CN111142445A - Multi-scene universal edge vision motion control system and method - Google Patents
Multi-scene universal edge vision motion control system and method Download PDFInfo
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- G05B19/00—Programme-control systems
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Abstract
The invention provides a multi-scene universal edge vision motion control system and a method thereof, wherein the system comprises: the intelligent sensing module: collecting an optical image in a visual field, performing photoelectric signal conversion to obtain a signal and an image, and simultaneously performing image preprocessing; a vision calculation module: processing the signals and the images according to a self-defined visual algorithm to obtain a visual control instruction and a motion control instruction; a motion control module: according to the motion control instruction, completing user-defined multi-axis interpolation calculation, motion control instruction distribution and other control execution instruction issuing; a storage module: storing signals, images, visual algorithms and control algorithms, and reading and writing external storage medium information; a user interaction module: and displaying and transmitting the image. The invention realizes the data pipeline processing, and has higher time synchronization precision and prediction control; the reliability and the stability of the visual motion control system are improved, and the algorithm flexibility and the edge end application scene of the visual motion control system are expanded through wireless downloading.
Description
Technical Field
The invention relates to the technical field of visual perception and intelligent control, in particular to a multi-scene universal edge visual motion control system and method.
Background
The visual motion control technology is a control technology which combines visual processing and motion control, gives a signal for a motion control system according to a visual processing result, and brings a visual sensor into a closed-loop decision loop of a motion execution system.
The existing visual motion control mainly adopts a visual camera-upper computer mode to realize visual acquisition and processing, realizes motion control through an upper computer-motion control card, and is characterized in that a large amount of time delay is generated in image data transmission, upper computer image processing and communication between the upper computer and the motion control card, the time delay has uncertainty, the dynamic response requirement in a high-speed visual feedback process cannot be met, and the accurate and reliable operation of a system is difficult to ensure; all modules are connected through communication cables, so that connection faults are easy to occur; the upper computer represented by an industrial personal computer has high cost and is difficult to meet the ubiquitous application requirement of edge computing; the system has poor functional flexibility and is difficult to adapt to diversified demand changes of different scenes.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-scene universal edge vision motion control system and method.
The invention provides a multi-scene universal edge vision motion control system, which comprises:
the intelligent sensing module: collecting an optical image in a visual field and carrying out photoelectric signal conversion to obtain a signal and an image;
a vision calculation module: processing the signals and the images according to a self-defined visual algorithm to obtain a visual control instruction and a motion control instruction;
a motion control module: according to the motion control instruction, completing user-defined multi-axis interpolation calculation, motion control instruction distribution and other control execution instruction issuing;
a storage module: storing signals, images, visual algorithms and control algorithms, and reading and writing external storage medium information;
a user interaction module: and displaying and transmitting the image.
Preferably, the smart sensor module includes:
an image sensing chip: collecting an optical image in a visual field, performing photoelectric signal conversion, and sending a signal to an image collection driving and preprocessing module through a high-speed parallel bus;
the image acquisition driving and preprocessing module comprises: and receiving a signal from the image sensing chip, coding and buffering the signal, and preprocessing the image.
Preferably, the vision calculation module comprises:
a first wireless download module: solidifying and updating the customized visual algorithm in a remote wireless mode;
a visual algorithm module: calculating the preprocessed image to obtain the current position coordinate information, and converting the current position coordinate information into a visual control instruction and a motion control instruction;
a vision control communication module: and outputting the visual control command to the outside according to the visual control command, and performing visual control.
Preferably, the motion control module comprises:
the second wireless downloading module: solidifying and updating the customized multi-axis interpolation algorithm in a remote wireless mode;
a motion algorithm module: calculating the control quantity of the interpolation algorithm in each control period of the multiple axes according to the motion control instruction to obtain a calculation result;
high-speed real-time bus module: sending the calculation result to a bus type driver to drive an actuating mechanism to move;
the multi-axis pulse distribution module: and sending the calculation result to a pulse type driver to drive the actuating mechanism to move.
Preferably, the motion control module comprises: real-time closed loop feedback acquisition module: and acquiring current motion position data of each axis, decoding, and sending the data to a motion algorithm module to calculate the full closed-loop motion control quantity of each axis.
Preferably, the motion control module comprises: bus expansion and I/O module: and the system is connected with a peripheral and an execution operating system to expand the visual motion controller.
Preferably, the data transmission is performed among the modules through a high-speed parallel bus, and the data are processed among the modules in a serial pipeline mode to form a closed loop of visual processing and motion control.
Preferably, the internal algorithms of the vision algorithm module and the motion algorithm module are replaced according to the use scene and the use requirement, and the algorithms are updated remotely through the wireless downloading module.
Preferably, the user interaction module is used for image display and transmission, and user-defined visual algorithm and motion control algorithm debugging and downloading.
The multi-scene universal edge vision motion control method provided by the invention comprises the following steps:
intelligent sensing: collecting an optical image in a visual field, performing photoelectric signal conversion to obtain a signal and an image, and simultaneously performing image preprocessing;
and a visual calculation step: processing the signals and the images according to a self-defined visual algorithm to obtain a visual control instruction and a motion control instruction;
a motion control step: according to the motion control instruction, completing user-defined multi-axis interpolation calculation, motion control instruction distribution and other control execution instruction issuing;
a storage step: storing signals, images, visual algorithms and control algorithms, and reading and writing external storage medium information;
a user interaction step: and displaying and transmitting the image.
Compared with the prior art, the invention has the following beneficial effects:
1. the multi-scene universal edge vision motion controller framework provided by the invention integrates the functions of image acquisition, vision processing, motion control and the like into a board card, thereby greatly reducing the cost of universal vision motion control and vision servo;
2. all parts of the system are connected in series through a high-speed parallel bus, so that the pipeline processing of data and higher time synchronization precision and prediction control capability can be realized;
3. the invention has the advantages of simple system architecture, low board card cost, high resource utilization rate and the like, reduces the development difficulty of the visual motion control system, improves the reliability and stability of the visual motion control system, and expands the algorithm flexibility and the edge end application scene of the visual motion controller through technologies such as wireless downloading and the like.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a multi-scene generic edge vision motion controller architecture according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment provides a multi-scene universal edge vision motion controller architecture.
Fig. 1 is a schematic structural diagram of an edge vision motion controller architecture for multi-scene general use according to an embodiment of the present invention.
The image sensing chip is used for acquiring an optical image in a visual field, performing photoelectric signal conversion, and sending an acquired signal to the image acquisition driving and preprocessing module through the SCCB bus;
the image acquisition driving and preprocessing module adopts an FPGA and is used for receiving signals of the image sensing chip through an SCCB bus and carrying out multi-path parallel coding and caching of the signals. Meanwhile, preprocessing the image, including image filtering, color correction and the like;
the wireless downloading module is used for solidifying the algorithm program to the vision algorithm module and the motion algorithm module in a remote wireless mode so as to update the function of the algorithm program;
the vision algorithm module adopts a multi-core ARM/DSP processor and is used for reading the preprocessed image through an AXI bus according to the cured algorithm of the wireless downloading module, correspondingly calculating the image to obtain information such as the current position coordinate of the appointed object, converting the result into a vision control instruction and a motion control instruction and sending the vision control instruction and the motion control instruction to the vision control communication module and the motion algorithm module through the AXI bus;
the visual control communication module is used for directly outputting visual processing results outwards so as to meet different visual control requirements, and the visual processing results are output by adopting an industrial Ethernet and an industrial field bus;
and the motion algorithm module adopts a multi-core ARM/DSP processor and is used for calculating the control quantity of the interpolation algorithm in each control period of multiple motion axes according to the motion control instruction obtained by the vision algorithm module and the data of the real-time closed-loop feedback acquisition module.
Preferably, the image sensing chip, the image acquisition driving and preprocessing module, the visual algorithm module and the motion algorithm module are used for transmitting data through a high-speed parallel bus, and the modules process the data in a serial pipeline manner to form a closed loop for visual processing and motion control;
preferably, the internal algorithm of the visual algorithm module and the motion algorithm module can be changed according to different use scenes and use requirements, and algorithm updating is remotely performed through the wireless downloading module;
preferably, in this embodiment, the image acquisition driving and preprocessing module, the visual algorithm module, and the motion algorithm module are integrated into one chip through a ZYNQ embedded system-on-chip, the FPGA resources in the ZYNQ chip are used to drive and preprocess image acquisition, and the on-chip multi-core ARM processor is used to perform the calculation of the visual algorithm and the calculation of the motion control algorithm in cooperation with the DSP resources.
The high-speed real-time bus module and the multi-axis pulse distribution module are used for being compatible with different driver types, and sending corresponding control information to the bus type driver or the pulse type driver according to the calculation result of the motion control module to drive the actuating mechanism to move.
Preferably, the high-speed real-time bus adopts the real-time industrial ethernet such as EtherCAT and PowerLink, so as to reduce the time delay of message sending and improve the real-time performance of the system.
The real-time closed-loop feedback acquisition module is used for acquiring current motion position data of each motion axis and decoding data so that the motion control module can calculate the closed-loop motion control quantity of each axis according to the current position, speed, acceleration and other information of each axis;
the bus expansion and I/O module is used for being connected with other peripheral equipment and a control execution system, so that the expansion of the visual motion controller is facilitated;
the storage module is used for storing system configuration information, user programs and intermediate quantities in the calculation process and reading and writing external storage medium information;
and the user interaction module is used for the interaction functions of image display and transmission, user-defined visual calculation, motion control algorithm debugging and downloading and the like.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A multi-scene generic edge vision motion control system, comprising:
the intelligent sensing module: collecting an optical image in a visual field, performing photoelectric signal conversion to obtain a signal and an image, and simultaneously performing image preprocessing;
a vision calculation module: processing the signals and the images according to a self-defined visual algorithm to obtain a visual control instruction and a motion control instruction;
a motion control module: according to the motion control instruction, completing user-defined multi-axis interpolation calculation, motion control instruction distribution and other control execution instruction issuing;
a storage module: storing signals, images, visual algorithms and control algorithms, and reading and writing external storage medium information;
a user interaction module: and displaying and transmitting the image.
2. The system of claim 1, wherein the smart sensor module comprises:
an image sensing chip: collecting an optical image in a visual field, performing photoelectric signal conversion, and sending a signal to an image collection driving and preprocessing module through a high-speed parallel bus;
the image acquisition driving and preprocessing module comprises: and receiving a signal from the image sensing chip, coding and buffering the signal, and preprocessing the image.
3. The system of claim 1, wherein the visual computing module comprises:
a first wireless download module: solidifying and updating the customized visual algorithm in a remote wireless mode;
a visual algorithm module: calculating the preprocessed image to obtain the current position coordinate information, and converting the current position coordinate information into a visual control instruction and a motion control instruction;
a vision control communication module: and outputting the visual control command to the outside according to the visual control command, so as to meet different visual control requirements.
4. The system of claim 1, wherein the motion control module comprises:
the second wireless downloading module: solidifying and updating the customized multi-axis interpolation algorithm in a remote wireless mode;
a motion algorithm module: calculating the control quantity of the interpolation algorithm in each control period of the multiple axes according to the motion control instruction to obtain a calculation result;
high-speed real-time bus module: sending the calculation result to a bus type driver to drive an actuating mechanism to move;
the multi-axis pulse distribution module: and sending the calculation result to a pulse type driver to drive the actuating mechanism to move.
5. The system of claim 1, wherein the motion control module comprises: real-time closed loop feedback acquisition module: and acquiring current motion position data of each axis, decoding, and sending the data to a motion algorithm module to calculate the full closed-loop motion control quantity of each axis.
6. The system of claim 1, wherein the motion control module comprises: bus expansion and I/O module: and the system is connected with a peripheral and an execution operating system to expand the visual motion controller.
7. The system of claim 1, wherein the modules transmit data via a high-speed parallel bus, and the modules process data in a serial pipeline manner to form a closed loop for visual processing and motion control.
8. The system of claim 1, wherein the internal algorithms of the vision algorithm module and the motion algorithm module are changed according to the usage scenario and the usage requirement, and the algorithm is updated remotely through a wireless download module.
9. The system of claim 1, wherein the user interaction module is configured for image display and transmission, user-defined vision algorithm, motion control algorithm debugging and downloading.
10. A multi-scene universal edge vision motion control method is characterized by comprising the following steps:
intelligent sensing: collecting an optical image in a visual field, performing photoelectric signal conversion to obtain a signal and an image, and simultaneously performing image preprocessing;
and a visual calculation step: processing the signals and the images according to a self-defined visual algorithm to obtain a visual control instruction and a motion control instruction;
a motion control step: according to the motion control instruction, completing user-defined multi-axis interpolation calculation, motion control instruction distribution and other control execution instruction issuing;
a storage step: storing signals, images, visual algorithms and control algorithms, and reading and writing external storage medium information;
a user interaction step: and displaying and transmitting the image.
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| CN202010010057.5A CN111142445A (en) | 2020-01-06 | 2020-01-06 | Multi-scene universal edge vision motion control system and method |
| CN202120014921.9U CN214751405U (en) | 2020-01-06 | 2021-01-05 | Multi-scene universal edge vision motion control system |
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Application publication date: 20200512 |