CN103048049B - Obstacle avoidance detecting device of intelligent assembling robot - Google Patents
Obstacle avoidance detecting device of intelligent assembling robot Download PDFInfo
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- CN103048049B CN103048049B CN201210555851.3A CN201210555851A CN103048049B CN 103048049 B CN103048049 B CN 103048049B CN 201210555851 A CN201210555851 A CN 201210555851A CN 103048049 B CN103048049 B CN 103048049B
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- assembly robot
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Abstract
The invention discloses an obstacle avoidance detecting device of an intelligent assembling robot, and the obstacle avoidance detecting device comprises two identical color sensors, the two identical color sensors are fixed inside a T-shaped bushing, an initial red-green-blue (RGB) measurement value of each color sensor is identical, and the T-shaped bushing is fixed on the intelligent assembling robot; and the obstacle avoidance detecting device also comprises a signal isolator and a controller; the controller adopts a parallel double-measurement method to judge whether the intelligent assembling robot stays on a critical position, when the intelligent assembling robot stays on the critical position, a delay detection method is adopted to enable the intelligent assembling robot to rapidly across the critical position, so that the mis-judgment problem caused by the influence of the critical position can be solved; and through the structure that the T-shaped bushing is fixedly connected with two sensors and the mean filter treatment, the measurement error caused by the vibration of the intelligent assembling robot in the movement process can be reduced. Due to the adoption of the obstacle avoidance detecting device of the intelligent assembling robot, the obstacle recognition and detection accuracy of the intelligent assembling robot can be improved.
Description
Technical field
The present invention relates to a kind of Intelligent assembly robot, what particularly relate to a kind of Intelligent assembly robot keeps away barrier pick-up unit.
Background technology
Intelligent assembly robot is the nucleus equipment of flexible automation assembly system, is made up of robot manipulator, controller, end effector and sensor-based system.Wherein the structure type of manipulator has flapping articulation type, cartesian co-ordinate type, joint type and circular cylindrical coordinate type etc.; Controller generally adopts multi-CPU or multi-level computer system, realizes motion control and movement programming; End effector is adapt to different assembling objects to be designed to various paw and wrist etc.; Sensor-based system obtains again the interactional information between human and environment and assembling object that puts together machines.And current Intelligent assembly robot is when running along movement locus, infrared sensor or color mark sensor is mostly adopted to be used for obstacle identification, but these sensors are generally the device of single threshold, usually can differentiate two kinds of colors, but comparatively difficulty is differentiated to multiple color.And when needs judge multiple color, the situation due to critical conditions is a lot of very complicated, and is subject to the impact of the factor such as external interference and mechanical vibration, and the accuracy rate that its obstacle identification detects is not high.
Summary of the invention
What the object of the present invention is to provide a kind of Intelligent assembly robot keeps away barrier pick-up unit, the accuracy rate detected with the obstacle identification improving Intelligent assembly robot.
For achieving the above object, what the invention provides a kind of Intelligent assembly robot keeps away barrier pick-up unit, comprising:
Two identical color sensors, obtain institute when moving of described Intelligent assembly robot and meet the color of barrier, described color transition is become corresponding color frequency signal output for sampling; Described two identical color sensors are fixed in a T-shaped sleeve and their Initial R GB measured value is identical, described T-shaped sleeve is fixed in described Intelligent assembly robot, mounting distance Wb between described two color sensors is greater than the line walking width of described Intelligent assembly robot, and 2Wa+Wb<Zd, wherein, Wa is the width of each described color sensor, and Wb is described mounting distance, and Zd is the diameter of described chance barrier;
Signal isolator, is sent to controller after the color frequency signal for being exported by described color sensor carries out anti-interference isolation processing;
Controller, color frequency signal for being exported after several times continuous sampling by each described color sensor received carries out mean filter respectively, then the color frequency signal after mean filter process is carried out the calculating of RGB chromatic value, and compare between the deviation area of result of calculation and default standard RGB chromatic value, if described result of calculation is positioned between described deviation area, then get corresponding color signal of meeting barrier, then the host computer described color signal being sent to described Intelligent assembly machine carries out keeping away barrier process for it, wherein:
When described Intelligent assembly robot satisfies condition A1, then judge that described Intelligent assembly robot is current and be in critical localisation point, then control two described color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper described Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A1, then time delay detects again, so, if found after three time delays detect: still satisfy condition A1, then judge that correcting appears body sway and carry out parking in described Intelligent assembly robot, and then start described Intelligent assembly robot;
When described Intelligent assembly robot satisfies condition A2, then judge that described Intelligent assembly robot is current be in critical localisation point or entered another color region, then control two described color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper described Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A2, then time delay detects again, so, if found after three time delays detect: still satisfy condition A2, then judge that correcting appears body sway and carry out parking in described Intelligent assembly robot, and then start described Intelligent assembly robot;
Described condition A1 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is greater than described setting deviate;
Described condition A2 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is less than described setting deviate;
Described condition B for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is less than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is less than described setting deviate.
Intelligent assembly robot of the present invention keeps away in barrier pick-up unit, parallel two survey method is adopted to judge Intelligent assembly robot whether critical localisation point, when judging to be in critical localisation point, time delay detection method is adopted to make Intelligent assembly robot can break through critical localisation point fast, thus solve the erroneous judgement problem that Intelligent assembly robot produces because of the impact of critical localisation point, and T-shaped sleeve is fixedly connected with structure and the mean filter process of dual sensor, decreases Intelligent assembly robot and vibrate the measuring error caused in motion process.Therefore, keeping away of Intelligent assembly robot of the present invention hinders the accuracy rate that pick-up unit improves the obstacle identification detection of Intelligent assembly robot.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram keeping away barrier pick-up unit of Intelligent assembly robot of the present invention;
Fig. 2 is the structural representation keeping away the T-shaped sleeve connection dual sensor structure in barrier pick-up unit of Intelligent assembly robot of the present invention;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is that the keeping away of Intelligent assembly robot in barrier pick-up unit of keeping away of Intelligent assembly robot of the present invention hinders place schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail:
Shown in figure 1, the barrier pick-up unit of keeping away of the Intelligent assembly robot of the present embodiment comprises the color sensor that two models are TCS230, the signal isolator coordinated with two color sensors and two-divider, is single-chip microcomputer and the LCDs of AT89C51 as the model of controller.The S0 end of each color sensor and S1 termination VCC.Signal isolator is the on-off circuit formed based on triode, and the base stage of triode is connected with the output terminal of corresponding color sensor by the first resistance R1, and the collector of triode meets VCC by the second resistance R2, the grounded emitter of triode.Two-divider adopts d type flip flop, and the CP end of d type flip flop is connected with the collector of the triode of corresponding switch circuit, d type flip flop
end is held with its D and is connected.And the external interrupt end of single-chip microcomputer and the Q of corresponding d type flip flop hold connected, the I/O end of single-chip microcomputer is held with the S3 of corresponding color sensor and is held one_to_one corresponding to be connected with S2.
As shown in Figures 2 to 4, above-mentioned two color sensors its to be fixed in a T-shaped sleeve and their Initial R GB measured value is identical (during specific implementation, first two color sensors are installed to the approximate phase co-altitude in T-shaped sleeve, then according to the setting height(from bottom) of the reading adjustment color sensor of controller, when the Initial R GB measured value that two color sensors record same color is identical, stop adjustment, be stabilized in T-shaped sleeve), this T-shaped sleeve is fixed in Intelligent assembly robot, thus constitutes a T-shaped sleeve connection dual sensor structure.Because the line walking motion of Intelligent assembly robot is moved in the place of lattice-shaped, for ensureing that sampling is reliable, mounting distance Wb between two color sensors is greater than the line walking width of Intelligent assembly robot, and 2Wa+Wb<Zd, wherein, Wa is the width of each color sensor, and Wb is mounting distance, Zd by the diameter of chance barrier.And the input processing module comprising signal isolator, d type flip flop and single-chip microcomputer is also arranged in this T-shaped sleeve, due to T-shaped sleeve have dust-proof, intercept the effect such as outside veiling glare and undesired signal, guarantee two sensors sustained height and damping vibration, thus be conducive to eliminating error further to improve the accuracy of color detection, and this T-shaped sleeve and dual sensor and input processing module respective outer side edges, the space taking Intelligent assembly robot is less, easy for installation.In addition, input processing module and corresponding connecting line all unification are placed in T-shaped sleeve, decrease the pulling that connecting line may cause.
Above-mentioned two color sensors are used for sampling respectively and obtain institute when moving of Intelligent assembly robot and meet the color of barrier, color transition are become corresponding color frequency signal output.And the color frequency signal that signal isolator is used for color sensor exports carries out anti-interference isolation processing to prevent back end signal to the interference of front end, be then sent to single-chip microcomputer.For improving the survey Zhou Jingdu of single-chip microcomputer, before the color frequency signal after anti-interference isolation processing is sent to single-chip microcomputer by signal isolator, the color frequency signal first exported by signal isolator by d type flip flop carries out two divided-frequency process, what the main cause of frequency division was that the single-chip microcomputer frequency measurement of rear end records is duration of the high level of signal, and the duration of high level is the half in cycle, after two divided-frequency, high level lasting time is just in time complete cycle, and because high level lasting time is long after two divided-frequency, thus be conducive to the survey Zhou Jingdu improving single-chip microcomputer, the external interrupt end of single-chip microcomputer is sent into by the color frequency signal after d type flip flop scaling down processing, such as INT0 port, when the negative edge of color frequency signal arrives, at the mid-T0 timer gate position GATE=1 of single-chip microcomputer TMOD, C/T=0, TR0=1, M1M0=01, because gate position is 1, and now the signal of external interrupt 0 is low level, so now do not start timer, when the rising edge of signal arrives, the timing of automatic startup timer, when signal negative edge arrives, timeing closing device T0 stop timing, being taken out by numerical value in timer and being multiplied by fixed time interval is exactly the measured signal cycle.Because color frequency signal is by two divided-frequency, its cycle is original twice.
Because color is made up of the three primary colours of light, so often kind of color all contains three kinds of color components, the color frequency signal that each color sensor exports afterwards in several times continuous sampling (such as continuous sampling five times) is carried out mean filter by single-chip microcomputer respectively, because the distance on Intelligent assembly robot color sensor and ground when moving has certain fluctuation, the cycle of detection signal also can change, adopt mean filter can eliminate the impact of distance change generation to a certain extent, confidence level increases, the color frequency signal obtained after mean filter process is carried out RGB chromatic value calculating (namely obtaining the component content of three primary colours) by single-chip microcomputer, and compare between the deviation area of result of calculation and default standard RGB chromatic value, if result of calculation is positioned between deviation area, then get corresponding color signal of meeting barrier, then host computer color signal being sent to Intelligent assembly machine carries out keeping away barrier process for it.Meanwhile, the LCDs be connected with single-chip microcomputer receives color signal that single-chip microcomputer exports and by its output display.Because Intelligent assembly robot needs the varicolored cycle differentiation of detection larger, far exceed dynamic static process distance and affect the measured deviation scope that produces, so by Intelligent assembly robot being helped to distinguish accurately between the deviation area that arranges certain standard RGB chromatic value to need several colors identified.
It should be noted that, because Intelligent assembly robot is certain to run into critical localisation point in the process completing line walking motion, such as enter another blue region from a certain red color area, be exactly a critical localisation point at the red indigo plant excessive place that has a common boundary, and as easy as rolling off a log generations erroneous judgement identification when Intelligent assembly robot is positioned at critical localisation point.Therefore, in order to reduce the erroneous judgement of critical localisation point, we need first to differentiate critical localisation point, and then take measures.In the present embodiment:
When Intelligent assembly robot satisfies condition A1, then judge that Intelligent assembly robot is current and be in critical localisation point, then control two color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A1, then time delay detects again, so, if found after three time delays detect: still satisfy condition A1, then judge that correcting appears body sway and carry out parking in Intelligent assembly robot, and then start Intelligent assembly robot.
When Intelligent assembly robot satisfies condition A2, then judge that Intelligent assembly robot is current be in critical localisation point or entered another color region, then control two color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A2, then time delay detects again, so, if found after three time delays detect: still satisfy condition A2, then judge that correcting appears body sway and carry out parking in Intelligent assembly robot, and then start Intelligent assembly robot.
Wherein, above-mentioned condition A1 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two color sensors corresponding to current time output is greater than setting deviate.Above-mentioned condition A2 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two color sensors corresponding to current time output is less than setting deviate.Above-mentioned condition B for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same color sensor current time exports and its previous moment export is less than setting deviate, and the difference of RGB chromatic value between two color sensors corresponding to current time output is less than setting deviate.
Above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that the common engineering technical personnel in this area make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (7)
1. Intelligent assembly robot keep away a barrier pick-up unit, comprise signal isolator, being sent to controller after the color frequency signal for being exported by color sensor carries out anti-interference isolation processing, it is characterized in that, also comprise:
Two identical color sensors, obtain institute when moving of described Intelligent assembly robot and meet the color of barrier, described color transition is become corresponding color frequency signal output for sampling; Described two identical color sensors are fixed in a T-shaped sleeve and their Initial R GB measured value is identical, described T-shaped sleeve is fixed in described Intelligent assembly robot, mounting distance Wb between described two color sensors is greater than the line walking width of described Intelligent assembly robot, and 2Wa+Wb<Zd, wherein, Wa is the width of each described color sensor, and Wb is described mounting distance, and Zd is the diameter of described chance barrier;
Controller, color frequency signal for being exported after several times continuous sampling by each described color sensor received carries out mean filter respectively, then the color frequency signal after mean filter process is carried out the calculating of RGB chromatic value, and compare between the deviation area of result of calculation and default standard RGB chromatic value, if described result of calculation is positioned between described deviation area, then get corresponding color signal of meeting barrier, then the host computer described color signal being sent to described Intelligent assembly machine carries out keeping away barrier process for it, wherein:
When described Intelligent assembly robot satisfies condition A1, then judge that described Intelligent assembly robot is current and be in critical localisation point, then control two described color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper described Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A1, then time delay detects again, so, if found after three time delays detect: still satisfy condition A1, then judge that correcting appears body sway and carry out parking in described Intelligent assembly robot, and then start described Intelligent assembly robot;
When described Intelligent assembly robot satisfies condition A2, then judge that described Intelligent assembly robot is current be in critical localisation point or entered another color region, then control two described color sensors and carry out time delay detection, if found after time delay detects: satisfy condition B, then confirm that upper described Intelligent assembly robot is when advancing into another color region and reporting host computer; And if time delay detect after find: still satisfy condition A2, then time delay detects again, so, if found after three time delays detect: still satisfy condition A2, then judge that correcting appears body sway and carry out parking in described Intelligent assembly robot, and then start described Intelligent assembly robot;
Described condition A1 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is greater than described setting deviate;
Described condition A2 for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is greater than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is less than described setting deviate;
Described condition B for: the difference between the RGB chromatic value corresponding to the RGB chromatic value corresponding to same described color sensor current time exports and its previous moment export is less than setting deviate, and the difference of RGB chromatic value between two described color sensors corresponding to described current time output is less than described setting deviate.
2. Intelligent assembly robot according to claim 1 keep away barrier pick-up unit, it is characterized in that, also comprise:
Two-divider, it is sent to described controller after carrying out two divided-frequency process for the color frequency signal exported by described signal isolator.
3. Intelligent assembly robot according to claim 2 keep away barrier pick-up unit, it is characterized in that, the model of described two identical color sensors is TCS230, the S0 of each described color sensor end and S1 termination VCC.
4. Intelligent assembly robot according to claim 3 keep away barrier pick-up unit, it is characterized in that, described signal isolator is the on-off circuit formed based on triode, the base stage of described triode is connected with the output terminal of corresponding color sensor by the first resistance (R1), the collector of described triode meets VCC, the grounded emitter of described triode by the second resistance (R2).
5. Intelligent assembly robot according to claim 4 keep away barrier pick-up unit, it is characterized in that, described two-divider is d type flip flop, and the CP of described d type flip flop end is connected with the collector of the triode of corresponding switch circuit, described d type flip flop
end is held with its D and is connected.
6. Intelligent assembly robot according to claim 5 keep away barrier pick-up unit, it is characterized in that, described controller comprises the single-chip microcomputer that model is AT89C51, the external interrupt end of described single-chip microcomputer and the Q of corresponding d type flip flop hold and are connected, and the I/O end of described single-chip microcomputer is held with the S3 of corresponding color sensor and held one_to_one corresponding to be connected with S2.
7. Intelligent assembly robot according to claim 6 keep away barrier pick-up unit, it is characterized in that, also comprise LCDs, it is connected with described single-chip microcomputer, for receive described single-chip microcomputer export color signal and by its output display.
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| WO2019145516A1 (en) * | 2018-01-26 | 2019-08-01 | Prophesee | Method and apparatus of processing a signal from an event-based sensor |
| CN113520469B (en) * | 2021-07-15 | 2023-08-18 | 上海理工大学 | Medical sampling quick candidate detection method based on machine vision |
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| JP2002149240A (en) * | 2000-11-16 | 2002-05-24 | Sony Corp | Landmark for moving robot |
| JP5071945B2 (en) * | 2010-01-15 | 2012-11-14 | Ｎｅｃアクセステクニカ株式会社 | Mobile device and method |
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| CN102520718A (en) * | 2011-12-02 | 2012-06-27 | 上海大学 | Physical modeling-based robot obstacle avoidance path planning method |
| CN102650886A (en) * | 2012-04-28 | 2012-08-29 | 浙江工业大学 | Vision system based on active panoramic vision sensor for robot |
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