Following glue spraying control system and method based on image path planning

Abstract

The invention relates to the technical field of automation, in particular to a follow-up glue spraying control system and method based on image path planning. Comprising a motion control system, an embedded system and an industrial camera assembly, the embedded system comprises a man-machine interaction screen and upper software, and the upper software communicates with the industrial camera assembly and the motion control system; the motion control system comprises a microprocessor chip and a motion control chip which are interconnected, the microprocessor chip is connected with a communication module and an IO module, the communication module communicates with the embedded system, the IO module mainly processes input information and output control, the motion control chip controls a multi-axis motion control module, and the multi-axis motion control module is connected with the embedded system. The multi-axis motion control module comprises an X-axis motor driver, a Y-axis motor driver and a W-axis motor driver. Workpiece images are collected through the industrial camera assembly to form the workpiece sample drawing, motion path planning is directly carried out on the workpiece sample drawing, the equipment device is accurately controlled to achieve path following operation control, and the glue spraying process is completed.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a glue spraying control system and method based on image path planning and following. Background Art

[0002] In the current industrial automation production line, the planar glue spraying path in the glue spraying process is generated either by teaching or by code editing. After each generation, it is necessary to walk once and then fine-tune the glue spraying path according to the glue spraying effect. However, in production, workpieces of different shapes and sizes are faced, and the glue spraying path needs to be frequently replaced or adjusted. Each time the glue spraying path is changed or adjusted, each step of the path requires teaching, path planning, and finally generating a new path. The whole process is cumbersome and will affect production efficiency. Therefore, a solution that does not require frequent teaching and adjustment of the glue spraying path is urgently needed to meet the requirements of production efficiency. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a faster planar glue spraying path control method.

[0004] In view of the deficiencies in the prior art, the technical solution adopted by the present invention to solve the technical problems is: a following glue spraying control system based on image path planning, including a motion control system, an embedded system and an industrial camera component, the embedded system communicates with the industrial camera component upstream, and the embedded system communicates with the motion control system downstream; the motion control system includes an interconnected microprocessor chip and a motion control chip, the microprocessor chip is connected to a communication module and an IO module, the communication module communicates with the embedded system, the IO module mainly processes input information and output control, the motion control chip controls a multi-axis motion control module, and the multi-axis motion control module includes an X-axis motor driver, a Y-axis motor driver and a W-axis motor driver.

[0005] Preferably, the input information processed by the IO module includes the X-axis origin limit sensor signal, the Y-axis origin limit sensor signal, the X-axis positive and negative hard limit sensor signal, the Y-axis positive and negative hard limit sensor signal, the emergency stop button signal, the reset button signal, the pause / continue button signal, the processing button signal, etc.; the output control includes controlling the glue gun switch and the equipment operation status light.

[0006] Preferably, the microprocessor chip uses an STM32f407 chip, and the motion control chip uses a PCL6045B chip.

[0007] A method for following a glue spraying control system based on image path planning comprises the following steps:

[0008] (1) After the system is started, it performs a self-check to confirm the system communication status. If the system communication is abnormal, it will be handled abnormally; if the system communication is normal, it will proceed to the next step;

[0009] (2) The industrial camera component takes a picture of the workpiece to obtain a workpiece sample image and a dynamic image. The workpiece sample image is transmitted to the upper software of the embedded system, and a sample image path is created in the upper software. During operation, the upper software combines the workpiece sample image path and the rotation angle θ of the center point of the workpiece dynamic image to calculate the rotation path;

[0010] (3) The upper software of the embedded system calculates the following path according to the rotation path in step 2 combined with the system operation status, the coordinates of each axis and the IO module data, and the following path includes the components of each axis;

[0011] (4) The upper software of the embedded system sends the follow-up path data to the motion control system through the serial port. The motion control system parses the components of each axis in the follow-up path and converts each axis component into a corresponding number of pulses, thereby driving each axis to complete the glue spraying process.

[0012] Preferably, step 2 specifically includes the following contents:

[0013] (2.1) Control the industrial camera component to take a picture of a single workpiece sample at the calibration location in a static state to obtain workpiece sample image data. The workpiece sample image is used to make a workpiece template for subsequent camera dynamic shooting; it is also used for operators to create sample image paths;

[0014] (2.2) The industrial camera component transmits the workpiece sample image data to the upper software of the embedded system, and displays the image on the sample image path creation interface on the human-computer interaction screen; the sample image path creation interface can create a new sample image path, edit the sample image path, and support adding, deleting, modifying and checking sample image files. The sample image creation interface establishes a coordinate system, displays a dimension grid, and marks the shape and size of the workpiece. The default center point rotation angle is θ;

[0015] (2.3) Manually select the motion line type and determine the motion position points on the workpiece sample drawing, so as to plan the sample drawing path; then edit, save and test run and other operations can be performed to form a sample drawing path file. The motion line types include straight lines, shifts, points, arcs, circles and curves; straight lines and shifts require two point coordinates [(x1,y1), (x2,y2)] to generate, and shifts do not support glue spraying; point lines require one point coordinate (x1,y1) to generate, and support hold time setting; arc lines require three point coordinates [(x1,y1), (x2,y2), (x3,y3)] to generate, circle lines require one point center coordinate and radius [(x1,y1), r] to generate, and curve lines require multiple points (≥3) [(x1,y1), (x2,y2), ..., (x n ,y n)]; if the sample image glue spraying path is a rectangle, the sample image path is L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)] and L4[(x3,y3),(x1,y1)];

[0016] (2.4) When the workpiece reaches the trigger position of the industrial camera during the operation of the conveying device, the industrial camera is triggered to take a picture, and a dynamic image of the workpiece under the plane is obtained. The dynamic image is compared with the shape of the workpiece sample in 2.1 to obtain the rotation angle θ between the center points of the shape. The industrial camera transmits the workpiece sample path and the center point rotation angle θ to the upper software of the embedded system;

[0017] (2.5) Calculation Path, the upper software rotates the workpiece according to the sample path and the center point angle θ: [L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)], L4[(x4,y4),(x1,y1)],θ], and the rotation path is obtained by calculation: [L'1[(x'1,y1'),(x'2,y'2)], L'2[(x'2,y'2),(x'3,y 3')],L'3[(x'3,y3'),(x'4,y'4)],L'4[(x'4,y'4),(x'1,y1')]]; when the straight line is rotated counterclockwise around the origin by θ, the new coordinates (x',y') can be calculated by the following formula: (x',y')=[x*cosθ-y*sinθ,x*sinθ+y*cosθ], where (x',y') are the coordinates after rotation, (x,y) are the coordinates before rotation, and θ is the rotation angle.

[0018] Preferably, step 3 specifically includes the following contents: according to the rotation path, calculate each axis component ([L”) of the following path 1x ,L” 1y ],[L” 2x ,L” 2y ],[L” 3x ,L” 3y ],[L” 4x ,L” 4y ]);

[0019] The calculation process of each axis component is as follows: Set the speed of the conveyor to V p , the original speed of glue spraying is V0, and V p <V0,V pis the running speed of the device for conveying the workpiece, L'0 is the distance that the glue spraying command needs to travel in static state (the conveying device is not running), which is generated by two points L[(x'1,y1'),(x'2,y'2)] in the rotating path; L p The time required to complete this L'0 with V0 t The distance traveled; L' 0x is the component of L'0 on the X-axis, L' 0y is the component of L'0 on the Y axis, V1 is the calculated running speed, L"1 is the distance that the collagen spraying command needs to travel in the following state (transport device operation), L" 1x , L” 1y They are the components of L"1 on the X-axis and Y-axis respectively; the calculation is as follows:

[0020]

[0021] L p =V p *t

[0022]

[0023] L″ 1x =L′ 0x

[0024]

[0025] The beneficial effects of the present invention are as follows: the system is mainly used in industrial automated glue spraying production lines. When replacing a workpiece or editing the original workpiece glue spraying path, it is not necessary to complete it through teaching work, but to collect the workpiece image through the industrial camera component to form a workpiece sample image, and directly perform motion path planning on the workpiece sample image, accurately control the equipment device to achieve path following operation control, and complete the glue spraying process; the generated sample image path is displayed on the workpiece sample, and the sample image path and the actual path effect are the same, what you see is what you get, and the path creation method is friendly and fast. Most traditional glue spraying systems use glue spraying when the workpiece is static, which requires sacrificing the beat of the entire production line, increasing production costs and production cycles. The workpiece of the present invention moves on the conveying device with the production beat, and the dynamic image of the workpiece on the plane is obtained by the industrial camera. The new follow-up path for dynamic glue spraying is obtained according to the dynamic image and the sample image path numerical calculation, and the glue spraying is followed according to the dynamic image. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a system block diagram of the present invention;

[0027] Figure 2 is a control flow chart of the present invention;

[0028] Figure 3It is a schematic diagram of the following path principle involved in the present invention;

[0029] Figure 4 is a schematic diagram of the rotation angle involved in the present invention; DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0031] As shown in the figure, the present invention proposes a glue spraying control system based on image path planning. The system of the present invention includes a motion control system, an embedded system and an industrial camera component. The output end of the industrial camera component is connected to the input end of the embedded system, and the output end of the embedded system is connected to the motion control system. The motion control system includes an interconnected microprocessor chip and a motion control chip. The microprocessor chip uses an STM32f407 chip, and the motion control chip uses a PCL6045B chip. The microprocessor chip receives the data output of the communication module and the IO module. The communication module receives the output of the embedded system. The IO module mainly processes input information and output control. The input end of the IO module processes the X-axis origin limit sensor signal, the Y-axis origin limit sensor signal, the X-axis positive and negative hard limit sensor signal, the Y-axis positive and negative hard limit sensor signal, the emergency stop button signal, the reset button signal, the pause / continue button signal, the processing button signal, etc.; the output end controls the glue gun switch, the equipment operation status light, etc. The motion control chip gives motion instructions to the multi-axis motion control module, which includes an X-axis motor driver, a Y-axis motor driver, and a W-axis motor driver. The X-axis motor driver drives the X-axis motor, the Y-axis motor driver drives the Y-axis motor, and the W-axis motor driver drives the W-axis motor. The embedded system includes a human-computer interaction screen and upper-level software. The upper-level software communicates with the industrial camera component upstream, and communicates with the motion control system downstream. The main functions of the embedded system are as follows:

[0032] 1. Equipment parameter settings and storage: parameters include the running speed of each axis, reset speed, idle speed, jog speed, acceleration and deceleration time, jog distance, glue gun settings, glue spraying process related parameters, etc.;

[0033] 2. Equipment operation status collection, processing, display and storage: the operation status includes standby, operation, alarm, etc.;

[0034] 3. Create, edit, save and issue processing paths;

[0035] 4. Provide human-computer interaction interface, convenient and friendly to use;

[0036] 5. Interact with industrial camera components to obtain workpiece data information;

[0037] 6. Interact with the motion control system through the communication module, send processing path data, and obtain equipment operation status and processing information.

[0038] The X-axis motor, Y-axis motor and W-axis motor operate according to the planned data; the communication module uses the network TCP / IP protocol to exchange data with the upper software. The industrial camera component uses the network TCP / IP protocol to exchange data with the upper software, obtain the workpiece sample image, and set it as the workpiece sample image for subsequent dynamic acquisition of the workpiece shape; the process of obtaining the pattern and position under dynamic conditions is as follows: during the operation of the conveying device, the workpiece reaches the trigger position of the industrial camera, triggers the industrial camera to take pictures, obtains the dynamic image of the workpiece under the plane, compares the dynamic image with the workpiece sample image, and obtains the center point rotation angle θ between the center points of the two shapes. The center point rotation angle θ is automatically obtained by the industrial camera component. Among them, the X-axis motor and the Y-axis motor are responsible for the plane spraying movement of the X-axis and the Y-axis; the W-axis motor on the W-axis continuously conveys the workpiece at the set speed, which is collectively referred to as the conveying device below. At the same time, the X-axis is equipped with an origin sensor and a positive and negative limit sensor; the Y-axis is equipped with an origin sensor and a positive and negative limit sensor.

[0039] Based on the above system, the control method of the system of the present invention includes the following steps:

[0040] 1. After the system is started, it will conduct self-check to confirm the system communication status. If the system communication is abnormal, it will be handled abnormally; if the system communication is normal, it will proceed to the next step;

[0041] 2. The industrial camera component takes a picture of the workpiece to obtain the workpiece sample image and dynamic image. The workpiece sample image is transmitted to the upper software of the embedded system, and the sample image path is created in the upper software. During operation, the upper software combines the workpiece sample image path and the rotation angle θ of the center point of the workpiece dynamic image to calculate the rotation path.

[0042] 2.1. Control the industrial camera component to take a picture of a single workpiece sample at the calibration location in a static state to obtain workpiece sample data. The workpiece sample is used to make a workpiece template for subsequent camera dynamic shooting; it is also used for operators to create sample path;

[0043] 2.2. The industrial camera component transmits the workpiece sample image data to the upper software of the embedded system, and displays the image in the sample image path creation interface on the human-computer interaction screen. The sample image path creation interface can create a new sample image path, edit the sample image path, and support adding, deleting, modifying and checking sample image files. The sample image creation interface establishes a coordinate system, displays a dimension grid, and marks the shape and size of the workpiece. The default center point rotation angle is θ;

[0044] 2.3. Manually select the motion line type and determine the motion position points on the workpiece sample drawing, so as to plan the sample drawing path; then edit, save and test run, etc. to form a sample drawing path file, which can be obtained by seeing it. Motion line types include but are not limited to straight lines, shifts, points, arcs, circles, curves, etc.; straight lines and shifts require two point coordinates [(x1,y1), (x2,y2)] to generate, (x1,y1) is the coordinate of the starting point of the line, (x2,y2) is the coordinate of the end point of the line, and the shift line type does not support glue spraying; point line types require one point coordinate (x1,y1) to generate, and support hold time setting; arc line types require three point coordinates [(x1,y1), (x2,y2), (x3,y3)] to generate, (x1,y1) is the coordinate of the starting point of the arc, (x2,y2) is the coordinate of the end point of the arc, and (x3,y3) is the coordinate of any point on the arc; circle line types require one point coordinate and radius [(x1,y1), r] to generate, (x1,y1) is the center of the circle, and r is the radius of the circle; curve line types require multiple points (≥3) [(x1,y1), (x2,y2), ..., (x n ,y n )] If the glue spraying path of a sample image is a rectangle, the sample image path is L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)] and L4[(x3,y3),(x1,y1)];

[0045] 2.4. When the workpiece reaches the trigger position of the industrial camera during the operation of the conveying device, the industrial camera is triggered to take a picture, and a dynamic image of the workpiece under the plane is obtained. The dynamic image is compared with the shape of the workpiece sample in 2.1 to obtain the rotation angle θ between the center points of the shape. The industrial camera transmits the workpiece sample path and the center point rotation angle θ to the upper software of the embedded system;

[0046] 2.5 Calculation Path, the upper software calculates the rotation path [L'1[(x'1,y1'),(x'2,y'2)], L'2[(x'2,y'2),(x'3,y3')], L'3[(x'3,y3'),(x'4,y'4)], L'4[(x'4,y'4),(x'1,y1')]] according to the workpiece sample path and the center point rotation angle θ[L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)], L4[(x4,y4),(x1,y1)],θ]. Figure 4 As shown in , when the straight line rotates counterclockwise about the origin by θ, the new coordinates (x', y') can be calculated by the following formula: (x', y') = [x*cosθ-y*sinθ, x*sinθ+y*cosθ], where Figure 4 As shown, (x', y') is the coordinate after rotation, (x, y) is the coordinate before rotation, and θ is the rotation angle.

[0047] 3. The upper software of the embedded system calculates the following path based on the rotation path in step 2 combined with the system operation status, the coordinates of each axis and the IO module data. The following path contains the components of each axis ([L 1x ,L” 1y ],[L” 2x ,L” 2y ],[L” 3x ,L” 3y ],[L” 4x ,L” 4y ])

[0048] The calculation process of each axis component is as follows: Set the speed of the conveyor to V p , the original speed of glue spraying is V0, and V p <V0,V p is the running speed of the device for conveying workpieces. Then L'0 is the distance that the glue spraying command needs to travel in static state (the conveying device is not running), which is generated by two points L[(x'1,y1'),(x'2,y'2)] in the rotating path. L p is the distance traveled in the time t required to complete L'0 with V0.

[0049] L' 0x is the component of L'0 on the X-axis, L' 0y is the component of L'0 on the Y axis, V1 is the calculated running speed, L"1 is the distance that the collagen spraying command needs to travel in the following state (transport device operation), L" 1x , L” 1y are the components of L”1 on the X-axis and Y-axis respectively;

[0050] The calculation is as follows:

[0051]

[0052] L p =V p *t

[0053]

[0054] L″ 1x =L′ 0x

[0055]

[0056] 4. The upper software of the embedded system sends the follow-up path data to the motion control system through the serial port. The motion control system parses the components of each axis in the follow-up path and converts each axis component into a corresponding number of pulses, thereby driving each axis to complete the glue spraying process.

[0057] When in use, the workpiece is placed on the conveying device (W-axis drive) and is in uninterrupted motion. The camera component captures the workpiece sample data and the center rotation angle to calculate the rotation path. , and then send the follow-up path data to the motion control system, which analyzes and generates the corresponding number of pulses to drive the X-axis and Y-axis to complete the glue spraying process.

Claims

1. A glue spraying control system based on image path planning, characterized in that: It includes motion control systems, embedded systems and industrial camera components. The embedded system communicates with the industrial camera components upstream, and the embedded system communicates with the motion control system downstream. The motion control system includes interconnected microprocessor chips and motion control chips. The microprocessor chip connects the communication module and the IO module. The communication module communicates with the embedded system. The IO module mainly processes input information and output control. The motion control chip controls the multi-axis motion control module. The multi-axis motion control module includes an X-axis motor driver, a Y-axis motor driver and a W-axis motor driver.

2. The image-based path planning and following glue spraying control system according to claim 1, characterized in that: The input information processed by the IO module includes the X-axis origin limit sensor signal, the Y-axis origin limit sensor signal, the X-axis positive and negative hard limit sensor signal, the Y-axis positive and negative hard limit sensor signal, the emergency stop button signal, the reset button signal, the pause / continue button signal, the processing button signal, etc.; the output control includes controlling the glue gun switch and the equipment operation status light.

3. The image-based path planning and following glue spraying control system according to claim 2, characterized in that: The microprocessor chip uses STM32f407 chip, and the motion control chip uses PCL6045B chip.

4. A method for following a glue spraying control system based on image path planning, characterized in that: The following steps are included: (1) After the system is started, it performs a self-check to confirm the system communication status. If the system communication is abnormal, it will be handled abnormally; if the system communication is normal, it will proceed to the next step; (2) The industrial camera component takes a picture of the workpiece to obtain a workpiece sample image and a dynamic image. The workpiece sample image is transmitted to the upper software of the embedded system, and a sample image path is created in the upper software. During operation, the upper software combines the workpiece sample image path and the rotation angle θ of the center point of the workpiece dynamic image to calculate the rotation path; (3) The upper software of the embedded system calculates the following path according to the rotation path in step 2 combined with the system operation status, the coordinates of each axis and the IO module data, and the following path includes the components of each axis; (4) The upper software of the embedded system sends the follow-up path data to the motion control system through the serial port. The motion control system parses the components of each axis in the follow-up path and converts each axis component into a corresponding number of pulses, thereby driving each axis to complete the glue spraying process.

5. The method of following the glue spraying control system based on image path planning as claimed in claim 4, characterized in that: Step 2 specifically includes the following: (2.1) Control the industrial camera component to take a picture of a single workpiece sample at the calibration location in a static state to obtain workpiece sample image data. The workpiece sample image is used to make a workpiece template for subsequent camera dynamic shooting; it is also used for operators to create sample image paths; (2.2) The industrial camera component transmits the workpiece sample image data to the upper software of the embedded system, and displays the image on the sample image path creation interface on the human-computer interaction screen; the sample image path creation interface can create a new sample image path, edit the sample image path, and support adding, deleting, modifying and checking sample image files. The sample image creation interface establishes a coordinate system, displays a dimension grid, and marks the shape and size of the workpiece. The default center point rotation angle is θ; (2.3) Manually select the motion line type and determine the motion position points on the workpiece sample drawing, so as to plan the sample drawing path; then edit, save and test run and other operations can be performed to form a sample drawing path file. The motion line types include straight lines, shifts, points, arcs, circles and curves; straight lines and shifts require two point coordinates [(x1,y1), (x2,y2)] to generate, and shifts do not support glue spraying; point lines require one point coordinate (x1,y1) to generate, and support hold time setting; arc lines require three point coordinates [(x1,y1), (x2,y2), (x3,y3)] to generate, circle lines require one point center coordinate and radius [(x1,y1), r] to generate, and curve lines require multiple points (≥3) [(x1,y1), (x2,y2), ..., (x n ,y n )]; if the sample image glue spraying path is a rectangle, the sample image path is L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)] and L4[(x3,y3),(x1,y1)]; (2.4) When the workpiece reaches the trigger position of the industrial camera during the operation of the conveying device, the industrial camera is triggered to take a picture, and a dynamic image of the workpiece under the plane is obtained. The dynamic image is compared with the shape of the workpiece sample in 2.1 to obtain the rotation angle θ between the center points of the shape. The industrial camera transmits the workpiece sample path and the center point rotation angle θ to the upper software of the embedded system; (2.5) Calculation Rotation Path, the upper software calculates the rotation path according to the workpiece sample path and the center point rotation angle θ: [L1[(x1,y1),(x2,y2)], L2[(x2,y2),(x3,y3)], L3[(x3,y3),(x4,y4)], L4[(x4,y4),(x1,y1)], θ]. [L'1[(x'1,y'1),(x'2,y'2)], L'2[(x'2,y'2),(x'3,y'3)], L'3[(x'3,y'3),(x'4,y'4)], L'4[(x'4,y'4),(x'1,y'1)]]; When the straight line rotates counterclockwise about the origin by θ, the new coordinates (x',y') can be calculated by the following formula: (x',y')=[x*cosθ-y*sinθ,x*sinθ+y*cosθ], where (x',y') is the coordinate after rotation, (x,y) is the coordinate before rotation, and θ is the rotation angle.

6. The method of following the glue spraying control system based on image path planning as claimed in claim 5, characterized in that: Step 3 specifically includes the following contents: according to the rotation path, calculate the axis components of the following path ([L” 1x ,L” 1y ],[L” 2x ,L” 2y ],[L” 3x ,L” 3y ],[L” 4x ,L” 4y ]); The calculation process of each axis component is as follows: Set the speed of the conveyor to V p , the original speed of glue spraying is V0, and V p <V0,V p is the running speed of the device for conveying the workpiece, L'0 is the distance that the glue spraying command needs to travel in static state (the conveying device is not running), which is generated by two points L[(x'1,y'1),(x'2,y'2)] in the rotating path; L p is the distance traveled in the time t required to complete L'0 with V0; L' 0x is the component of L'0 on the X-axis, L' 0y is the component of L'0 on the Y axis, V1 is the calculated running speed, L"1 is the distance that the collagen spraying command needs to travel in the following state (transport device operation), L" 1x , L” 1y They are the components of L"1 on the X-axis and Y-axis respectively; the calculation is as follows: L p =V p *t L" 1x =The 0x

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