200443038U CN201410665Y (en) | 2009-06-01 | 2009-06-01 | Motion control device for industrial robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200443038U CN201410665Y (en) | 2009-06-01 | 2009-06-01 | Motion control device for industrial robot based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201410665Y true CN201410665Y (en) | 2010-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200443038U Expired - Fee Related CN201410665Y (en) | 2009-06-01 | 2009-06-01 | Motion control device for industrial robot based on machine vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554924A (en) * | 2010-12-15 | 2012-07-11 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Manipulator locating device and conveying system |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN104526706A (en) * | 2014-12-03 | 2015-04-22 | 安徽省库仑动力自动化科技有限公司 | Visual identity robot system for aluminum smelting feeding |
| CN105416958A (en) * | 2015-11-20 | 2016-03-23 | 苏州铭冠软件科技有限公司 | Intelligent warehouse-in and warehouse-out system |
| CN105583857A (en) * | 2014-11-12 | 2016-05-18 | 沈阳新松机器人自动化股份有限公司 | Robot vision system |
-
2009
- 2009-06-01 CN CN2009200443038U patent/CN201410665Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554924A (en) * | 2010-12-15 | 2012-07-11 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Manipulator locating device and conveying system |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN103706568B (en) * | 2013-11-26 | 2015-11-18 | 中国船舶重工集团公司第七一六研究所 | Based on the robot method for sorting of machine vision |
| CN105583857A (en) * | 2014-11-12 | 2016-05-18 | 沈阳新松机器人自动化股份有限公司 | Robot vision system |
| CN104526706A (en) * | 2014-12-03 | 2015-04-22 | 安徽省库仑动力自动化科技有限公司 | Visual identity robot system for aluminum smelting feeding |
| CN105416958A (en) * | 2015-11-20 | 2016-03-23 | 苏州铭冠软件科技有限公司 | Intelligent warehouse-in and warehouse-out system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100224 Termination date: 20100601 |