CN107598928A - Camera and robot control system and its automatic adaptation method based on semantic model - Google Patents

Camera and robot control system and its automatic adaptation method based on semantic model Download PDF

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Publication number
CN107598928A
CN107598928A CN201711005743.8A CN201711005743A CN107598928A CN 107598928 A CN107598928 A CN 107598928A CN 201711005743 A CN201711005743 A CN 201711005743A CN 107598928 A CN107598928 A CN 107598928A
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camera
semantization
robot
model
end module
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CN107598928B (en
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赵冰洁
张华良
杨帆
李庆鑫
张涛
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Shenyang Intelligent Robot Innovation Center Co ltd
Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The present invention relates to the camera based on semantic model and robot control system and its automatic adaptation method, semantization model service end module, semantization model client end module are established in camera controller, robot controller respectively, by the semantic modeling of semantization model service end module and the parsing with semantization model client end module, the automatic adaptation of industrial camera and robot control system is realized.The present invention can be in the case of camera function upgrades and changed, it is not necessary to which robot control is stopped, and changes controller programming function and the order of camera again, adds the flexibility of robot system work, has saved the working time, plug and play.

Description

Camera and robot control system and its automatic adaptation method based on semantic model
Technical field
The present invention relates to a kind of industrial camera based on semantic model and robot control system and its automatic adaptation side Method, belong to robot control field.
Background technology
Under the background in industrial 4.0 epoch, as China makes going deep into for 2025 strategies, Robot industry market presents quick-fried Fried formula growth, this be unable to do without NI Vision Builder for Automated Inspection, and machine vision is equivalent to elongator of the human vision on machine, allowed Man-machine collaboration becomes a reality.Robot industry wants to realize really intelligent and automation, it is necessary to possesses and precisely observes things Ability, it can judge things, core of the industrial camera as NI Vision Builder for Automated Inspection, its importance is self-evident well.
Traditional machine vision scheme, robot controller need communication configuration to camera and function that programming is fixed Work, when camera function has a large amount of random combines, it is necessary to extremely cumbersome robotic programming work；When camera function upgrades During change, robot controller needs to be stopped, and programming is fixed to function and configuration again.If change different phases Machine is specifically programmed, it is necessary to according to the function of camera manufacturer and configuration for such camera, the software between different cameral Do not possess durability.Traditional scheme influences efficiency, does not possess flexibility, does not also meet intelligence manufacture theory.
" semantization " refers to that information can be studied and collected to machine in the case where needing less human intervention, understands Machine language, internet arena is now widely used for, using more in web, HTML transmission.Industrial control field exists each Equipment data form is different, communication pattern is different, can so cause the data acquisition for a system, it is necessary to engineer Know different data, form meaning etc., waste ample resources.Semantization solves this problem, allows equipment Unify legislation, says The same language, it can more realize and interconnect.
For the intelligentized demand of robot control field, modeled based on semantization, have studied industrial camera and robot The adaptive approach of control system, semantization description information, server and client side's automatic adaptation, break through cumbersome Conventional visual Fixed program, realizes software repeated usage, plug and play, interconnection, and the development to Chinese intelligence manufacture is significant.
The content of the invention
Cumbersome weight during for mass communication configuration process and camera replacing or function renewal in existing vision prescription be present New program works, and the invention provides a kind of industrial camera based on semantic model and robot control system and its automatic adaptation Method.Based on semantic model module, described by semantization, realize automatic adaptation, plug and play, synchronized update, improve work Efficiency.
The used to achieve the above object technical scheme of the present invention is：Camera based on semantic model controls with robot The automatic adaptation method of system, semantization model service end module, language are established in camera controller, robot controller respectively Justiceization model client end module, by the semantic modeling of semantization model service end module and with semantization model client end The parsing of module, the automatic adaptation of industrial camera and robot control system is realized, is comprised the following steps：
Semantization model service end module carries out semantization description, writing address according to camera parameter and camera control commands In the element in space, daughter element, parameter institutional framework and service list are then formed into XML file；
Semantization model client end module accesses the semantization model service end module in camera controller and obtains XML texts Part, parsing obtain camera parameter and camera control commands；By the semanteme corresponding to required camera parameter and camera control commands Change order to send to camera controller；
Semantization model service end module obtains semantization order, and camera controller performs the behaviour corresponding to semantization order Make, and feed back robot information；Robot controller is controlled according to robot information.
The camera parameter includes camera shoot function, acquisition parameters regulation, camera parameter information.
The parameter institutional framework includes element, the corresponding relation of daughter element；Service list include element, daughter element it is interior Hold.
It is described that semantization description is carried out according to camera parameter and control command, in the element in writing address space, daughter element Comprise the following steps：
Using camera shoot function, acquisition parameters regulation, camera parameter information as element writing address space；Will be each The classification of element is respectively as the daughter element under affiliated element；The action of certain corresponding daughter element is camera control commands as the son Next stage daughter element under element.
The camera controller carries out corresponding command operation, and feeds back robot information and comprise the following steps：
Camera controller performs shooting action according to semantization order, and obtains positional information corresponding to shooting result.
After feeding back robot information, robot controller resolves to obtain robot motion track according to positional information, according to Movement locus control machine people performs grasping movement.
Camera and robot control system based on semantic model, build in camera controller, robot controller respectively Vertical semantization model service end module, semantization model client end module, including：
Semantization model service end module, for carrying out semantization description according to camera parameter and camera control commands, write Enter in the element of address space, daughter element, parameter institutional framework and service list are then formed into XML file；Obtain semantization Order, camera controller is performed the operation corresponding to semantization order and feed back robot information to robot controller；
Semantization model client end module, for accessing the semantization model service end module in camera controller and obtaining XML file, parsing obtain camera parameter and camera control commands；By corresponding to required camera parameter and camera control commands Semantization order is sent to the semantization model service end module of camera controller.
The present invention has advantages below and beneficial effect：
1st, automatic adaptation of the invention, it is not the robot controller and industrial camera for being directed to some specific model, its Adaptation method is applied to the robot controller and industrial camera of all semantization model modules equipped with the present invention.
2nd, can be in the case of camera function upgrades and changed, it is not necessary to which robot controls the characteristics of automatic adaptation of the present invention It device interruption of work, instead of with teaching machine manual modification camera function and communications command, add the spirit of robot system work Activity, save the working time, plug and play.
3rd, semantization model module of the present invention has been used based on service-oriented technology, independent of specific hardware platform and Operating system, software have durability, applied widely.
Brief description of the drawings
Fig. 1 is the embodiment block diagram for the hardware environment composition that the present invention applies；
Fig. 2 is the controller semantization model module figure of the present invention；
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
Referring to Fig. 1, industrial camera and robot control system based on semantization model, wherein relating generally to robot control Device processed, camera controller, robot body.
Described robot controller, is the X86-based platform for running QNX real time operating systems, and its hardware components includes Motion controller and servo-driver, support EtherCAT bus communications.Software section include semantization model service end module, Control algolithm module, sensor assembly, motion-control module；Control algolithm module, including basic algorithm storehouse, function algorithm storehouse and Using algorithms library, the algorithm application for robot control；Sensor assembly, including sensor hardware driving and data modulus of conversion Type, interacted for robot with sensor.Motion-control module, including dynamics module, kinematics module, ordered for parsing Order, control machine people operation.
Described camera controller includes semantization model client end module, communication configuration module, visual performance module；
Referring to Fig. 2, the automatic adaptation core point of this patent is semantization model client end module and server module.It is semantic It is based on semantic service-oriented module to change model service end module, defines a kind of integrated address space and the model of information, By information such as related all parameters of a specific object, mode of operation, history, events based on the mode of semantic modeling to right As carrying out semantization description, relation each other is established, forms parameter institutional framework and the XML file of service list, can represent multiple Miscellaneous data structure and process, establishes network communication services end, and the binary protocol based on TCP completes data exchange.Described Semantic modeling, it is to be based on the basis of data modeling, increases semantic description layer, described in the form of " data-semanteme-relation ".Language Justiceization model client end module is that the client of network service is established based on semantic service-oriented module, is accessed and taken by ID Business device module, parameter institutional framework and service list are obtained based on semantization attribute information and XML file parsing.
By taking robot controller and industrial camera system as an example, detailed process includes：Industrial camera controller end establishes language Justiceization model service end module, by the parameter information of camera such as：The function of shooting, the regulation of acquisition parameters, the basic letter of camera The parameter semantic modeling modes such as breath carry out semantization description, and in the element in writing address space, element includes element layer, daughter element The hierarchical relationships such as layer, contact is established between each element, form parameter institutional framework and the XML file of service list.Robot controls Semantization model client end module is established at device end, and client is initiated to shake hands to service end, establishes connection.Get parms institutional framework And service list XML, element in address space, the information of daughter element, the final information for obtaining camera are parsed based on semantic model All data of model, so as to reach the purpose of automatic adaptation.Robot controller will control life accordingly according to adaptation result Order is sent to camera controller, and camera controller performs the order sent, and positional information is fed back into robot controller, Robot controller performs crawl according to positional information with reference to control algolithm module, moving control module for controlling robot body Order.
Automatic adaptation method example of the present invention explained below, is comprised the following steps that：
Step 1：Camera controller establishes semantization model service end module, based on semantic modeling, to the work(of camera shooting Can (such as shooting shape, identification color, store function), the regulations of acquisition parameters (such as the time for exposure, focalize, shoot mould Formula), the parameter such as the essential information (such as manufacturer, the date of production, ultimate resolution) of camera carry out semantization description, write-in In the element of address space, daughter element；Function and control command are illustrated：Such as phase function shooting different shape and different face Color, color and shape semantization is described in element layer, such as circular, square, the color that shape is included include as it is red, The semantizations such as yellow are described in respective daughter element layer, and control command is such as shot to the order languages such as yellow is circular, red is square Justiceization is described in next stage daughter element layer.Then parameter institutional framework and service list are formed into XML file.
Step 2：Robot controller sets semantization model client end module, initiates to shake hands to service end, establishes communication, The institutional framework that gets parms and service list XML, parse element in address space based on semantic model, the information of daughter element, most All data of the information model of camera are obtained eventually, and corresponding step 1 is illustrated, such as by accessing, control knows that phase function is shot Different shape and different colours, and various control commands, so that controller and phase function reach the purpose of automatic adaptation.
Step 3：Robot controller is circular according to function needs, such as shooting yellow, semantization model client end module The semantization order for being parsed the shooting yellow circle of semantic acquisition is sent to camera controller, camera controller order Afterwards, visual performance module, which starts execution search matching scheduling algorithm, (has the template that such as yellow is circular, constantly searches in camera controller Rope, when the exactly yellow circle photographed, illustrate to match, the circular positional information of yellow can be calculated, to machine People's controller), when photographing yellow circle, its positional information is sent to robot controller.
Step 4：Robot control calls control algolithm module to be resolved, obtains robot and perform according to positional information Track, moving control module for controlling mechanical arm perform crawl task.
In summary, method of the invention proposes for the demand of industrial camera and robot control system automatic adaptation A kind of system and automatic adaptation method based on semantization model.This method is that robot controller flexibly controls industrial camera to carry For facility, plug and play, independent of the controller and camera of specific model, its software has durability, saves the working time, has Beneficial to the extension of multicamera system, it can realize and interconnect from group decision-making.

Claims (7)

1. the automatic adaptation method of camera and robot control system based on semantic model, it is characterised in that：Respectively in camera Semantization model service end module, semantization model client end module are established in controller, robot controller, passes through semantization The semantic modeling of model service end module and the parsing with semantization model client end module, realize industrial camera and machine The automatic adaptation of people's control system, comprises the following steps：
Semantization model service end module carries out semantization description, writing address space according to camera parameter and camera control commands Element, in daughter element, parameter institutional framework and service list are then formed into XML file；
Semantization model client end module accesses the semantization model service end module in camera controller and obtains XML file, Parsing obtains camera parameter and camera control commands；Semantization corresponding to required camera parameter and camera control commands is ordered Order is sent to camera controller；
Semantization model service end module obtains semantization order, and camera controller performs the operation corresponding to semantization order, And feed back robot information；Robot controller is controlled according to robot information.
2. the automatic adaptation method of camera and robot control system according to claim 1 based on semantic model, institute Stating camera parameter includes camera shoot function, acquisition parameters regulation, camera parameter information.
3. the automatic adaptation method of camera and robot control system according to claim 1 based on semantic model, institute Stating parameter institutional framework includes element, the corresponding relation of daughter element；Service list includes element, the content of daughter element.
4. the automatic adaptation method of camera and robot control system according to claim 1 based on semantic model, institute State and semantization description is carried out according to camera parameter and control command, include following step in the element in writing address space, daughter element Suddenly：
Using camera shoot function, acquisition parameters regulation, camera parameter information as element writing address space；By each element Classification respectively as the daughter element under affiliated element；The action of certain corresponding daughter element is camera control commands as the daughter element Under next stage daughter element.
5. the automatic adaptation method of camera and robot control system according to claim 1 based on semantic model, institute State camera controller and carry out corresponding command operation, and feed back robot information and comprise the following steps：
Camera controller performs shooting action according to semantization order, and obtains positional information corresponding to shooting result.
6. the automatic adaptation method of camera and robot control system according to claim 1 based on semantic model, instead After presenting robot information, robot controller resolves to obtain robot motion track according to positional information, according to movement locus control Robot processed performs grasping movement.
7. camera and robot control system based on semantic model, it is characterised in that respectively in camera controller, robot control Semantization model service end module, semantization model client end module are established in device processed, including：
Semantization model service end module, for carrying out semantization description, write-in ground according to camera parameter and camera control commands In the element in location space, daughter element, parameter institutional framework and service list are then formed into XML file；Semantization order is obtained, Camera controller is performed the operation corresponding to semantization order and feed back robot information to robot controller；
Semantization model client end module, for accessing the semantization model service end module in camera controller and obtaining XML File, parsing obtain camera parameter and camera control commands；By the language corresponding to required camera parameter and camera control commands Justiceization order is sent to the semantization model service end module of camera controller.
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