CN104589357A - Control system and method of DELTA robots based on visual tracking - Google Patents
Control system and method of DELTA robots based on visual tracking Download PDFInfo
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- CN104589357A CN104589357A CN201410720552.XA CN201410720552A CN104589357A CN 104589357 A CN104589357 A CN 104589357A CN 201410720552 A CN201410720552 A CN 201410720552A CN 104589357 A CN104589357 A CN 104589357A
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Abstract
The invention discloses a control system and method of DELTA robots based on visual tracking. Servo drivers and a motion controller in the system are connected through a series bus, the method achieves leak repairing distribution, odd and even distribution and classification distribution by utilizing the servo drivers in series connection, and motion tracks of robots are further optimized. The control system achieves cooperative control over the double DELTA robots, the universality of the system is improved, and the system is easy to set and convenient to debug. The method achieves various cooperative control modes based on the double DELTA robots, and is suitable for different working environments, high in universality and low in miss rate. Meanwhile, the speed and the accuracy that the robots sort target objects are further improved through optimization of the motion tracks, and working efficiency of the robots is improved. The control system and method of the DELTA robots based on visual tracking can be widely applied to the field of industrial robots.
Description
Technical field
The present invention relates to industrial robot field, the DELTA robot control system of especially view-based access control model tracking and method.
Background technology
DELTA robot is the one of parallel robot, DELTA robot drives 3 parallelogram side chains by outer revolute pair, add a middle rotating driveshaft, the space four-dimensional movement of its end effector can be realized, after configuration vision system, extensive use in the sorting packaging of electronics, light industry, food and medicine and other fields.
The control system of DELTA robot of each producer existing is the robot control system adopting the special purpose robot's controller of himself to build at present, and the control system system versatility of this employing nonshared control unit is bad.General DELTA robot control system is made up of controller, servo-drive system, Visual Tracking System and conveyer belt tracking system, but the Topology connection mode of each parts of its control system varies, its internal core control algolithm and track algorithm are also different, and therefore versatility is not high.Fairly simple tracking system adopts photoelectric sensor and encoder to follow the tracks of, and more complex tracking system is then adopt vision system, photoelectric sensor and encoder to follow the tracks of.In trajectory planning, the trajectory planning mode of each producer of robot is also different.
Summary of the invention
In order to solve the problems of the technologies described above, the object of the invention is: provide a kind of view-based access control model follow the tracks of the versatility realized high, arrange simple, debug DELTA robot control system easily.
In order to solve the problems of the technologies described above, another object of the present invention is: provide a kind of view-based access control model to follow the tracks of and realize quick and precisely sorting destination object DELTA robot control method.
The technical solution adopted in the present invention is: the DELTA robot control system that view-based access control model is followed the tracks of, include motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot has included four servo-drivers and four driving shafts, and every platform driving shaft is controlled by a servo-driver; Above-mentioned all servo-drivers are connected in series, and are connected with motion controller by first servo-driver; Described vision system is all connected with motion controller with conveyer belt encoder.
Further, between described servo-driver, servo starter is connected by EtherCAT bus with between motion controller.
Another technical scheme of the present invention is: the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, and comprises the following steps:
First DELTA robot in A1, motion controller control Liang Tai DELTA robot captures fast to the material on conveyer belt;
A2, the data gathered according to vision system and conveyer belt encoder, the material data that calculating leakage is grabbed also is sent to motion controller;
A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.
Further, comprise the following steps:
B1, vision system are numbered crawl object according to the data gathered;
B2, carry out odd even judgement to capturing the numbering of object and the data of collection are sent to motion controller;
The data of the crawl object being judged as odd-numbered are sent to First DELTA robot for B3, motion controller and controller carries out grasping manipulation; The data of the crawl object being judged as even-numbered are sent to second DELTA robot and control it and carry out grasping manipulation by motion controller.
Further, comprise the following steps:
C1, vision system are classified to the attribute capturing object according to the data gathered;
C2, according to classification results, the data of the crawl object of collection are sent to motion controller;
The data of collection to be sent to First DELTA robot and second DELTA robot according to the classification of attribute capturing object and to control it and carry out grasping manipulation by C3, motion controller respectively.
Further, the grasping manipulation of described DELTA robot includes following steps:
S1, the crawl point position obtaining crawl object and set-point position;
S2, convert position coordinates under the same coordinate system to by capturing some position and set-point position;
S3, calculate arching trajectory according to given height parameter and above-mentioned position coordinates;
S4, motion controller control DELTA robot carry out grasping manipulation according to the above-mentioned arching trajectory calculated.
Further, described step S3 is specially:
S31, calculate the vertex position coordinate of arching trajectory according to height parameter, the position coordinates that captures the some position coordinates of position and set-point position, described summit and position coordinates are all positioned at in the plane of coordinate system horizontal plane, and described summit and position coordinates distance is in vertical direction the value of height parameter;
S32, calculate the arching trajectory by above-mentioned three coordinates according to the position coordinates on summit, the position coordinates of position coordinates and set-point position that captures some position.
The invention has the beneficial effects as follows: present system achieves the cooperation control system of two DELTA robot, improves the versatility of system; In system, conveyer belt encoder data directly accesses motion controller, the mode that vision system adopts camera automatically to trigger carries out process of taking pictures, be carry out communication and data transmission by bus series connection and carry out communicating with motion controller transmitting with data between servo-driver, therefore it arranges simply, is convenient to debug.
Another beneficial effect of the present invention is: the inventive method realizes multiple Collaborative Control mode based on two DELTA robot, is applicable to different working environments, and versatility is high and leak that to pick rate low; By movement locus optimization, the speed of robot sorting destination object and accuracy are improved further simultaneously, improve its operating efficiency.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of present system;
Fig. 2 is the mending-leakage allocation step flow chart of the inventive method;
Fig. 3 is the odd even allocation step flow chart of the inventive method;
Fig. 4 is the classification allocation step flow chart of the inventive method;
Fig. 5 is the moving track calculation flow chart of steps of the inventive method;
Fig. 6 is the moving track calculation schematic diagram of the inventive method.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
With reference to Fig. 1, the DELTA robot control system that view-based access control model is followed the tracks of, include motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot has included four servo-drivers and four driving shafts, and every platform driving shaft is controlled by a servo-driver; Above-mentioned all servo-drivers are connected in series, and are connected with motion controller by first servo-driver; Described vision system is all connected with motion controller with conveyer belt encoder.
The servo drive system based on Sanmotion motion controller and SANYO DENKI specifically can be adopted in native system to realize, a Sanmotion motion controller Dai Liangtai DELTA robot, there are four driving shafts in Mei Tai DELTA robot, and Liang Tai DELTA robot shares the position data of a vision system.DELTA robot determines its crawl position according to the data of the position data of vision system and conveyer belt encoder.For the General System of prior art, by conveyer belt encoder data access vision system, vision system then carries out taking pictures according to the data of conveyer belt encoder and obtains the coordinate value of destination object, in the present invention, conveyer belt encoder data directly accesses motion controller, and the mode that vision system adopts camera automatically to trigger carries out process of taking pictures.
Be further used as preferred embodiment, between described servo-driver, servo starter connected by EtherCAT bus with between motion controller.
With reference to Fig. 2, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, the method for allocating tasks adopting mending-leakage to distribute, comprises the following steps:
First DELTA robot in A1, motion controller control Liang Tai DELTA robot captures fast to the material on conveyer belt;
A2, the data gathered according to vision system and conveyer belt encoder, the material data that calculating leakage is grabbed also is sent to motion controller;
A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.
The core of mending-leakage allocation algorithm is leaked by First DELTA robot to grab target location and send to second DELTA robot, then captured by second DELTA robot.
The target captured for vision system is sent in the destination object cache list (BUFFER LIST) of robot, and it is after computing, and with reference to following code segment, the state of destination object has following 12 kinds:
TYPE TRCTR_ObjectState :
eRCTR_ObjectStateUnknown := 0,
eRCTR_ObjectStateFinished := 1,
eRCTR_ObjectStateFailed := 2,
eRCTR_ObjectStateMissed := 3,
eRCTR_ObjectStateRejected := 4,
eRCTR_ObjectStateProcessed := 11,
eRCTR_ObjectStateFailure := 12,
eRCTR_ObjectStateLeftArea := 13,
eRCTR_ObjectStateUnprocessed := 14,
eRCTR_ObjectStateWaiting := 20,
eRCTR_ObjectStateActive := 21,
eRCTR_ObjectStateInRestrArea := 22
END_TYPE
Be chosen at the target being labeled as eRCTR_ObjectStateFailed and eRCTR_ObjectStateMissed in the target cache of First DELTA robot, send it to second robot target buffer memory, then carry out mending-leakage crawl by second robot.
With reference to Fig. 3, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, the method for allocating tasks adopting odd even to distribute, comprises the following steps:
B1, vision system are numbered crawl object according to the data gathered;
B2, carry out odd even judgement to capturing the numbering of object and the data of collection are sent to motion controller;
The data of the crawl object being judged as odd-numbered are sent to First DELTA robot for B3, motion controller and controller carries out grasping manipulation; The data of the crawl object being judged as even-numbered are sent to second DELTA robot and control it and carry out grasping manipulation by motion controller.
It is that the destination object caught for vision system carries out counting and numbers that odd even demarcates the core of the method for salary distribution, is called userId, as userId in the TRCTR_Object structure in code segment below.
TYPE TRCTR_Object ：
STRUCT
userId : DINT;
state : TRCTR_ObjectState;
detectionPos : DINT;
pos : TRCTR_CartFrame;
attribute : DWORD;
donePos : REAL;
logDate : DATE;
logTime : TOD;
workAreaReserve : REAL;
END_STRUCT
END_TYPE
Then carry out odd even judgement to the counting of userId, the destination object data being odd number for userId are sent to First robot target buffer area, are captured by it; The destination object data being even number for userId are sent to second robot target buffer area, are captured by it.
With reference to Fig. 4, the DELTA robot control method that a kind of view-based access control model applying above-mentioned control system is followed the tracks of, the method for allocating tasks adopting classification to distribute, comprises the following steps:
C1, vision system are classified to the attribute capturing object according to the data gathered;
C2, according to classification results, the data of the crawl object of collection are sent to motion controller;
The data of collection to be sent to First DELTA robot and second DELTA robot according to the classification of attribute capturing object and to control it and carry out grasping manipulation by C3, motion controller respectively.
The core concept of the attribute calibration method of salary distribution carries out attribute calibration by vision system exactly, as attribute in the TRCTR_Object structure in code segment above.Then according to attribute, the destination object of different attribute is sent to the target cache district of different machines people, captured by it.
When robot runs, the path interpolation mode of PTP and Lin of the prior art can not meet the needs that robot runs fast well, therefore further provides a kind of robot and to move in curves the track optimizing algorithm in path.Its core algorithm is when robot motion, and capturing between point with set-point in robot is robot planning arching trajectory according to set height parameter h.
With reference to Fig. 5, be further used as preferred embodiment, the grasping manipulation of described DELTA robot includes following steps:
S1, the crawl point position obtaining crawl object and set-point position;
S2, convert position coordinates under the same coordinate system to by capturing some position and set-point position;
S3, calculate arching trajectory according to given height parameter and above-mentioned position coordinates;
S4, motion controller control DELTA robot carry out grasping manipulation according to the above-mentioned arching trajectory calculated.
With reference to Fig. 6, be further used as preferred embodiment, described step S3 is specially:
S31, calculate the vertex position coordinate of arching trajectory according to height parameter, the position coordinates that captures the some position coordinates of position and set-point position, described summit and position coordinates are all positioned at in the plane of coordinate system horizontal plane, and described summit and position coordinates distance is in vertical direction the value of height parameter;
S32, calculate the arching trajectory by above-mentioned three coordinates according to the position coordinates on summit, the position coordinates of position coordinates and set-point position that captures some position.
Be the process of a dynamic calculation to the calculating of summit P in Fig. 6, first read the position coordinate value PickPos capturing point, be transformed into the coordinate value under world coordinate system (WorldRef); Read the position PlacePos of set-point and then, be transformed into the coordinate value under world coordinate system (WorldRef); Because these two points are in solid space (OXYZ), belong to that plane perpendicular to horizontal plane, therefore, just can calculate the centre position MidPos between PickPos and PlacePos according to assigned altitute parameter h, so utilize the Circ instruction in TeachView just to cook up an arching trajectory according to the position of these three points.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art can also make all equivalents or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (7)
1. the DELTA robot control system of view-based access control model tracking, it is characterized in that: include motion controller, vision system, conveyer belt encoder and Liang Tai DELTA robot, described Liang Tai DELTA robot has included four servo-drivers and four driving shafts, and every platform driving shaft is controlled by a servo-driver; Above-mentioned all servo-drivers are connected in series, and are connected with motion controller by first servo-driver; Described vision system is all connected with motion controller with conveyer belt encoder.
2. the DELTA robot control system followed the tracks of of view-based access control model according to claim 1, is characterized in that: between described servo-driver, servo starter connected by EtherCAT bus with between motion controller.
3. application rights requires to it is characterized in that the DELTA robot control method that the view-based access control model of control system described in 1 is followed the tracks of: comprise the following steps:
First DELTA robot in A1, motion controller control Liang Tai DELTA robot captures fast to the material on conveyer belt;
A2, the data gathered according to vision system and conveyer belt encoder, the material data that calculating leakage is grabbed also is sent to motion controller;
A3, described motion controller control second DELTA robot according to the material data that leakage is grabbed and carry out grasping manipulation.
4. an application rights requires the DELTA robot control method that the view-based access control model of control system described in 1 is followed the tracks of: comprise the following steps:
B1, vision system are numbered crawl object according to the data gathered;
B2, carry out odd even judgement to capturing the numbering of object and the data of collection are sent to motion controller;
The data of the crawl object being judged as odd-numbered are sent to First DELTA robot for B3, motion controller and controller carries out grasping manipulation; The data of the crawl object being judged as even-numbered are sent to second DELTA robot and control it and carry out grasping manipulation by motion controller.
5. an application rights requires the DELTA robot control method that the view-based access control model of control system described in 1 is followed the tracks of: comprise the following steps:
C1, vision system are classified to the attribute capturing object according to the data gathered;
C2, according to classification results, the data of the crawl object of collection are sent to motion controller;
The data of collection to be sent to First DELTA robot and second DELTA robot according to the classification of attribute capturing object and to control it and carry out grasping manipulation by C3, motion controller respectively.
6. the DELTA robot control method that the view-based access control model according to claim 3,4 or 5 is followed the tracks of, is characterized in that: the grasping manipulation of described DELTA robot includes following steps:
S1, the crawl point position obtaining crawl object and set-point position;
S2, convert position coordinates under the same coordinate system to by capturing some position and set-point position;
S3, calculate arching trajectory according to given height parameter and above-mentioned position coordinates;
S4, motion controller control DELTA robot carry out grasping manipulation according to the above-mentioned arching trajectory calculated.
7. the DELTA robot control method of view-based access control model tracking according to claim 6, is characterized in that: described step S3 is specially:
S31, calculate the vertex position coordinate of arching trajectory according to height parameter, the position coordinates that captures the some position coordinates of position and set-point position, described summit and position coordinates are all positioned at in the plane of coordinate system horizontal plane, and described summit and position coordinates distance is in vertical direction the value of height parameter;
S32, calculate the arching trajectory by above-mentioned three coordinates according to the position coordinates on summit, the position coordinates of position coordinates and set-point position that captures some position.
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| CN106789513A (en) * | 2016-12-29 | 2017-05-31 | 杭州康奋威科技股份有限公司 | Logistics method for sorting and system based on EtherCAT |
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| CN105573253A (en) * | 2016-01-14 | 2016-05-11 | 福州大学 | Group control system and method for industrial robots |
| CN105573253B (en) * | 2016-01-14 | 2018-05-04 | 福州大学 | A kind of industrial robot group control system and method |
| WO2018036443A1 (en) * | 2016-08-26 | 2018-03-01 | 陈胜辉 | Material grabbing method, apparatus and system, and dynamometry apparatus and material case |
| CN106791604A (en) * | 2016-11-11 | 2017-05-31 | 华南智能机器人创新研究院 | A kind of method and system of the lower destination object coding of machine vision tracking |
| CN106791604B (en) * | 2016-11-11 | 2019-05-03 | 华南智能机器人创新研究院 | Machine vision tracks the method and system of lower target object coding |
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| CN106982340B (en) * | 2016-11-26 | 2023-02-28 | 顺德职业技术学院 | Method and system for storing target video under machine vision tracking |
| CN106393144A (en) * | 2016-11-26 | 2017-02-15 | 顺德职业技术学院 | Method and system for visual tracking under multi-robot operation mode |
| CN106393144B (en) * | 2016-11-26 | 2018-09-04 | 顺德职业技术学院 | The method and system that vision tracks under a kind of multirobot operation mode |
| CN106789513A (en) * | 2016-12-29 | 2017-05-31 | 杭州康奋威科技股份有限公司 | Logistics method for sorting and system based on EtherCAT |
| CN106789513B (en) * | 2016-12-29 | 2020-01-07 | 杭州康奋威科技股份有限公司 | Logistics sorting method and system based on EtherCAT |
| CN106527239A (en) * | 2016-12-30 | 2017-03-22 | 华南智能机器人创新研究院 | Method and system of multi-robot cooperative operation mode |
| CN106527239B (en) * | 2016-12-30 | 2018-12-21 | 华南智能机器人创新研究院 | A kind of method and system of multirobot cooperative mode |
| CN107458875A (en) * | 2017-08-09 | 2017-12-12 | 爱维迅自动化科技（昆山）有限公司 | A kind of vision positioning feeder and its operating method |
| CN107433593B (en) * | 2017-09-07 | 2021-01-29 | 龙海铂格自动化设备有限责任公司 | Method for realizing parallel robot food sorting processing |
| CN107433593A (en) * | 2017-09-07 | 2017-12-05 | 龙海铂格自动化设备有限责任公司 | Parallel robot food sorts system of processing |
| CN109483537A (en) * | 2018-11-15 | 2019-03-19 | 华南智能机器人创新研究院 | A kind of Delta robot manipulating task target selecting method and system |
| CN109365318A (en) * | 2018-11-30 | 2019-02-22 | 天津大学 | A kind of multi-robot Cooperation method for sorting and system |
| CN112060074A (en) * | 2020-07-21 | 2020-12-11 | 无锡职业技术学院 | Delta robot control system based on machine vision |
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