CN205343134U - Robot transport visual system - Google Patents
Robot transport visual system Download PDFInfo
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- CN205343134U CN205343134U CN201521063391.8U CN201521063391U CN205343134U CN 205343134 U CN205343134 U CN 205343134U CN 201521063391 U CN201521063391 U CN 201521063391U CN 205343134 U CN205343134 U CN 205343134U
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- robot
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- photographic head
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Abstract
The utility model discloses a robot transport visual system, including the controller, with the interactive transfer robot of controller control, and set up and be in transfer robot one side and with the visual system connected of controller communication, the visual system include by the fixed camera of support, and with the controller connected of robot and camera keep communication. Especially, the coordinate that provides through the visual system among the handling of robot is correctly placed. This method includes the coordinate transformation the when shape that sets up the transport object, the removal rule that sets up the robot, the visual system coordinate that obtains vision collection point and the placing object of robot personally experience sth. Part of the body, through the coordinate mapping relation who sets up robot and visual system, and the offset of object when acquireing the robot and placing, accomplish to utilize the robot and the cooperation efficient of visual system to accomplish fitting work.
Description
Technical field
This utility model relates to industrial robot and controls technical field, particularly relates to a kind of robot transport visual system.
Background technology
At present, in global manufacturing industry, industrial robot has served more and more important effect aborning.The work become increasingly complex to use robot to be competent at, not only there is better control system in robot, also to need the change of more perception environment.Wherein robot vision contains much information with it, information completely becomes most important robot perception function.
Robot transport visual system, is built upon on the image coordinate location relation of robot coordinate and video camera, is one of technology of key in robot transport operation process.But, although robot can pass through fixing motion track, adds that the carrying gripping apparatus of auxiliary completes the carrying of object standard, the putting position before workpiece handling is required height, and arranging can because blowing problem causes that subsequent work stations cannot produce.Visual system can obtain the pendulum location coordinate information of static workpieces, generates the image coordinate of work, it is impossible to convert the placement coordinate in robot transport process to.
Utility model content
The purpose of this utility model is for the technological deficiency existed in prior art, and provides a kind of robot transport visual system and method for rapidly positioning thereof.
Be the technical scheme is that by realizing the purpose of this utility model
A kind of robot transport visual system, including controller, mutual transfer robot is controlled with described controller, and it is arranged on described transfer robot side the visual system being connected with described controller communication, described visual system includes the photographic head fixed by support and the controller being connected of keeping in communication with described robot and photographic head.
Described photographic head is industrial camera, and the camera lens of described photographic head is vertically upright fixedly installed on described support.
Described controller is PLC.
Described transfer robot and described controller control in UDP or RS232 mode alternately.
Compared with prior art, the beneficial effects of the utility model are:
The method of the robot transport visual system of utility model, the coordinate especially provided by visual system in robot transport process is correctly placed.The method includes arranging the shape of carry an object, arranges Coordinate Conversion when object is placed by the movement rule of robot, the visual system coordinate obtaining vision collecting point and robot, by setting up the coordinate mapping relations of robot and visual system；And obtain the side-play amount of object when robot is placed, accomplish to utilize robot to be efficiently completed assembly work with coordinating of visual system, use visual system as the auxiliary device in robot transport process, effectively solve material arranging apparatus problem and different material puts the replacing problem of mould, using the method, solution simple to operate, effective puts the problems such as the qualification rate produced in handling process is low, personnel cost is high, automatization level is low because of material.
Accompanying drawing explanation
Fig. 1 show the structural representation of robot transport visual system of the present utility model and method for rapidly positioning thereof.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this utility model is described in further detail.Should be appreciated that specific embodiment described herein is only in order to explain this utility model, be not used to limit this utility model.
As shown in Figure 1, the robot transport visual system of an embodiment of the present utility model, including being arranged on the switch board 1 in order to energy supply, robot 2 and visual system, described visual system includes the photographic head 3 fixed by support 4 and the controller being connected of simultaneously keeping in communication with described robot and visual system, such as PLC, the effect that photographic head is is to find a view, and controller is used for the program that stores, carries out computing and carries out the work such as communication with robot.Described controller and transfer robot are mutual by UDP or RS232 protocol integrated test system, and described controller may be provided in described switch board.Specifically, described photographic head is industrial camera, and the camera lens of described photographic head is vertically upright fixedly installed on described support.Owing to photographic head is rack-mount, remaining static, photographic head is exactly a geo-stationary reference point；Namely exist between photographic head and industrial robot and determine and known coordinate transformation relation.
Carry out moving glass door body and being placed into glass door frame and carry out being installed as example controlling industrial robot, tradition mode of transport, glass door body must necessarily be placed in fixing position, putting must in strict conformity with requiring, can not have any deviation, otherwise cannot be correct be placed in glass door frame, the method for rapidly positioning of this utility model robot transport, comprise the following steps
1) at least three is set on a corner of glass door body, it is preferably 9 to improve the precision that coordinate is set up, sense and set up the preset point of coordinate for visual system, described preset point is not arranged on the same straight line be, the movement rule of robot is set according to the position of glass preset point simultaneously, after making robot move all above photographic head every time；It is generally adopted on workpiece and also draws one " field " word, " field " 9 angles of the crossing of word can be just preset point, or adopt an angle of workpiece as preset point.
2) robot starts mobile, and movable glass door body is with the corner of preset point to above photographic head, and robot sends shooting signal to visual system, and visual system record also preserves the coordinate of glass door body preset point；
3) robot continuously moves to one of them preset point above photographic head, and robot stops the scheduled time and sends shooting signal to visual system；Controller calculates preset point coordinate in visual system；
4), above robot moves to next preset point to photographic head, stop and sending shooting signal to photographic head；Visual system carries out shooting and being stored by the coordinate information of preset point；
5) step 3 is repeated) and 4), the coordinate information of all preset point correspondence visual systemes on acquisition glass door body；The coordinate information that all of preset point coordinate information on controller record glass door body and robot move；
6) angle at the diagonal angle or homonymy longest edge that move the robot into glass door body shoots, obtain the coordinate information at the angle of glass door body diagonal angle or homonymy longest edge, the length of side of material or cornerwise length can be obtained, and this value is sent to robot, whether qualified to verify the material captured；
7) visual system is analyzed a corner coordinate of the glass door body photographed according to the position of transfer robot and photographic head and the information of determined coordinate corresponding relation and glass door body, calculate glass door body corner, the glass door body length of side or cornerwise length, X-axis skew, Y-axis skew and deviation angle
8) according to glass door diagonal or the length of side, robot judges that whether glass door body is up to specification, if glass door body specification is defective, then abandon, if after eligible machine people moves to the track putting glass door body set in advance, offset according to X-axis on existing moving coordinate, Y-axis offsets and deviation angle, adjust and finally place coordinate points, glass door body is precisely put into precalculated position, complete carrying work.
Namely robot utilizes the video camera in visual system that glass door body is automatically positioned in handling process, calculate the current glass door body relative position relative to robot, and transmission of coordinate information is in robot control system, carried out, according to coordinate, the position glaze door body that computing walks correct by robot and put in glass door frame, complete carrying work.
The method of the robot transport visual system of utility model, the coordinate especially provided by visual system in robot transport process is correctly placed.The method includes arranging the shape of carry an object, arranges Coordinate Conversion when object is placed by the movement rule of robot, the visual system coordinate obtaining vision collecting point and robot, by setting up the coordinate mapping relations of robot and visual system；And obtain the side-play amount of object when robot is placed, accomplish to utilize robot to be efficiently completed assembly work with coordinating of visual system, use visual system as the auxiliary device in robot transport process, effectively solve material arranging apparatus problem and different material puts the replacing problem of mould, using the method, solution simple to operate, effective puts the problems such as the qualification rate produced in handling process is low, personnel cost is high, automatization level is low because of material.
This utility model adopts industrial robot to instead of traditional industry and uses a dead lift, photographic head replaces material in traditional industry and places the constraint being strict with, achieve visual system fixing camera to control to blend with robot, blowing is realized freely with combining of visual system by robot, minimizing answers blowing problem to cause, and subsequent work stations cannot produce, vision localization prepares, the position problems occurred when reducing products with adhesive.The space of photographic head occupation of land simultaneously is little, having saved space cost for factory is actually used, meanwhile, this utility model makes the robot can by the location of visual system, adjust and change the job task of robot flexibly, it is possible on open vision platform, build the various different production requirements of new adaptation.
The above is only preferred implementation of the present utility model; it should be noted that; for those skilled in the art; under the premise without departing from this utility model principle; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (4)
1. a robot transport visual system, it is characterized in that, including controller, mutual transfer robot is controlled with described controller, and it is arranged on described transfer robot side the visual system being connected with described controller communication, described visual system includes the photographic head fixed by support and the controller being connected of keeping in communication with described robot and photographic head.
2. robot transport visual system as claimed in claim 1, it is characterised in that described photographic head is industrial camera, and the camera lens of described photographic head is vertically upright fixedly installed on described support.
3. robot transport visual system as claimed in claim 2, it is characterised in that described controller is PLC.
4. robot transport visual system as claimed in claim 2, it is characterised in that described transfer robot and described controller control in UDP or RS232 mode alternately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521063391.8U CN205343134U (en) | 2015-12-15 | 2015-12-15 | Robot transport visual system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521063391.8U CN205343134U (en) | 2015-12-15 | 2015-12-15 | Robot transport visual system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205343134U true CN205343134U (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521063391.8U Expired - Fee Related CN205343134U (en) | 2015-12-15 | 2015-12-15 | Robot transport visual system |
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| Country | Link |
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| CN (1) | CN205343134U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364927A (en) * | 2015-12-15 | 2016-03-02 | 天津立德尔智能装备科技有限公司 | Robot carrying visual system and robot carrying quick positioning method |
| CN107248177A (en) * | 2017-05-24 | 2017-10-13 | 深圳优地科技有限公司 | A kind of localization method and device of wheeled robot |
| CN110666408A (en) * | 2019-10-28 | 2020-01-10 | 河南宝盛精密机械有限公司 | Intelligent vision welding device |
-
2015
- 2015-12-15 CN CN201521063391.8U patent/CN205343134U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364927A (en) * | 2015-12-15 | 2016-03-02 | 天津立德尔智能装备科技有限公司 | Robot carrying visual system and robot carrying quick positioning method |
| CN107248177A (en) * | 2017-05-24 | 2017-10-13 | 深圳优地科技有限公司 | A kind of localization method and device of wheeled robot |
| CN107248177B (en) * | 2017-05-24 | 2020-05-22 | 深圳优地科技有限公司 | Positioning method and device of wheeled robot |
| CN110666408A (en) * | 2019-10-28 | 2020-01-10 | 河南宝盛精密机械有限公司 | Intelligent vision welding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20201215 |