Camera and robot control system based on semantic model and automatic adaptation method thereof

A control system and semantic model technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as tedious reprogramming work, and achieve the effect of wide application, saving work time, and increasing flexibility

Inactive Publication Date: 2018-01-19
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1
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Problems solved by technology

[0006] Aiming at the cumbersome reprogramming work of a large number of communication configuration processes and camera replacement or function update in the

Method used

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  • Camera and robot control system based on semantic model and automatic adaptation method thereof
  • Camera and robot control system based on semantic model and automatic adaptation method thereof

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] see figure 1 , an industrial camera and robot control system based on a semantic model, which mainly involves robot controllers, camera controllers, and robot bodies.

[0029] The robot controller is an X86 architecture platform running the QNX real-time operating system, and its hardware part includes a motion controller and a servo driver, and supports EtherCAT bus communication. The software part includes semantic model server module, control algorithm module, sensor module, motion control module; control algorithm module, including basic algorithm library, functional algorithm library and application algorithm library, used for algorithm application of robot control; sensor module, including Sensor hardware drivers and data conversion models for robot-sensor interaction. Motion control module, including dynamics module and kinemat...

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Abstract

The invention relates to a camera and robot control system based on a semantic model and an automatic adaptation method thereof. According to the method, a semantic model server-side module and a semantic model client-side module are built in a robot controller and a camera controller respectively, and the automatic adaptation of the industrial camera and the robot control system is realized through semantic modeling of the semantic model server-side module and the analysis of the semantic model client-side module. Under the condition that the function of the camera is upgraded and changed, the robot controller does not need to stop working to carry out programming on the controller again to modify the function and the command of a camera, the working flexibility of a robot system is improved, the working time is saved, and plug-and-play is achieved.

Description

technical field [0001] The invention relates to a semantic model-based industrial camera and robot control system and an automatic adaptation method thereof, belonging to the field of robot control. Background technique [0002] In the context of the industry 4.0 era, with the deepening of China's 2025 strategy, the robot industry market is showing explosive growth momentum. This is inseparable from the machine vision system. Machine vision is equivalent to the extension of human vision on the machine. Machine collaboration becomes a reality. If the robot industry wants to achieve real intelligence and automation, it must have the ability to accurately observe things in order to be able to judge things well. As the core of the machine vision system, the importance of industrial cameras is self-evident. [0003] In the traditional machine vision solution, the robot controller needs to perform fixed programming work on the communication configuration and functions of the came...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 赵冰洁张华良杨帆李庆鑫张涛
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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