CN210788964U - Manipulator auxiliary feeding and discharging and obstacle avoidance detection system based on visual detection - Google Patents
Manipulator auxiliary feeding and discharging and obstacle avoidance detection system based on visual detection Download PDFInfo
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- CN210788964U CN210788964U CN201921639950.3U CN201921639950U CN210788964U CN 210788964 U CN210788964 U CN 210788964U CN 201921639950 U CN201921639950 U CN 201921639950U CN 210788964 U CN210788964 U CN 210788964U
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Abstract
The utility model discloses a manipulator-assisted feeding and discharging and obstacle avoidance detection system based on visual detection, which comprises a feeding system, a visual detection device and a control terminal; the feeding system is a group of feeding and discharging mechanical arms, the feeding mechanical arm is responsible for feeding materials to the press, and the discharging mechanical arm is responsible for taking out bent plates from the lower part of the press and stacking the bent plates at an appointed position; the visual detection device comprises a lifting platform, a visual sensor and a data processing unit, and is mainly responsible for visually scanning the environment of the workbench and transmitting signals to the control terminal after being processed by the data processing unit; control terminal includes control cabinet and display, links to each other with visual detection device through wireless transceiver module, can show the image visual display that visual sensor detected, gives material loading and unloading manipulator with control command transmission simultaneously, helps it in time discern the barrier in order to accomplish material loading and unloading operation, possesses remote terminal and controls the function.
Description
Technical Field
The utility model relates to a manipulator intelligence operation field of bending, in particular to supplementary unloading of going up of manipulator and keep away barrier detecting system based on visual detection.
Background
In the field of metal plate forming, the safe feeding problem of plates is always an unavoidable topic, in the early field of plate forming and manufacturing, plates are conveyed to a press machine or a feeding port of the press machine manually to complete feeding of the plates, but for the large-scale machine, close-distance contact can cause great threat to workers, personal injury can be caused to the operators slightly by carelessness, along with the development of the technology, an industrial robot starts to replace people to carry out work with greater safety risks, and the early manipulator cannot work in a coordinated manner like human beings in the process of replacing the feeding of the people, so that the potential hazard of collision with the plates or the surrounding environment exists, even personal injury accidents are caused, and along with the development of modern sensor technology, the flexibility problem of the manipulator can be better solved.
SUMMERY OF THE UTILITY MODEL
In order to overcome not enough among the prior art, the utility model provides a supplementary unloading and keep away barrier detecting system of going up of manipulator based on visual detection solves and goes up the unloading and keep away the produced safety problem of barrier through the manual work among the prior art.
In order to achieve the purpose of the utility model, the technical scheme adopted for solving the technical problem is as follows:
the utility model discloses a supplementary unloading of going up of manipulator and keep away barrier detecting system based on visual detection, including feeding system, visual detection device and control terminal, wherein:
feeding system includes material loading manipulator switch board, material loading manipulator, unloading manipulator switch board, unloading manipulator and first wireless communication device, wherein:
the feeding manipulator control cabinet is arranged in a working area and used for controlling the feeding manipulator to convey a plate to be processed;
the feeding manipulator is arranged above the feeding manipulator control cabinet, is fixedly connected with the feeding manipulator control cabinet and is used for conveying the plate to be processed in the working area to the press machine;
the blanking manipulator control cabinet is arranged in the working area and used for controlling the blanking manipulator to stack the processed plates;
the blanking manipulator is arranged above the blanking manipulator control cabinet, is fixedly connected with the blanking manipulator control cabinet and is used for taking out the bent processed plate from the lower part of the press and stacking the bent processed plate at an appointed position in a working area;
distance sensors are mounted at the tail ends of the feeding mechanical arm and the discharging mechanical arm and are used for detecting the distance between the feeding mechanical arm and/or the discharging mechanical arm and an obstacle in a working area;
the first wireless communication device is respectively arranged in the feeding manipulator control cabinet and the discharging manipulator control cabinet and is used for receiving a first control instruction, a second control instruction and/or a third control instruction transmitted by the control terminal;
the visual detection device comprises a visual sensor, a lifting platform, a data processing unit and a second wireless communication device, wherein:
the lifting platform is arranged in the working area and used for driving the vision sensor to ascend or descend;
the visual sensor is arranged at the top of the lifting platform, is positioned at one side of the lifting platform opposite to the feeding mechanical arm and the discharging mechanical arm, and is used for visually scanning the environment in the working area to obtain an original environment image/video;
the data processing unit is arranged in the lifting platform, is electrically connected with the vision sensor and the second wireless communication device, and is used for processing the original environment image/video detected by the vision sensor to obtain environment image/video information;
the second wireless communication device is arranged in the lifting platform, is electrically connected with the data processing unit, is wirelessly connected with the first wireless communication device and the control terminal, and is used for transmitting the environment image/video information obtained after the processing of the data processing unit to the control terminal;
the control terminal comprises a console and a third wireless communication device, wherein:
the control console is arranged outside the working area and used for rapidly determining the relative position of the plate to be processed and the feeding hole of the press machine according to the environmental image/video information obtained after the processing of the data processing unit when no moving barrier exists in the working area so as to form a first control instruction or determining the relative position of the processed plate and the processed plate stacking area in an express way so as to form a second control instruction; or when a moving obstacle is detected in the working area, the moving speed of the moving obstacle is rapidly calculated according to the environment image/video information obtained after the processing of the data processing unit, and the moving track is predicted, so that a third control instruction is formed;
the third wireless communication device is arranged in the console and is in wireless connection with the first wireless communication device and the second wireless communication device, and is used for receiving the environment image/video information transmitted by the second wireless communication module and transmitting a first control instruction, a second control instruction and/or a third control instruction generated by the console to the feeding manipulator and/or the discharging manipulator through the first wireless communication device, so that obstacle avoidance is completed.
Furthermore, the control terminal further comprises a display, and the display is electrically connected with the console and is used for displaying the original environment image/video detected by the vision sensor in real time.
Furthermore, the control terminal further comprises an alarm, wherein the alarm is connected with the console and used for triggering the alarm to give an alarm when the mobile barrier is detected to exist in the working area and the moving speed of the barrier is too fast to enable the system to plan the moving path again.
Preferably, the vision sensor is a binocular vision camera, and is used for eliminating interference impurities in the images/videos through acquisition and post-processing of the images/videos of the working area environment, obtaining accurate obstacle position and shape information through filling and segmentation and edge extraction of the images/videos through the data processing unit, and further realizing map reconstruction through the data processing unit and obstacle avoidance and navigation of the manipulator.
Preferably, the first wireless communication device, the second wireless communication device and the third wireless communication device are all signal transceivers.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art, have following advantage and positive effect:
the utility model relates to a supplementary unloading of going up of manipulator and keeping away barrier detecting system based on visual detection integrates visual detection into for the accurate pay-off of environmental barrier scanning and the auxiliary machinery hand of workspace whole scene utilizes the contact and the control of wireless communication realization intersystem, makes things convenient for operating personnel long-range control terminal real-time observation equipment running state that passes through in the safe area, and keeps the emergency control right to equipment. The system effectively solves the safety problems of feeding and discharging and obstacle avoidance through manual operation in the prior art, has the characteristics of high safety, high intelligent degree, simple structure, convenience in operation, good adaptability and the like, and is easy to popularize and apply in the market.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a view of a working scene of a manipulator-assisted safe feeding system in a manipulator-assisted feeding and obstacle avoidance detection system based on visual detection;
fig. 2 is a schematic structural view of an upper feeding and lower feeding manipulator of the manipulator-assisted feeding and obstacle avoidance detection system based on visual detection;
fig. 3 is the utility model relates to a supplementary unloading of manipulator and keep away visual detection device's among barrier detecting system structural schematic diagram based on visual detection.
[ description of main symbols ]
1-a press;
2-a feeding manipulator control cabinet;
3-a feeding manipulator;
4-a feeding manipulator control cabinet;
5-a blanking manipulator;
6-a working area;
7-a visual inspection device;
71-a vision sensor;
72-a lifting platform;
8-processing the plate;
9-a plate to be processed;
and 10, controlling the terminal.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described and discussed below with reference to the accompanying drawings of the present invention, and it is obvious that only some examples, not all examples, of the present invention are described herein, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
As shown in fig. 1-3, the utility model discloses a supplementary unloading and keep away barrier detecting system of going up of manipulator based on visual detection, including feeding system (not shown), visual detection device 7 and control terminal 10, wherein:
the feeding system comprises a feeding manipulator control cabinet 2, a feeding manipulator 3, a discharging manipulator control cabinet 4, a discharging manipulator 5 and a first wireless communication device (not shown), wherein:
the feeding manipulator control cabinet 2 is arranged in the working area 6 and is used for controlling the feeding manipulator 3 to convey a plate 9 to be processed;
the feeding manipulator 3 is arranged above the feeding manipulator control cabinet 2, is fixedly connected with the feeding manipulator control cabinet 2, and is used for conveying a plate 9 to be processed in the working area 6 to the press machine 1; 9
The blanking manipulator control cabinet 4 is arranged in the working area 6 and is used for controlling the blanking manipulator 5 to stack the processed plates 8;
the blanking manipulator 5 is arranged above the blanking manipulator control cabinet 4, is fixedly connected with the blanking manipulator control cabinet 4, and is used for taking out the bent processed plate 8 from the lower part of the press machine 1 and stacking the bent processed plate at a specified position in the working area 6;
distance sensors (not shown) are mounted at the tail ends of the feeding manipulator 3 and the discharging manipulator 5 and used for detecting the distance between the feeding manipulator 3 and/or the discharging manipulator 5 and the obstacle in the working area 6;
the first wireless communication devices are respectively arranged in the feeding manipulator control cabinet 2 and the discharging manipulator control cabinet 4 and are used for receiving a first control instruction, a second control instruction and/or a third control instruction transmitted by the control terminal 10;
the vision detecting device 7 includes a vision sensor 71, an elevating platform 72, a data processing unit (not shown), and a second wireless communication device (not shown), as shown in fig. 3, wherein:
the lifting platform 72 is arranged in the working area 6 and is used for driving the vision sensor 71 to ascend or descend;
the vision sensor 71 is arranged at the top of the lifting table 72, is located at one side of the loading manipulator 3 opposite to the unloading manipulator 5, and is used for visually scanning the environment in the working area 6 to obtain an original environment image/video; in this embodiment, the vision sensor 71 is a binocular vision camera, and is configured to remove interfering impurities in the images/videos by acquiring and post-processing the images/videos in the environment of the working area 6, obtain accurate obstacle position and shape information by filling and segmenting the images/videos and extracting edges through the data processing unit, and further realize map reconstruction through the data processing unit, thereby realizing obstacle avoidance and navigation of the manipulator.
The data processing unit is arranged in the lifting table 72, electrically connected with the vision sensor 71 and the second wireless communication device, and used for processing the original environment image/video detected by the vision sensor 71 to obtain environment image/video information;
the second wireless communication device is arranged in the lifting platform 72, is electrically connected with the data processing unit, is wirelessly connected with the first wireless communication device and the control terminal 10, and is used for transmitting the environment image/video information obtained after the processing of the data processing unit to the control terminal 10;
the control terminal 10 includes a console (not shown) and a third wireless communication device (not shown), wherein:
the control console is arranged outside the working area 6 and used for rapidly determining the relative position of the plate 9 to be processed and the feeding hole of the press machine 1 according to the environmental image/video information obtained after the processing of the data processing unit when no moving barrier exists in the working area 6 so as to form a first control instruction or determining the relative position of the processed plate 8 and the processed plate stacking area in an express way so as to form a second control instruction; or when a moving obstacle is detected in the working area 6, the moving speed of the moving obstacle is rapidly calculated according to the environment image/video information obtained after the processing of the data processing unit, and the moving track is predicted, so that a third control instruction is formed;
the third wireless communication device is arranged in the console and is in wireless connection with the first wireless communication device and the second wireless communication device, and is used for receiving the environment image/video information transmitted by the second wireless communication module and transmitting a first control instruction, a second control instruction and/or a third control instruction generated by the console to the feeding manipulator 3 and/or the discharging manipulator 5 through the first wireless communication device, so that obstacle avoidance is completed.
Further, the control terminal 10 further includes a display (not shown) electrically connected to the console for displaying the original environment image/video detected by the vision sensor 71 in real time.
Further, the control terminal 10 further includes an alarm (not shown) connected to the console, and configured to trigger the alarm to give an alarm when it is detected that a moving obstacle exists in the working area 6 and the moving speed of the obstacle is too fast to allow the system to re-plan the moving path.
Preferably, the first wireless communication device, the second wireless communication device and the third wireless communication device are all signal transceivers.
The specific working principle is as follows:
in the normal operating mode, the vision sensor 71 may also initiate the operating mode, which, in fact, when the positions of the materials (plates), the targets and the static barriers are already defined in the working environment, the rough moving track of the loading and unloading manipulator can be determined, under the condition of not meeting the moving barrier, the loading and unloading manipulator can complete the material handling according to the preset program and move the material to the working area 6 of the press machine 1, when the material is to be fed into the range of the working area 6 of the press machine 1, the vision sensor 71 scans the image/video information of the working area 6 of the press machine 1, and the relative position of the material and the feeding hole of the press machine 1 is rapidly determined through the processing of the data processing unit, and convey the order to material loading manipulator switch board 2 through wireless signal transmission, convey the order to the manipulator by the switch board for the completion material loading process that the manipulator is more accurate.
If a moving obstacle exists in the plate conveying process, the vision sensor 71 needs to increase an obstacle avoidance function on the basis of auxiliary feeding, the vision sensor 71 needs to monitor the whole working area 6 in the whole process when the manipulator adsorbs the plate to move, when the moving obstacle existing in the working area 6 is detected, the moving speed of the obstacle needs to be rapidly calculated and the moving track needs to be predicted according to an original environment image/video captured by the vision sensor 71, the predicted track and a part of the surrounding space range are defined as a dangerous area based on the prediction, and a certain fault-tolerant space of the system is ensured. The vision sensor 71 transmits the processed and calculated data information to the console, the console rapidly modifies the moving track of the manipulator to complete obstacle avoidance, and the other side displays the calculation result on the display in real time. The system is provided with an upper speed limit aiming at the moving speed of a moving barrier, if the moving speed of the barrier is high and the system is not enough to plan a moving path again, an alarm system of the system is triggered, meanwhile, the system abandons the original path and simply avoids the barrier, distance information between the manipulator and the barrier is obtained by a distance sensor arranged at the tail end of the manipulator in the process, a limit safety distance is set, the manipulator moves towards the opposite direction of a safety distance extension line by a controller, the smaller the distance between the manipulator and the safety distance extension line, the higher the speed of the manipulator to move and avoid the barrier is required to be controlled, the repulsion effect is similar to, and the collision between the manipulator and the safety distance extension line is ensured as far as possible.
The principle of blanking is similar to that of the whole manipulator feeding process, and the principle is completely consistent for the reverse process of feeding, which is not described herein.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a supplementary unloading of going up of manipulator and keep away barrier detecting system based on visual detection which characterized in that includes feeding system, visual detection device and control terminal, wherein:
feeding system includes material loading manipulator switch board, material loading manipulator, unloading manipulator switch board, unloading manipulator and first wireless communication device, wherein:
the feeding manipulator control cabinet is arranged in a working area and used for controlling the feeding manipulator to convey a plate to be processed;
the feeding manipulator is arranged above the feeding manipulator control cabinet, is fixedly connected with the feeding manipulator control cabinet and is used for conveying the plate to be processed in the working area to the press machine;
the blanking manipulator control cabinet is arranged in the working area and used for controlling the blanking manipulator to stack the processed plates;
the blanking manipulator is arranged above the blanking manipulator control cabinet, is fixedly connected with the blanking manipulator control cabinet and is used for taking out the bent processed plate from the lower part of the press and stacking the bent processed plate at an appointed position in a working area;
distance sensors are mounted at the tail ends of the feeding mechanical arm and the discharging mechanical arm and are used for detecting the distance between the feeding mechanical arm and/or the discharging mechanical arm and an obstacle in a working area;
the first wireless communication device is respectively arranged in the feeding manipulator control cabinet and the discharging manipulator control cabinet and is used for receiving a first control instruction, a second control instruction and/or a third control instruction transmitted by the control terminal;
the visual detection device comprises a visual sensor, a lifting platform, a data processing unit and a second wireless communication device, wherein:
the lifting platform is arranged in the working area and used for driving the vision sensor to ascend or descend;
the visual sensor is arranged at the top of the lifting platform, is positioned at one side of the lifting platform opposite to the feeding mechanical arm and the discharging mechanical arm, and is used for visually scanning the environment in the working area to obtain an original environment image/video;
the data processing unit is arranged in the lifting platform, is electrically connected with the vision sensor and the second wireless communication device, and is used for processing the original environment image/video detected by the vision sensor to obtain environment image/video information;
the second wireless communication device is arranged in the lifting platform, is electrically connected with the data processing unit, is wirelessly connected with the first wireless communication device and the control terminal, and is used for transmitting the environment image/video information obtained after the processing of the data processing unit to the control terminal;
the control terminal comprises a console and a third wireless communication device, wherein:
the control console is arranged outside the working area and used for rapidly determining the relative position of the plate to be processed and the feeding hole of the press machine according to the environmental image/video information obtained after the processing of the data processing unit when no moving barrier exists in the working area so as to form a first control instruction or determining the relative position of the processed plate and the processed plate stacking area in an express way so as to form a second control instruction; or when a moving obstacle is detected in the working area, the moving speed of the moving obstacle is rapidly calculated according to the environment image/video information obtained after the processing of the data processing unit, and the moving track is predicted, so that a third control instruction is formed;
the third wireless communication device is arranged in the console and is in wireless connection with the first wireless communication device and the second wireless communication device, and is used for receiving the environment image/video information transmitted by the second wireless communication module and transmitting a first control instruction, a second control instruction and/or a third control instruction generated by the console to the feeding manipulator and/or the discharging manipulator through the first wireless communication device, so that obstacle avoidance is completed.
2. The vision detection-based manipulator-assisted feeding and discharging and obstacle avoidance detection system as recited in claim 1, wherein the control terminal further comprises a display, and the display is electrically connected with the console and is used for displaying an original environment image/video detected by the vision sensor in real time.
3. The vision detection-based manipulator-assisted feeding and discharging and obstacle avoidance detection system as recited in claim 1, wherein the control terminal further comprises an alarm, the alarm is connected with the console and is used for triggering the alarm to give an alarm when it is detected that a moving obstacle exists in the working area and the moving speed of the obstacle is too fast to allow the system to re-plan the moving path.
4. The mechanical arm auxiliary feeding and discharging and obstacle avoidance detection system based on visual detection as claimed in claim 1, wherein the visual sensor is a binocular visual camera, and is used for eliminating interference impurities in images/videos through acquisition and post-processing of images/videos in a working area environment, obtaining accurate obstacle position and shape information through filling segmentation and edge extraction of the images/videos by the data processing unit, further realizing map reconstruction through the data processing unit, and realizing obstacle avoidance and navigation of the mechanical arm.
5. The vision inspection-based manipulator-assisted loading and unloading and obstacle avoidance detection system as recited in claim 1, wherein the first wireless communication device, the second wireless communication device and the third wireless communication device are signal transceivers.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921639950.3U CN210788964U (en) | 2019-09-27 | 2019-09-27 | Manipulator auxiliary feeding and discharging and obstacle avoidance detection system based on visual detection |
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| CN201921639950.3U CN210788964U (en) | 2019-09-27 | 2019-09-27 | Manipulator auxiliary feeding and discharging and obstacle avoidance detection system based on visual detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110732601A (en) * | 2019-09-27 | 2020-01-31 | 上海应用技术大学 | Manipulator-assisted feeding and discharging and obstacle avoidance detection system and method based on visual detection |
| CN111823258A (en) * | 2020-07-16 | 2020-10-27 | 吉林大学 | Shear wave elastic imaging detection mechanical arm |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
| CN110732601B (en) * | 2019-09-27 | 2024-05-14 | 上海应用技术大学 | System and method for auxiliary feeding and discharging and obstacle avoidance detection of manipulator based on visual detection |
-
2019
- 2019-09-27 CN CN201921639950.3U patent/CN210788964U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110732601A (en) * | 2019-09-27 | 2020-01-31 | 上海应用技术大学 | Manipulator-assisted feeding and discharging and obstacle avoidance detection system and method based on visual detection |
| CN110732601B (en) * | 2019-09-27 | 2024-05-14 | 上海应用技术大学 | System and method for auxiliary feeding and discharging and obstacle avoidance detection of manipulator based on visual detection |
| CN111823258A (en) * | 2020-07-16 | 2020-10-27 | 吉林大学 | Shear wave elastic imaging detection mechanical arm |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
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