CN201892840U - Virtual reality technology-based integrated control system for spraying industry robot - Google Patents
Virtual reality technology-based integrated control system for spraying industry robot Download PDFInfo
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- CN201892840U CN201892840U CN2010202553016U CN201020255301U CN201892840U CN 201892840 U CN201892840 U CN 201892840U CN 2010202553016 U CN2010202553016 U CN 2010202553016U CN 201020255301 U CN201020255301 U CN 201020255301U CN 201892840 U CN201892840 U CN 201892840U
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Abstract
The utility model comprises a virtual reality technology-based integrated control system for a spraying industry robot, which is characterized in that the integrated control system comprises a virtual environment controller, a robot controller and a spraying robot, wherein the robot controller is connected with the spraying robot and the virtual environment controller; the system of the utility model provides a brand-new man-machine interaction environment and completes a preview of the whole spraying process through virtuality and simulation of the system; a user can observe the whole process of spraying work in real time through virtual operation on the system and analyzes the spraying effect, so as to select technical indexes and parameters meeting the spraying effect; a development cycle of a robot program is shortened, and spraying precision of the system is improved; therefore, the system is a platform which has high economic benefit and is easy to be accepted by the user.
Description
Technical field
The utility model belongs to the robot complex control system, particularly a kind of spraying industrial robot complex control system based on virtual reality technology.
Background technology
Virtual reality technology (Virtual reality VR), claims clever border technology again, is a kind of New World of being created by computing machine and electronic technology, the user can carry out intuitively with the computer-generated data space, perception, nature mutual.
Virtual reality technology is the technology that causes extensive concern in recent years in computer realm, and dimensional Modeling Technology is a most important technical field in the virtual reality, is the basis that whole virtual reality system is set up; Continuous development along with science and technology, the combination of virtual reality technology and Robotics, to become one of research direction that has development potentiality and application prospect, virtual reality technology is the gordian technique in the man-machine interactive system of new generation, the user generates a virtual emulation environment by computer technology, both can save the funds of a large amount of construction physics simulated environment, also can revise the physical parameter of simulated environment easily.
OpenGL is the three-dimensional picture standard of a performance brilliance growing up in recent years, be independent of the software interface of hardware, current, integrated OpenGL graphics standard among the OO VC++6.0 of Microsoft company exploitation, add OpenGL and have the programming modeling, easily realize the advantages such as real-time three-dimensional emulation of highly clear sense, in the design and motion simulation with robot of being widely used gradually.
Though this type of dummy emulation system occurs, also there are many deficiencies, only have flat colour and simple reflective characteristic as the realistic model that adopts the VB+VRML exploitation; Three-dimensional model is browsed to be needed by means of the existing browser in outside, and outside browser needs to install separately, and this makes that the transplantability of total system is not strong; VC+VRML system interaction mode is single, and the animation that carries out that dismounting, mechanism kinematic can only be passive is browsed; The utilization Java language is set up the robot simulation platform and is carried out internal data and handle, and sets up the system of robot simulation model by VRML, requires performance than higher to subscriber computer, and during by wide-area network access, it is consuming time many to download mass data.
In sum, develop a kind of perfect in shape and function, versatility dummy emulation system good, that interactivity is strong and have actual production meaning.
The utility model content
The purpose of the utility model system has been to provide a kind of perfect in shape and function, the spraying industrial robot complex control system based on virtual reality technology that interactivity is good, practical.
The utility model comprises following technical characterictic: a kind of spraying industrial robot complex control system based on virtual reality technology is characterized in that comprising: virtual operation platform, robot controller and spray robot; Described robot controller is connected with spray robot; Described virtual environment controller is connected with robot controller;
Described virtual environment controller comprises model data load module, communication and interface module, database module, spray gun track generation module, robot motion's track generation module, spraying process dynamic simulation module, analyzes demonstration spraying object module, robot motion's track data storehouse and job instruction generation module;
Described model data load module is connected with interface module with communication, described communication is connected with database module with interface module, described database module is connected with spray gun track generation module, described spray gun track generation module is connected with robot motion's track generation module, described robot motion's track generation module is connected with spraying process dynamic simulation module, described spraying process dynamic simulation module shows that with analysis the spraying object module is connected, described analysis shows that the spraying object module is connected with robot motion's track data storehouse, described robot motion's track data storehouse is connected with the job instruction generation module, described job instruction generation module is connected with interface module with communication, and by robot controller spray robot is controlled.
Further, comprise that also spraying is provided with module, described spraying is provided with module and shows that with database module, spray gun track generation module, spraying process dynamic simulation module, analysis spraying object module, communication are connected with robot motion's track data library module with interface module respectively.
The input data of model data load module comprise spraying workpiece data and the human model data thereof that spraying workpiece cad data robot model's cad data and scanning obtain.
The utility model system provides a kind of brand-new man-machine interaction environment, by the virtual emulation of system, finishes the preview of whole spraying process; The user is by the pseudo operation in system, whole process that can the Real Time Observation spraying operation, analyze spraying effect, thereby select to satisfy the technical indicator and the parameter of spraying effect, not only shortened robot program's construction cycle, more having improved the deposition accuracies of system, is a kind of economic benefit height, platform susceptible to user acceptance.
Description of drawings
Fig. 1 is the hardware configuration synoptic diagram of the utility model system;
Fig. 2 is the system construction drawing of the utility model system.
Embodiment
The utility model is a kind of spraying industrial robot complex control system based on virtual reality technology as shown in Figure 1 and Figure 2, it is characterized in that comprising: virtual operation platform, robot controller and spray robot; Described robot controller is connected with spray robot; Described virtual environment controller is connected with robot controller;
The user is before a given spraying task order, earlier this order is sent to dummy emulation system, pass through virtual emulation, finish the preview of spraying process, in simulation process, the user can observe the spraying result of dummy emulation system, if the spray robot operational process is steady and spraying effect reaches requirement, the spray robot controller that is about to satisfy robot motion's track data storage of this requirement and corresponding robotic archival is transferred to practical OS's, otherwise, the user can pass through Control-Menu, the Adjustment System parameter, select different interpolation methods to carry out the dynamic simulation of spray robot again, finally generate optimum robot motion's track that satisfies spraying effect, store related data and corresponding robot can be discerned the robot controller that the job instruction file transfer is given practical OS's;
Described virtual environment controller comprises model data load module 1, communication and interface module 2, database module 3, spray gun track generation module 4, robot motion's track generation module 5, spraying process dynamic simulation module 6, analyzes demonstration spraying object module 7, robot motion's track data library module 8 and job instruction generation module 9;
Described model data load module 1 is connected with interface module 2 with communication, described communication is connected with database module 3 with interface module 2, described database module 3 is connected with spray gun track generation module 4, described spray gun track generation module 4 is connected with robot motion's track generation module 5, described robot motion's track generation module 5 is connected with spraying process dynamic simulation module 6, described spraying process dynamic simulation module 6 shows that with analysis spraying object module 7 is connected, described analysis shows that spraying object module 7 is connected with robot motion's track data library module 8, described robot motion's track data library module 8 is connected with job instruction generation module 9, described job instruction generation module 9 is connected with interface module 2 with communication, and by robot controller spray robot is controlled.
System comprises that also spraying is provided with module 10, and described spraying is provided with module 10 and shows that with database module 3, spray gun track generation module 4, spraying process dynamic simulation module 6, analysis spraying object module 7, communication are connected with robot motion's track data library module 8 with interface module 2 respectively.
Wherein, the input data of model data load module 1 comprise spraying workpiece data and the human model data thereof that spraying workpiece cad data robot model's cad data and scanning obtain.
For achieving the above object, the method that the utility model adopted is: with dimensional Modeling Technology, visualization technique, virtual reality technology is core, with VC++6.0 and OpenGL shape library is implementation tool, in conjunction with robot kinematics's principle of dynamics, set up a six degree of freedom spray robot complex control system, its design is as follows:
In order to make the user can observe the spraying process of six degree of freedom spray robot in real time, software is divided into Control-Menu and image demonstration two parts, Control-Menu is used for control and output, and image displaying part is used for display image.
In Control-Menu, comprise that data base administration, spraying are provided with, joint trajectories shows in real time, code generates and telecommunication etc., the user by Control-Menu can control robot the spraying action, spray parameters be set, select robot model and different interpolation method etc., the user can also pass through Control-Menu real time inspection joint of robot variable curve, spray time etc.
In image displaying part, comprise in the three-dimensional model demonstration that sprays the space, spray robot dynamic three-dimensional display, spraying workpiece three-dimensional model, the spraying process that robot ruuning situation shows and spraying effect demonstration etc., in order to make whole virtual scene " truly " more, image displaying part has also added key elements such as illumination, viewpoint, the user can the Real Time Observation spraying process by image displaying part, inspection machine people collides situations such as workpiece, thus he judges the robot operational process whether steadily, whether spraying effect be satisfied with.
According to above-mentioned utility model design, the utility model adopts following technical proposals, and its concrete steps are as follows:
First step: build operating environment.
The dummy activity environment is mainly formed by the spray robot of a six degree of freedom with by the spraying workpiece, in order to make whole virtual scene " truly " more, key elements such as workbench, environmental background have also been added in the virtual scene, the utility model system adopts VC++6.0 constructing system platform and related interfaces, utilizes the OpenGL shape library to realize the dynamic virtual emulation of spray robot spraying process;
Second step: spray robot three-dimensional modeling and demonstration.
The spray robot three-dimensional modeling is the key of whole dummy emulation system, and three dimensional model for robot comprises the geometry entity model and the kinematics model of robot; Obtain the robot model three kinds of modes are arranged usually: built-in modeling, import and from other application file conversion from model bank;
The geometry entity modeling, be that the physical construction of actual robot is depicted on computers with the method for computer graphics, promptly set up the geometry entity model in each joint of spray robot, can also realize by the quadric surface and the polygon tessellation instrument that call in the OpenGL shape library; The kinematics modeling, promptly be based upon on robot kinematics's direct problem basis, comprise range of movement, the description of articulation point position in the robot coordinate system and the description in world coordinate system thereof of determining each joint rotation angle, kinematics model according to the D-H parametric configuration robot of robot, the robot model is moved by the characteristics of motion of actual robot, and correctly reflect the actual position coordinate of robot;
Third step: the three-dimensional modeling and the demonstration of spraying workpiece.
Adopt the computer graphics principle that the spraying workpiece is carried out moulding, and deposit the cad data after the moulding in database, system can also read the workpiece cad data of storing in other CAD softwares or pass through scanning and directly obtain by format conversion, the three-dimensional model of the three-dimensional CAD data spraying workpiece of spraying workpiece mainly comprises workpiece shape and geometric parameter, and wherein geometric parameter comprises locus, size, angle of inclination etc.
The 4th step: the dynamic virtual emulation of spraying process.
System carries out visual simulating according to parameter and the robot motion's track that the user is provided with, the user can the Real Time Observation spraying process by the utility model system, checks the spraying result, if in the spraying process, robot operates steadily, spraying effect meets the demands, and then deposits the robot motion's track related data that generates in database, otherwise, the user can adjust the spray gun parameter, select interpolation method, carry out virtual emulation again, till the robot motion's track that obtains satisfied spraying effect; Control-Menu by human-computer interaction interface, the user can check position, speed, the real-time curve of acceleration and the parameter of test and appraisal spraying effect quality such as spray time, film thickness variance in each joint of robot in the simulation process, and the user also can observe whether robot collision workpiece takes place in the spraying process by human-computer interaction interface.
The 5th step: the robotic programming result downloads.
The purpose of this system is exactly by finishing the preview of spraying process on computers, the robot driver of spraying effect and the robot switch board that related data passes to practical OS's will be satisfied, therefore, must the robotic programming result be downloaded in the actual robot switch board by communication interface; General communication mode has two kinds: a kind of is to convert programmed result to robot discernible job instruction file, passes to the robot switch board, directly the drive machines people; A kind of is directly related data to be passed to the robot switch board, final drive machines people, and the data that pass to the robot switch board must guarantee the robot even running, spraying effect is up to standard.
With respect to traditional spray robot programing system, outstanding feature of the present utility model is accurate, reliably, this system passes through virtual emulation, finish the preview of actual spraying process, the user can check the relevant information of spray robot spraying process intuitively, realization is to the Visual Dynamic Simulation of spraying process, pass through virtual emulation, the user can directly analyze spraying effect, constantly adjust parameter, select to satisfy optimum robot motion's track of spraying effect, reduced the on-line debugging time of robot to greatest extent, not only shorten robot program's construction cycle, more improved the deposition accuracies of system; Programing system with respect to existing spray robot, the outstanding feature of the utility model system is perfect in shape and function, because the utility model system provides multiple robot model, the user is in the virtual emulation process, can directly call required robot model, need not reprogramming, provide different method for planning track and interpolation methods again to robot with a kind of model, the user can compare spraying result, robot motion's situation, energy consumption and the spray time that various method for planning track and interpolation method produced by the virtual emulation of system; Another significant advantage of the utility model system is that interactivity is good, strong sense of reality, this system by programming with the spraying operation information translation of complexity be intuitively, with the graph image demonstration, in time with the simulation process of spatial variations, pass through virtual emulation, finish the preview of whole spraying process, the user can directly obtain static state and the dynamic perfromance and the spraying effect information of spray robot, the user can also pass through Control-Menu handle machine human action, interactive modifying correlation parameter, and Real Time Observation spraying result.
Claims (2)
1. the spraying industrial robot complex control system based on virtual reality technology is characterized in that comprising: virtual environment controller, robot controller and spray robot; Described robot controller is connected with spray robot; Described virtual environment controller is connected with robot controller;
Described virtual environment controller comprises model data load module (1), communication and interface module (2), database module (3), spray gun track generation module (4), robot motion's track generation module (5), spraying process dynamic simulation module (6), analyzes demonstration spraying object module (7), robot motion's track data library module (8) and job instruction generation module (9);
Described model data load module (1) is connected with interface module (2) with communication, described communication is connected with database module (3) with interface module (2), described database module (3) is connected with spray gun track generation module (4), described spray gun track generation module (4) is connected with robot motion's track generation module (5), described robot motion's track generation module (5) is connected with spraying process dynamic simulation module (6), described spraying process dynamic simulation module (6) shows that with analysis spraying object module (7) is connected, described analysis shows that spraying object module (7) is connected with robot motion's track data library module (8), described robot motion's track data library module (8) is connected with job instruction generation module (9), described job instruction generation module (9) is connected with interface module (2) with communication, and by robot controller spray robot is controlled.
2. the spraying industrial robot complex control system based on virtual reality technology according to claim 1, it is characterized in that: comprise that also spraying is provided with module (10), described spraying is provided with module (10) and shows that with database module (3), spray gun track generation module (4), spraying process dynamic simulation module (6), analysis spraying object module (7), communication are connected with robot motion's track data library module (8) with interface module (2) respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202553016U CN201892840U (en) | 2010-07-09 | 2010-07-09 | Virtual reality technology-based integrated control system for spraying industry robot |
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| CN2010202553016U CN201892840U (en) | 2010-07-09 | 2010-07-09 | Virtual reality technology-based integrated control system for spraying industry robot |
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| CN201892840U true CN201892840U (en) | 2011-07-06 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920233A (en) * | 2010-07-09 | 2010-12-22 | 广东工业大学 | System and method for comprehensively controlling spraying industrial robot based on virtual reality technology |
| CN108595888A (en) * | 2018-05-10 | 2018-09-28 | 珞石（山东）智能科技有限公司 | The emulation platform and method with verification are designed towards industrial robot |
| CN108908298A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | A kind of master-slave mode spray robot teaching system merging virtual reality technology |
| CN110462709A (en) * | 2017-02-15 | 2019-11-15 | Cae有限公司 | The visual subsystem of virtual analog element in interactive computer simulation system |
| CN110815244A (en) * | 2019-11-18 | 2020-02-21 | 扬州大学 | Spraying robot workstation control system |
| CN111739170A (en) * | 2020-06-24 | 2020-10-02 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
-
2010
- 2010-07-09 CN CN2010202553016U patent/CN201892840U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920233A (en) * | 2010-07-09 | 2010-12-22 | 广东工业大学 | System and method for comprehensively controlling spraying industrial robot based on virtual reality technology |
| CN110462709A (en) * | 2017-02-15 | 2019-11-15 | Cae有限公司 | The visual subsystem of virtual analog element in interactive computer simulation system |
| CN110462709B (en) * | 2017-02-15 | 2022-03-08 | Cae有限公司 | Visualization subsystem for virtual simulation elements in an interactive computer simulation system |
| CN108595888A (en) * | 2018-05-10 | 2018-09-28 | 珞石（山东）智能科技有限公司 | The emulation platform and method with verification are designed towards industrial robot |
| CN108908298A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | A kind of master-slave mode spray robot teaching system merging virtual reality technology |
| CN108908298B (en) * | 2018-07-23 | 2021-08-10 | 合肥工业大学 | Master-slave type spraying robot teaching system fusing virtual reality technology |
| CN110815244A (en) * | 2019-11-18 | 2020-02-21 | 扬州大学 | Spraying robot workstation control system |
| CN111739170A (en) * | 2020-06-24 | 2020-10-02 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
| CN111739170B (en) * | 2020-06-24 | 2023-08-08 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
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Legal Events
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| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110706 Termination date: 20120709 |