CN113084809A - Industrial AI (Artificial Intelligence) key technology based on binocular 3D (three-dimensional) perception - Google Patents
Industrial AI (Artificial Intelligence) key technology based on binocular 3D (three-dimensional) perception Download PDFInfo
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- CN113084809A CN113084809A CN202110370963.0A CN202110370963A CN113084809A CN 113084809 A CN113084809 A CN 113084809A CN 202110370963 A CN202110370963 A CN 202110370963A CN 113084809 A CN113084809 A CN 113084809A
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The invention provides an industrial AI key technology of binocular 3D perception, and relates to the technical field of industrial AI. The industrial A I key technology of binocular 3D perception comprises an industrial robot, a binocular camera, a microcomputer system, a three-dimensional measuring system, an environment purifying system and a manual control center; the industrial robot consists of a robot control center, a servo transmission mechanism and an actuating mechanism; the binocular camera comprises an image capturing module, an image recognition module and an image transmission module; the environment purification system consists of an air exhaust mechanism, an air blowing mechanism and a barrier removing mechanical arm; the binocular camera is installed on an industrial robot mechanical arm. By designing the binocular camera, the microcomputer system, the three-dimensional measuring system and the environment purifying system, the external environment of the workpiece can be sensed, meanwhile, the external environment can be automatically purified, and finally, the positioning accuracy of the machined workpiece and the machining equipment can be greatly improved through the accurate measurement of the three-dimensional measuring system.
Description
Technical Field
The invention relates to the technical field of industrial AI, in particular to an industrial AI key technology of binocular 3D perception.
Background
Artificial intelligence, also known as AI, machine intelligence, refers to the intelligence exhibited by machines manufactured by humans; artificial intelligence generally refers to techniques for presenting human intelligence through ordinary computer programs. The core problems of AI include the ability to construct human-like and even super-tall reasoning, knowledge, planning, learning, communication, perception, moving objects, use tools and control machinery, etc.; artificial intelligence is currently used in a large number of tools, including search and mathematical optimization, logic deduction, and is gaining increasing attention in the computer field and applied in the fields of robots, economic and political decisions, control systems, simulation systems, and intelligent industry.
With the continuous development of society and the continuous progress of science and technology, the industrial AI technology is also applied in the field of intelligent industry, the research of industrial AI focuses on the application of binocular stereo vision in a microcomputer operating system, a robot and three-dimensional size measurement, various industrial intelligent robots are already in the market at present, but the existing industrial AI robots still have certain defects in system design, the binocular 3D perception technology is particularly important for the industrial AI robots, but in the industrial processing process, the external environment has a large influence on the operation of the industrial AI robots, and the processing environment with severe external environment easily causes perception obstacles on the binocular 3D perception system of the robots, so that the positioning accuracy of processed workpieces and processing equipment is influenced;
therefore, there is a need to develop an efficient industrial AI key technology for binocular 3D perception.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an industrial AI key technology of binocular 3D perception, and solves the problems that in the industrial processing process, the external environment has a large influence on the operation of an industrial AI robot, and the processing environment with severe external environment is easy to cause perception obstacle to a robot binocular 3D perception system, so that the positioning precision of a processed workpiece and processing equipment is influenced.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the industrial AI key technology of binocular 3D perception comprises an industrial robot, a binocular camera, a microcomputer system, a three-dimensional measurement system, an environment purification system and a manual control center;
the industrial robot consists of a robot control center, a servo transmission mechanism and an actuating mechanism;
the binocular camera comprises an image capturing module, an image recognition module and an image transmission module, and can capture, recognize and transmit the position information of the workpiece;
the environment purification system comprises air exhaust mechanism, blowing mechanism and barrier removal arm, and air exhaust mechanism, blowing mechanism and barrier removal arm can carry out the extraction of flue gas and collect or blow away according to the environmental conditions around the work piece, carry out automatic clearance by the barrier removal arm when meetting solid barrier.
Preferably, the binocular camera is installed on the industrial robot arm, and the binocular camera is installed on the industrial robot arm, so that the binocular camera can be used for quickly positioning the workpiece.
Preferably, the microcomputer system is composed of computer hardware and software, a liquid crystal display screen is installed at a computer hardware terminal, the microcomputer system composed of the computer hardware and the software can repeatedly calculate and verify the 3D position information of the workpiece measured by the three-dimensional measuring system in real time, and meanwhile, the industrial robot and the environment purifying system can be controlled to work.
Preferably, the three-dimensional measuring system consists of an infrared positioning system, a three-dimensional positioning system and a computer measuring and processing system, and the three-dimensional measuring system consisting of the infrared positioning system, the three-dimensional positioning system and the computer measuring and processing system can accurately measure and position the three-dimensional position information of the workpiece so as to provide accurate measuring data for the microcomputer system.
Preferably, the industrial robot, the binocular camera, the microcomputer system, the three-dimensional measurement system, the environment purification system and the manual control center are in data connection through data transmission leads, and the industrial robot, the binocular camera, the microcomputer system, the three-dimensional measurement system, the environment purification system and the manual control center are in data connection through the data transmission leads, so that high-quality data transmission efficiency and quality can be guaranteed.
The industrial AI key technology operation scheme based on binocular 3D perception comprises the following contents:
s1, an industrial robot acquires workpiece position information through a binocular camera, and the binocular camera automatically feeds back the position information of the workpiece to a microcomputer system after acquiring the workpiece position information;
s2, after receiving the position information of the workpiece, the microcomputer system controls the three-dimensional measurement system to measure the 3D position information of the workpiece, and feeds the measured 3D position information back to the microcomputer system;
s3, when the binocular camera in S1 detects the position information of the workpiece and detects that the working environment near the workpiece contains a large amount of smoke or obstacles, the information of the working environment near the workpiece can be synchronously transmitted to a microcomputer system;
s4, after receiving the working environment information, the microcomputer system controls the environment purification system to work, and the environment purification system can remove smoke dust or obstacles nearby the workpiece through the corresponding air exhaust mechanism, the air blowing mechanism and the obstacle removing mechanical arm;
s5, after the work of the environment purification system is finished, the microcomputer system can repeatedly calculate and verify the 3D position information of the workpiece measured by the three-dimensional measurement system in real time;
s6, after the measurement is finished, the microcomputer system converts the confirmed 3D position information of the workpiece into a servo control program;
s7, after the microcomputer system transmits the servo control program to the robot control center, the robot starts to execute the program;
s8, the robot controls the execution mechanism to work through the central control system, and carries out positioning clamping, position adjustment, pushing or other set operation procedures on the workpiece;
and S9, when the environment purification system cannot be cleared in S4, the environment purification system feeds back the purification condition to the microcomputer system, the microcomputer system reports the uncleanable obstacles to the manual control center, and finally, the obstacles are cleared manually.
Preferably, when the environmental cleaning system is not cleared in S9, the environmental cleaning system automatically stores and synchronously transmits the position information, the obstacle characteristics, and the real-time image information of the obstacle to the microcomputer system, and the microcomputer system reports the obstacle information to the manual control center.
(III) advantageous effects
The invention provides an industrial AI key technology of binocular 3D perception. The method has the following beneficial effects:
1. this industry AI key technology of binocular 3D perception through the 3D perception of design systematicness, measurement and positioning system, can automize and accomplish the location and the operation of work piece, makes this industry AI technology more intelligent, can improve its holistic work efficiency greatly.
2. This industry AI key technology of binocular 3D perception through design binocular camera, microcomputer system, three-dimensional measurement system, environmental purification system with, both can carry out the perception by the external environment of work piece, also can carry out automatic purification to the external environment simultaneously, finally through three-dimensional measurement system's accurate measurement to can improve the positioning accuracy to processing work piece and processing equipment greatly.
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FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a schematic diagram of an operation scheme of an industrial AI key technology for binocular 3D perception 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.
Example (b):
as shown in fig. 1, the embodiment of the present invention provides an industrial AI key technology of binocular 3D sensing, including an industrial robot, a binocular camera, a microcomputer system, a three-dimensional measurement system, an environmental purification system, and a manual control center; the industrial robot, the binocular camera, the microcomputer system, the three-dimensional measuring system, the environment purifying system and the manual control center are in data connection through data transmission leads, and the industrial robot, the binocular camera, the microcomputer system, the three-dimensional measuring system, the environment purifying system and the manual control center are in data connection through the data transmission leads, so that high-quality data transmission efficiency and quality can be guaranteed.
The industrial robot consists of a robot control center, a servo transmission mechanism and an actuating mechanism;
the binocular camera comprises an image capturing module, an image recognition module and an image transmission module, and can capture, recognize and transmit the position information of the workpiece;
the environment purification system consists of an air exhaust mechanism, an air blowing mechanism and an obstacle removing mechanical arm, wherein the air exhaust mechanism, the air blowing mechanism and the obstacle removing mechanical arm can extract and collect or blow away smoke according to the environment condition around a workpiece, and the obstacle removing mechanical arm is used for automatically removing obstacles when solid obstacles are encountered.
The binocular camera is installed on the industrial robot arm, and the binocular camera is installed on the industrial robot arm, so that the binocular camera can be used for quickly positioning the workpiece.
The microcomputer system is composed of computer hardware and software, a liquid crystal display screen is installed at a computer hardware terminal, the microcomputer system composed of the computer hardware and the software can repeatedly calculate and verify the 3D position information of the workpiece measured by the three-dimensional measuring system in real time, and meanwhile, the industrial robot and the environment purifying system can be controlled to work.
The three-dimensional measuring system consists of an infrared positioning system, a three-dimensional positioning system and a computer measuring and processing system, and the three-dimensional measuring system consisting of the infrared positioning system, the three-dimensional positioning system and the computer measuring and processing system can accurately measure and position the three-dimensional position information of the workpiece so as to provide accurate measuring data for a microcomputer system.
As shown in fig. 2, the binocular 3D perception industrial AI key technology operation scheme includes the following contents:
s1, an industrial robot acquires workpiece position information through a binocular camera, and the binocular camera automatically feeds back the position information of the workpiece to a microcomputer system after acquiring the workpiece position information;
s2, after receiving the position information of the workpiece, the microcomputer system controls the three-dimensional measurement system to measure the 3D position information of the workpiece, and feeds the measured 3D position information back to the microcomputer system;
s3, when the binocular camera in S1 detects the position information of the workpiece and detects that the working environment near the workpiece contains a large amount of smoke or obstacles, the information of the working environment near the workpiece can be synchronously transmitted to a microcomputer system;
s4, after receiving the working environment information, the microcomputer system controls the environment purification system to work, and the environment purification system can remove smoke dust or obstacles nearby the workpiece through the corresponding air exhaust mechanism, the air blowing mechanism and the obstacle removing mechanical arm;
s5, after the work of the environment purification system is finished, the microcomputer system can repeatedly calculate and verify the 3D position information of the workpiece measured by the three-dimensional measurement system in real time;
s6, after the measurement is finished, the microcomputer system converts the confirmed 3D position information of the workpiece into a servo control program;
s7, after the microcomputer system transmits the servo control program to the robot control center, the robot starts to execute the program;
s8, the robot controls the execution mechanism to work through the central control system, and carries out positioning clamping, position adjustment, pushing or other set operation procedures on the workpiece;
and S9, when the environment purification system cannot be cleared in S4, the environment purification system feeds back the purification condition to the microcomputer system, the microcomputer system reports the uncleanable obstacles to the manual control center, and finally, the obstacles are cleared manually.
And S9, when the environment purification system cannot be cleared, the environment purification system automatically stores and synchronously transmits the position information, the obstacle characteristics and the real-time image information of the obstacles to the microcomputer system, and the microcomputer system reports the obstacle information to the manual control center.
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 (7)
1. Binocular 3D perception's industry AI key technology, its characterized in that: the system comprises an industrial robot, a binocular camera, a microcomputer system, a three-dimensional measuring system, an environment purifying system and a manual control center;
the industrial robot consists of a robot control center, a servo transmission mechanism and an actuating mechanism;
the binocular camera comprises an image capturing module, an image recognition module and an image transmission module;
the environment purification system consists of an air exhaust mechanism, an air blowing mechanism and a barrier removing mechanical arm.
2. The binocular 3D aware industrial AI key technology of claim 1, wherein: the binocular camera is installed on an industrial robot mechanical arm.
3. The binocular 3D aware industrial AI key technology of claim 1, wherein: the microcomputer system is composed of computer hardware and software, and a liquid crystal display screen is installed at a computer hardware terminal.
4. The binocular 3D aware industrial AI key technology of claim 1, wherein: the three-dimensional measurement system consists of an infrared positioning system, a three-dimensional positioning system and a computer measurement processing system.
5. The binocular 3D aware industrial AI key technology of claim 1, wherein: the industrial robot, the binocular camera, the microcomputer system, the three-dimensional measuring system, the environment purifying system and the manual control center are in data connection through data transmission conductors.
6. The binocular 3D aware industrial AI key technology operational scenario of any of claims 1-5, comprising the following:
s1, an industrial robot acquires workpiece position information through a binocular camera, and the binocular camera automatically feeds back the position information of the workpiece to a microcomputer system after acquiring the workpiece position information;
s2, after receiving the position information of the workpiece, the microcomputer system controls the three-dimensional measurement system to measure the 3D position information of the workpiece, and feeds the measured 3D position information back to the microcomputer system;
s3, when the binocular camera in S1 detects the position information of the workpiece and detects that the working environment near the workpiece contains a large amount of smoke or obstacles, the information of the working environment near the workpiece can be synchronously transmitted to a microcomputer system;
s4, after receiving the working environment information, the microcomputer system controls the environment purification system to work, and the environment purification system can remove smoke dust or obstacles nearby the workpiece through the corresponding air exhaust mechanism, the air blowing mechanism and the obstacle removing mechanical arm;
s5, after the work of the environment purification system is finished, the microcomputer system can repeatedly calculate and verify the 3D position information of the workpiece measured by the three-dimensional measurement system in real time;
s6, after the measurement is finished, the microcomputer system converts the confirmed 3D position information of the workpiece into a servo control program;
s7, after the microcomputer system transmits the servo control program to the robot control center, the robot starts to execute the program;
s8, the robot controls the execution mechanism to work through the central control system, and carries out positioning clamping, position adjustment, pushing or other set operation procedures on the workpiece;
and S9, when the environment purification system cannot be cleared in S4, the environment purification system feeds back the purification condition to the microcomputer system, the microcomputer system reports the uncleanable obstacles to the manual control center, and finally, the obstacles are cleared manually.
7. The binocular 3D aware industrial AI key technology operational scenario of claim 6, wherein: when the environmental purification system is not cleared in S9, the environmental purification system automatically stores and synchronously transmits the position information, the obstacle characteristics, and the real-time image information of the obstacle to the microcomputer system, and the microcomputer system reports the obstacle information to the manual control center.
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| US20070177790A1 (en) * | 2006-02-01 | 2007-08-02 | Fanuc Ltd | Workpiece picking device |
| JP2012103076A (en) * | 2010-11-09 | 2012-05-31 | Denso Corp | Apparatus and method for taking three-dimensional measurements |
| CN104227723A (en) * | 2013-06-07 | 2014-12-24 | 株式会社安川电机 | Workpiece detector, robot system, method for producing to-be-processed material, method for detecting workpiece |
| CN109917786A (en) * | 2019-02-04 | 2019-06-21 | 浙江大学 | A kind of robot tracking control and system operation method towards complex environment operation |
| CN110077849A (en) * | 2019-04-23 | 2019-08-02 | 郑州煤矿机械集团股份有限公司 | The dedicated handgrip mechanism of hydraulic support gonnecting rod body |
| CN111844060A (en) * | 2020-06-15 | 2020-10-30 | 江苏叁拾叁信息技术有限公司 | Agricultural multi-angle detection robot and use method thereof |
-
2021
- 2021-04-06 CN CN202110370963.0A patent/CN113084809A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070177790A1 (en) * | 2006-02-01 | 2007-08-02 | Fanuc Ltd | Workpiece picking device |
| JP2012103076A (en) * | 2010-11-09 | 2012-05-31 | Denso Corp | Apparatus and method for taking three-dimensional measurements |
| CN104227723A (en) * | 2013-06-07 | 2014-12-24 | 株式会社安川电机 | Workpiece detector, robot system, method for producing to-be-processed material, method for detecting workpiece |
| CN109917786A (en) * | 2019-02-04 | 2019-06-21 | 浙江大学 | A kind of robot tracking control and system operation method towards complex environment operation |
| CN110077849A (en) * | 2019-04-23 | 2019-08-02 | 郑州煤矿机械集团股份有限公司 | The dedicated handgrip mechanism of hydraulic support gonnecting rod body |
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Application publication date: 20210709 |