CN203125521U - Three-dimensional (3D) binocular-vision industrial robot - Google Patents

Three-dimensional (3D) binocular-vision industrial robot Download PDF

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Publication number
CN203125521U
CN203125521U CN 201220745758 CN201220745758U CN203125521U CN 203125521 U CN203125521 U CN 203125521U CN 201220745758 CN201220745758 CN 201220745758 CN 201220745758 U CN201220745758 U CN 201220745758U CN 203125521 U CN203125521 U CN 203125521U
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CN
China
Prior art keywords
robot
industrial
vision
system
3d
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Application number
CN 201220745758
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Chinese (zh)
Inventor
李勋
柳贺
游玮
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安徽埃夫特智能装备有限公司
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Priority to CN 201220745758 priority Critical patent/CN203125521U/en
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Publication of CN203125521U publication Critical patent/CN203125521U/en

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Abstract

The utility model discloses a three-dimensional (3D) binocular-vision industrial robot. The 3D binocular-vision industrial robot is characterized in that the robot is a vision system and connected with a robot system, the vision system is an image collection card of an industrial personal computer and simultaneously connected with two industrial cameras, a vision processing unit of the industrial personal computer is connected with a robot electric control system of the robot system, and a servo driver of the robot electric control system controls a servo motor of a robot body. By means of the structure, the 3D binocular-vision industrial robot has the advantages of achieving characteristic extraction and three-dimensional matching of images, improving application ranges of the industrial robot to the greater degree, and being low in cost and suitable for being popularized in large ranges.

Description

A kind of 3D binocular vision industrial robot

Technical field

The utility model relates to the industrial robot field, particularly a kind of 3D binocular vision industrial robot.

Background technology

Along with the development of industrial automation, the automaticity of production and processing more and more higher, robot vision becomes more and more important in the automated production middle period.The 3D vision technique is a most active branch in the robot research, is the important symbol of intelligent robot equipment.

The robot application of domestic each auto production line is more and more at present, not only comprises world-famous robots such as KUKA, FUNUC, COMAU, has also comprised part domestically produced machine people.The increase just gradually of producer of domestic robot progressively improves the situation that Robotics is monopolized abroad.But domestic industrial robot is main application type with spot welding, arc-welding, carrying mostly at present.Especially carrying is used, and traditional teaching reproduction mode can't satisfy the requirement of present industrial automatization.Such as in the automobile engine production process, it all was manual type in the past that the cylinder cap of engine is moved into production line, and the quality of cylinder cap is heavier, has expended great deal of labor.Because of the position randomness of cylinder cap product, use traditional robot teaching playback system can't solve at all.When adopting the 2D vision to guide as robot, find the cylinder cap product be not the plane 2D at random, but position and attitude comprehensively at random, namely 3D is at random.Therefore must use the 3D vision technique as the guidance system of robot.Present 3D visual pattern is that a 2D camera and one group of laser beam are formed, and laser beam is gathered the Z direction profile (being elevation information) of testee, the information on the 2D camera acquisition plane.This pattern requires robot high-precision linear uniform motion will be arranged as the scanning of laser beam, otherwise can often occur scanning less than phenomenon, and repeatedly scanning also can influence productive temp.The camera cost of great number also is the key factor of considering simultaneously.

Provide a kind of novel 3D vision industrial robot at above-mentioned problem, realize that with lower cost it is the problem that prior art need solve that image is carried out feature extraction and three-dimensional coupling and guiding industrial robot motion.

The utility model content

Technical problem to be solved in the utility model is, a kind of 3D binocular vision industrial robot is provided, and realizes image is carried out the purpose of feature extraction and three-dimensional coupling and guiding industrial robot motion with lower cost.

For achieving the above object, the technical solution of the utility model is that a kind of 3D binocular vision industrial robot is characterized in that: the artificial vision system of described machine is connected to robot system; Wherein vision system is that the image pick-up card of industrial computer is connected to two industrial cameras simultaneously, the VPU of industrial computer is connected to the robot electric-control system of robot system, the servo motor of the servo-driver control robot body of robot electric-control system, thereby by the servo motor motion of 3D rendering collection control robot body, finish a series of action.

The robot controller of described robot electric-control system is connected with the VPU of industrial computer.

Described industrial camera is installed on the terminal flange of robot.

Be provided with logic control element in the described robot electric-control system.

Be provided with safety return circuit in the described robot electric-control system.

A kind of 3D binocular vision industrial robot, owing to adopt above-mentioned structure, advantage of the present utility model is: 1, realized image is carried out feature extraction and three-dimensional coupling; 2, realized vision system and robot system data communication, and the guided robot motion.3, improved the industrial robot range of application largely; 4, cost is lower, and is suitable for large-scale promotion.

Description of drawings

Below in conjunction with the drawings and specific embodiments the utility model is described in further detail;

Fig. 1 is a kind of 3D binocular vision industrial robot structure schematic block diagram of the present utility model;

Fig. 2 is the operation process chart of a kind of 3D binocular vision industrial robot of the present utility model;

In Fig. 1,1, vision system; 2, robot system; 3, image pick-up card; 4, VPU; 5, industrial camera; 6, robot electric-control system; 7, robot controller; 8, servo-driver; 9, robot body; 10, servo motor; 11, logic control element; 12, safety return circuit; 13, industrial computer.

The specific embodiment

The utility model as shown in Figure 1, the utility model is divided into vision system 1 and robot system 2 two parts plates and forms, and the data communication facility, the robot that finish between the calibrating function, feature extraction functions, test result analysis function, two systems of video camera and robot finish the corresponding sports function according to the vision system feedback.

The utility model is that vision system 1 is connected to robot system 2; Wherein vision system 1 is connected to two industrial cameras 5 simultaneously for the image pick-up card 3 of industrial computer 13, the VPU 4 of industrial computer 13 is connected to the robot electric-control system 6 of robot system 2, the servo motor 10 of the servo-driver 8 control robot bodies of robot electric-control system 5, thereby by servo motor 10 motions of 3D rendering collection control robot body 9, finish a series of action.

The robot controller 7 of robot electric-control system 6 is connected with the VPU 4 of industrial computer 13.

Industrial camera 5 is installed on the terminal flange of robot.Be provided with logic control element 11 and safety return circuit 12 in the robot electric-control system 6.

Detailed process of the present utility model is 3D vision system industrial robot operation process chart as shown in Figure 2.

The utility model adopts six degree of freedom tandem type industrial robot, needs robot to have higher absolute positional accuracy, requires in positive and negative 1mm.Therefore must demarcate robot, comprise that each axostylus axostyle is long, each zero point, the high capacity robot also needs the distortion of gravity and mechanical arm is compensated, and makes robot have higher absolute positional accuracy under rectangular coordinate system.Concrete scaling method is finished by laser tracker.Vision system 1 is that two industrial cameras 5 are installed in robot end's flange, distance between two industrial cameras 5 is relevant with the focal length of camera lens, distance is the bigger the better in theory, but consider that lens focus and pattern distortion require in a scope, but at least greater than 1/5 of focal length, guarantee the field range that two industrial cameras 5 can photograph product simultaneously and may move at random simultaneously.It is to make two cameras take a scaling board (scaling board is to be covered with obviously alternate flat board of the foursquare black and white edge feature of 20*20) that absolute precision is higher simultaneously that vision system is demarcated, take pictures in opposite directions by 9 or 9 above diverse locations from scaling board for industrial camera 5, according to the position under the robot rectangular coordinate system, 3d space under the match camera coordinates system, and feed back 2D and 3D error respectively to the user.The user judges whether calibration result is qualified.Characteristics of image is mentioned need adopt product feature religion obvious characteristics or edge contour as far as possible, and a product can extract a plurality of characteristic points to be judged simultaneously, can arrange one or two characteristic point of flicker allow to mention less than, improve the product identification rate.3D information and the robot rectangular coordinate system of product should be consistent, and are generally X, Y, Z, A, B, C.Wherein XYZ is the position under the product center point rectangular coordinate system, and ABC is the attitude of product center point, should keep ABC consistent with the gesticulate of robot, is generally XYZ, Eulerian angles and hypercomplex number expression waies such as ZYZ.

Communication modes of the present utility model is taked ICP/IP protocol, and wherein the communication speed between camera and the image pick-up card requires to be gigabit Ethernet, and uses and surpass the above netting twine of five classes and transmit.Communication need 100,000,000 above Ethernets between industrial computer 13 and the robot controller 7, and use and to surpass the above netting twine of five classes and transmit.Communications protocol is data between robot system 2 and the vision system 1 and the transformat of order, communications protocol form of the present utility model is formed, is all realized with the structure form in robot controller 7 and VPU 4 by 6 REAL type numerical value+3 shaping order controls.

By reference to the accompanying drawings the utility model has been carried out exemplary description above; obviously the utility model specific implementation is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted technical solutions of the utility model to carry out; or directly apply to other occasion without improvement, all within protection domain of the present utility model.

Claims (5)

1. 3D binocular vision industrial robot, it is characterized in that: the artificial vision system of described machine (1) is connected to robot system (2); Wherein vision system (1) is connected to two industrial cameras (5) simultaneously for the image pick-up card (3) of industrial computer (13), the VPU (4) of industrial computer (13) is connected to the robot electric-control system (6) of robot system (2), the servo motor (10) of servo-driver (8) the control robot body (9) of robot electric-control system (6).
2. a kind of 3D binocular vision industrial robot according to claim 1, it is characterized in that: the robot controller (7) of described robot electric-control system (6) is connected with the VPU (4) of industrial computer (13).
3. a kind of 3D binocular vision industrial robot according to claim 1, it is characterized in that: described industrial camera (5) is installed on the terminal flange of robot.
4. a kind of 3D binocular vision industrial robot according to claim 1 and 2 is characterized in that: be provided with logic control element (11) in the described robot electric-control system (6).
5. a kind of 3D binocular vision industrial robot according to claim 1 and 2 is characterized in that: be provided with safety return circuit (12) in the described robot electric-control system (6).
CN 201220745758 2012-12-29 2012-12-29 Three-dimensional (3D) binocular-vision industrial robot CN203125521U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220745758 CN203125521U (en) 2012-12-29 2012-12-29 Three-dimensional (3D) binocular-vision industrial robot

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9153079B1 (en) 2014-03-18 2015-10-06 Robert Bruce Wood System and method of automated 3D scanning for vehicle maintenance
CN106610666A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Assistant robot based on binocular vision, and control method of assistant robot
CN105856241B (en) * 2016-06-14 2018-09-14 上海贝特威自动化科技有限公司 A kind of difference scale electronic liquid crystal display positioning grasping means
CN110275532A (en) * 2019-06-21 2019-09-24 珠海格力智能装备有限公司 Control method and device, the control method and device of visual apparatus of robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9153079B1 (en) 2014-03-18 2015-10-06 Robert Bruce Wood System and method of automated 3D scanning for vehicle maintenance
CN106610666A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Assistant robot based on binocular vision, and control method of assistant robot
CN105856241B (en) * 2016-06-14 2018-09-14 上海贝特威自动化科技有限公司 A kind of difference scale electronic liquid crystal display positioning grasping means
CN110275532A (en) * 2019-06-21 2019-09-24 珠海格力智能装备有限公司 Control method and device, the control method and device of visual apparatus of robot

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C56 Change in the name or address of the patentee
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Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96

Patentee after: Eft intelligent equipment Limited by Share Ltd

Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap

Patentee before: Anhui Effort Intelligent Equipment Co., Ltd.