CN111015650A - Industrial robot intelligent vision system and method for determining target position at multiple points - Google Patents
Industrial robot intelligent vision system and method for determining target position at multiple points Download PDFInfo
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- CN111015650A CN111015650A CN201911124350.8A CN201911124350A CN111015650A CN 111015650 A CN111015650 A CN 111015650A CN 201911124350 A CN201911124350 A CN 201911124350A CN 111015650 A CN111015650 A CN 111015650A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an industrial robot intelligent vision system for determining a target position at multiple points, which comprises an industrial robot, a data transmission system and a data cloud processing platform, wherein a data acquisition system is arranged in an industrial robot body and is connected with the data transmission system, the data acquisition system is connected with the data cloud processing platform through the data transmission system, the data cloud processing platform is respectively connected with a three-dimensional construction system and a map construction system, the map construction system is connected with a path planning system, and the path planning system is connected with the industrial robot through the data transmission system. The industrial robot intelligent vision system and method for determining the target position at multiple points are convenient for generating the three-dimensional information and the walking path of the surrounding environment and the target object in real time according to the specific working environment of the industrial robot, so that the system can flexibly adapt to different working environments, and the condition that the system needs to advance according to a specified route is avoided.
Description
Technical Field
The invention relates to the technical field of industrial robot intelligent vision systems, in particular to an industrial robot intelligent vision system and method for determining a target position in multiple points.
Background
Industrial robots are automatic mechanical equipment used for replacing manpower in the field of industrial manufacturing, a large number of mechanical equipment and finished semi-finished workpieces are often arranged in industrial plants, and when the industrial robots need to accurately and quickly take corresponding articles, the industrial robots often need to rely on an intelligent vision system to analyze and judge specific positions, specific shapes and smooth paths of the articles, so that the intelligent vision system is an important guarantee that the industrial robots can work with high efficiency;
the existing industrial robot is not provided with an intelligent vision system and can only carry out the back-and-forth movement work on a preset route, so that related objects needing to be taken can only be manually placed at a specified position for the industrial robot to take, the working mode of the industrial robot is extremely inflexible, and meanwhile, the working efficiency is influenced;
meanwhile, the traditional working mode of the industrial robot is insufficient in strain capacity, for example, when an obstacle appears on a walking path, the obstacle cannot be avoided in time, so that the industrial robot is easy to collide and damage, and once the target position is changed, the target cannot be accurately taken.
Disclosure of Invention
The invention aims to provide an industrial robot intelligent vision system and method for determining a target position at multiple points, and aims to solve the problems that the traditional working mode of an industrial robot provided in the background technology is insufficient in strain capacity, for example, an industrial robot is easy to collide and damage due to the fact that obstacles appear on a walking path and cannot avoid timely, and once the target position is changed, the target cannot be accurately taken.
In order to achieve the purpose, the invention provides the following technical scheme: the industrial robot intelligent vision system comprises an industrial robot, a data transmission system and a data cloud processing platform, wherein a data acquisition system is arranged in an industrial robot body and is connected with the data transmission system, the data acquisition system is connected with the data cloud processing platform through the data transmission system, the data cloud processing platform is respectively connected with a three-dimensional construction system and a map construction system, the three-dimensional construction system is connected with the map construction system through the data cloud processing platform, the map construction system is connected with a path planning system, and the path planning system is connected with the industrial robot through the data transmission system.
Preferably, the data acquisition system comprises an infrared acquisition system and a CCD image acquisition system, and the infrared acquisition system and the CCD image acquisition system are two independent systems working in parallel at the same level.
Preferably, the infrared acquisition system comprises two modules of infrared imaging and infrared distance measurement, the infrared imaging is to carry out image imaging acquisition on surrounding objects under the condition of poor light, and the infrared distance measurement is to measure the distance between the industrial robot and the surrounding target objects by adopting an infrared distance measurement technology.
Preferably, the path planning system comprises two subsystems of obstacle avoidance and object identification and positioning, and the two subsystems of obstacle avoidance and object identification and positioning are two independent subsystems working in parallel at the same level.
Preferably, the object recognition and positioning module comprises two modules, namely a three-dimensional feature and a three-dimensional coordinate, the three-dimensional feature is a three-dimensional characteristic of the environment around the industrial robot obtained through calculation, and the three-dimensional coordinate refers to a three-dimensional specific coordinate position of the environment around the industrial robot.
The invention provides another technical scheme for providing a working method of an industrial robot intelligent vision system for determining the target position at multiple points, which comprises the following steps:
s1: starting a data acquisition system on the industrial robot, carrying out infrared imaging and CCD image acquisition on an external environment by the data acquisition system through an infrared acquisition system and a CCD image acquisition system, and measuring the distance between the industrial robot and a surrounding target by an infrared distance measurement module in the infrared acquisition system to obtain detailed data;
s2: the data such as image data and distance data acquired by the data acquisition system are transmitted to a data cloud processing platform through a data transmission system for centralized processing;
s3: the data cloud processing platform integrates and analyzes the received data, and the data cloud processing platform applies a three-dimensional construction system to carry out three-dimensional image construction on the image data and the distance data which are integrated and analyzed to form a three-dimensional model of the surrounding environment with the industrial robot as the center;
s4: the data cloud processing platform constructs a three-dimensional image digital model constructed by the three-dimensional construction system through the map construction system and converts the three-dimensional image digital model into a live map of the environment around the industrial robot, wherein the map comprises elements such as a target object, a walking environment and the like;
s5: reasonably planning the walking path of the industrial robot by the converted live map through a path planning system, avoiding obstacles along the path by the planned path by adopting an obstacle avoiding system, and marking the three-dimensional characteristics and three-dimensional coordinates of surrounding targets in the planned path by adopting an object recognition and positioning system;
s6: and the planned path containing the three-dimensional characteristics of the target object and the three-dimensional coordinate mark is transmitted back to the body of the industrial robot through the data transmission system, and the industrial robot carries out work execution according to the planned path.
Preferably, the data transmission system in step S2 is a GPRS wireless data transmission system module.
Preferably, the three-dimensional construction system in the step S4 adopts an IBMR three-dimensional construction technology.
Compared with the prior art, the invention has the beneficial effects that: the industrial robot intelligent vision system and method for determining the target position at multiple points,
1. the three-dimensional information and the walking path of the surrounding environment and the target object can be generated in real time conveniently according to the specific working environment of the industrial robot, so that the robot can flexibly adapt to different working environments and avoid the need of advancing according to a specified route;
2. the target object does not need to be manually placed at a designated position for being taken by an industrial robot, so that the labor intensity of workers is reduced, and the problem that the target object cannot be accurately taken due to the displacement of the target object can be avoided;
3. the problem of collision trouble can't be walked around the barrier to appear in the industrial robot is prevented, the flexibility that industrial robot carried out the route walking has been promoted, and the route that is favorable to making the planning simultaneously is more reasonable.
Drawings
FIG. 1 is a schematic general flow diagram of the present invention;
FIG. 2 is a schematic diagram of a data acquisition system according to the present invention;
fig. 3 is a schematic structural diagram of a path planning system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: the industrial robot intelligent vision system comprises an industrial robot, a data transmission system and a data cloud processing platform, wherein a data acquisition system is arranged in an industrial robot body and is connected with the data transmission system, the data acquisition system is connected with the data cloud processing platform through the data transmission system, the data cloud processing platform is respectively connected with a three-dimensional construction system and a map construction system, the three-dimensional construction system is connected with the map construction system through the data cloud processing platform, the map construction system is connected with a path planning system, and the path planning system is connected with the industrial robot through the data transmission system.
The data acquisition system in the embodiment comprises an infrared acquisition system and a CCD image acquisition system, and the infrared acquisition system and the CCD image acquisition system are two independent systems working in parallel at the same level, so that the multi-point image information acquisition of the surrounding environment and objects is facilitated, and the condition that the acquired information is omitted due to the angle problem is avoided;
the infrared acquisition system comprises an infrared imaging module and an infrared ranging module, the infrared imaging module is used for imaging and acquiring images of surrounding objects under the condition of poor light, and the infrared ranging module is used for measuring the distance between the industrial robot and the surrounding target objects by adopting an infrared ranging technology, so that the industrial robot can acquire object information even under the condition of insufficient light, and the specific distances between the target objects and obstacles can be measured while acquiring the image information;
the path planning system comprises two subsystems of obstacle avoidance and object identification and positioning, and the two subsystems of obstacle avoidance and object identification and positioning are two independent subsystems working in parallel at the same level, so that obstacles in a path can be avoided in the advancing process of taking a target object, the collision condition is avoided, and the advancing fault of the industrial robot is avoided;
the object identification and positioning module comprises a three-dimensional feature module and a three-dimensional coordinate module, the three-dimensional feature module is the three-dimensional characteristic of the environment around the industrial robot obtained through calculation, the three-dimensional coordinate module is the three-dimensional specific coordinate position of the environment around the industrial robot, the appearance characteristic of a target object can be identified, meanwhile, the walking environment around a path can be judged, the target object can be conveniently and accurately taken, and therefore the target object does not need to be placed at a specified position for the industrial robot to take;
in order to better show the specific flow of the intelligent visual system of the industrial robot, the embodiment provides a working method of the intelligent visual system of the industrial robot for determining the target position at multiple points, which comprises the following steps;
the first step is as follows: starting a data acquisition system on the industrial robot, carrying out infrared imaging and CCD image acquisition on an external environment by the data acquisition system through an infrared acquisition system and a CCD image acquisition system, and measuring the distance between the industrial robot and a surrounding target by an infrared distance measurement module in the infrared acquisition system to obtain detailed data;
the second step is that: the data such as image data, distance data and the like acquired by the data acquisition system are transmitted to a data cloud processing platform through a data transmission system for centralized processing, and the data transmission system is a GPRS wireless data transmission system module;
the third step: the data cloud processing platform integrates and analyzes the received data, and the data cloud processing platform applies a three-dimensional construction system to carry out three-dimensional image construction on the image data and the distance data which are integrated and analyzed to form a three-dimensional model of the surrounding environment with the industrial robot as the center;
the fourth step: the data cloud processing platform constructs a three-dimensional image digital model constructed by the three-dimensional construction system through the map construction system and converts the three-dimensional image digital model into a live map of the environment around the industrial robot, the map comprises elements such as a target object, a walking environment and the like, and the three-dimensional construction system adopts an IBMR three-dimensional construction technology;
the fifth step: reasonably planning the walking path of the industrial robot by the converted live map through a path planning system, avoiding obstacles along the path by the planned path by adopting an obstacle avoiding system, and marking the three-dimensional characteristics and three-dimensional coordinates of surrounding targets in the planned path by adopting an object recognition and positioning system;
and a sixth step: and the planned path containing the three-dimensional characteristics of the target object and the three-dimensional coordinate mark is transmitted back to the body of the industrial robot through the data transmission system, and the industrial robot carries out work execution according to the planned path.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a target position's industrial robot intelligent vision system is confirmed to multiple spot, includes industrial robot, data transmission system and data cloud processing platform, its characterized in that: the industrial robot comprises an industrial robot body, and is characterized in that a data acquisition system is arranged in the industrial robot body and connected with a data transmission system, the data acquisition system is connected with a data cloud processing platform through the data transmission system, the data cloud processing platform is respectively connected with a three-dimensional construction system and a map construction system, the three-dimensional construction system is connected with the map construction system through the data cloud processing platform, the map construction system is connected with a path planning system, and the path planning system is connected with the industrial robot through the data transmission system.
2. An industrial robot intelligent vision system for multipoint determination of a target location as claimed in claim 1 wherein: the data acquisition system comprises an infrared acquisition system and a CCD image acquisition system, and the infrared acquisition system and the CCD image acquisition system are two independent systems working in parallel at the same level.
3. An industrial robot intelligent vision system for multipoint determination of a target location as claimed in claim 2 wherein: the infrared acquisition system comprises an infrared imaging module and an infrared ranging module, the infrared imaging module is used for carrying out image imaging acquisition on surrounding objects under the condition of relatively poor light, and the infrared ranging module is used for measuring the distance between the industrial robot and the surrounding target objects by adopting an infrared ranging technology.
4. An industrial robot intelligent vision system for multipoint determination of a target location as claimed in claim 1 wherein: the path planning system comprises two subsystems of obstacle avoidance and object identification and positioning, and the two subsystems of obstacle avoidance and object identification and positioning are two independent subsystems which work in parallel at the same level.
5. An industrial robot intelligent vision system for multipoint determination of a target location as claimed in claim 4 wherein: the object identification and positioning module comprises a three-dimensional characteristic module and a three-dimensional coordinate module, the three-dimensional characteristic module is the three-dimensional characteristic of the environment around the industrial robot obtained through calculation, and the three-dimensional coordinate module is the three-dimensional specific coordinate position of the environment around the industrial robot.
6. A method of operating an industrial robot intelligent vision system for multipoint determination of a target location as claimed in claim 1, characterized by: the method comprises the following steps:
s1: starting a data acquisition system on the industrial robot, carrying out infrared imaging and CCD image acquisition on an external environment by the data acquisition system through an infrared acquisition system and a CCD image acquisition system, and measuring the distance between the industrial robot and a surrounding target by an infrared distance measurement module in the infrared acquisition system to obtain detailed data;
s2: the data such as image data and distance data acquired by the data acquisition system are transmitted to a data cloud processing platform through a data transmission system for centralized processing;
s3: the data cloud processing platform integrates and analyzes the received data, and the data cloud processing platform applies a three-dimensional construction system to carry out three-dimensional image construction on the image data and the distance data which are integrated and analyzed to form a three-dimensional model of the surrounding environment with the industrial robot as the center;
s4: the data cloud processing platform constructs a three-dimensional image digital model constructed by the three-dimensional construction system through the map construction system and converts the three-dimensional image digital model into a live map of the environment around the industrial robot, wherein the map comprises elements such as a target object, a walking environment and the like;
s5: reasonably planning the walking path of the industrial robot by the converted live map through a path planning system, avoiding obstacles along the path by the planned path by adopting an obstacle avoiding system, and marking the three-dimensional characteristics and three-dimensional coordinates of surrounding targets in the planned path by adopting an object recognition and positioning system;
s6: and the planned path containing the three-dimensional characteristics of the target object and the three-dimensional coordinate mark is transmitted back to the body of the industrial robot through the data transmission system, and the industrial robot carries out work execution according to the planned path.
7. The working method of the industrial robot intelligent vision system for multipoint determination of the target position according to claim 6, characterized in that: the data transmission system in the step S2 is a GPRS wireless data transmission system module.
8. The working method of the industrial robot intelligent vision system for multipoint determination of the target position according to claim 6, characterized in that: the three-dimensional construction system in the step S4 adopts an IBMR three-dimensional construction technology.
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Cited By (2)
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| CN112540089A (en) * | 2020-12-16 | 2021-03-23 | 江苏法尔胜材料分析测试有限公司 | Application method of digital imaging system in concrete bridge crack detection and analysis |
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Application publication date: 20200417 |