Vision controlling platform for opened industrial robot

Abstract

The vision controlling platform for opened industrial robot is universal industrial robot controlling system. The present invention is characterized by that controller for opened industrial robot is applied in the vision controlling system of robot. By means of multiple CCD video camera unit to acquire and fuse multiple channel vision information, control head, adjustable lighting unit and computer with several operation system, control in different time sequence may be performed. As an opened robot vision system, the control platform is important in raising the robot controlling precision and raising the adaptability of robot to unknown environment, makes available robot production ever suitable for modern industrial production, and can expand the application field of robot in industrialproduction.

Description

Technical field [0001] The present invention belongs to a general industrial robot control system. Its outstanding feature is to introduce computer vision, multi-robot coordination, real-time control and other technologies into the open industrial robot control system, and increase the ability of the open industrial robot control system to adapt to unknown environments. Make the open industrial robot control system more powerful. Background technique [0002] The basic structure of traditional industrial robots such as figure 1 As shown, A1 is a controller, R1 is an industrial robot, and D1 is a CCD camera. This vision system lacks independence and intelligence. The controller of the robot is mostly an integrated configuration of the controller and the operating machine (MANIPULATOR). The controller structure is closed, users cannot add new functions on the basis of the original vision system; a few PC-based robot vision controllers generally can only install the same type of ca...

AI Technical Summary

Problems solved by technology

[0002] The basic structure of traditional industrial robots is as follows: figure 1 As shown, A1 is the controller, R1 is the industrial robot, and D1 is the CCD camera. This kind of vision system lacks independence and intelligence. The controller structure is closed, and users cannot add new functions on the basis of the original vision system; a small number of PC-based robot vision controllers can generally only install the same type of camera (CCD), and cannot choose visual sensor devices at will; they do not have a pan / tilt Automatic adjustment, automatic adjustment of focus and aperture, so it is not possible to flexibly choose the angle and effect suitable for PC recognition; only equipped with ordinary light sources, or general shadowless lamps, without feedback control of light intensity, so it is not possible to flexibly select light sources and adjust according to actual conditions Light intensity; only stereo vision function or only hand-eye coordination function, no robot vision controller can have both stereo vision and hand-eye coordination; because ordinary controllers can only control a single robot and the number of visual sensors equipped is not enough, so it cannot be realized Visual coordination of multiple robots; operating systems are based on traditional Windows operating systems, with poor real-time performance

[0003] There are still many imperfections in the existing visual control system for industrial robots, which cannot meet the requirements of robots to identify and deal with problems in unknown environments

There are almost no relatively successful product-level industrial robot vision control systems on the market, and research in this field is basically in the laboratory stage

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