Industrial robot control method based on industrial processing

Abstract

The invention discloses an industrial robot control method based on industrial processing, and belongs to the technical field of industrial robot control. An industrial robot control method based on industrial machining comprises the steps that an image collection module collects a workpiece position image through a high-resolution industrial camera; the image information processing module is used for calculating and analyzing the collected workpiece position image so as to calculate the compensation amount required by the robot, and the robot control cabinet is one of core components of an industrial robot system and is responsible for the motion control function of the robot and the like. Compared with a traditional industrial robot control method, the industrial robot control method based on industrial machining has the advantages that the workpiece can be accurately positioned after the workpiece is placed for the first time, and the system can automatically perform compensation machining on the deviated machined workpiece during subsequent machining, so that the repeated positioning time of subsequent machining is saved, and the machining efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot control technology, and more specifically, to an industrial robot control method based on industrial processing. Background Technology

[0002] Industrial robot control technology is one of the key technologies for the practical application of industrial robot processing technology.

[0003] Chinese patent application CN202310200269.3 discloses an industrial robot control system and method based on big data. This mobile control platform and method based on intelligent algorithms includes an industrial robot equipment data acquisition component. The industrial robot equipment data acquisition component is installed on the industrial robot on the production line to collect equipment data of the industrial robot in different states. It is used to detect the industrial robot equipment data when the product approaches the industrial robot and send the industrial robot equipment data to the cloud supercomputing platform in the industrial robot monitoring and decision component. The industrial robot monitoring and decision component includes the cloud supercomputing platform. The cloud supercomputing platform is used to determine the processing relationship between the product and the industrial robot corresponding to the industrial robot equipment data, and send the processing relationship to the matched smart display screen.

[0004] The above technical solution can perform a comprehensive scan of a small database within a specified monitoring range through data storage and retrieval components, and also expand the monitoring range of the control platform. However, when batch processing some irregularly shaped workpieces, there may be deviations in positioning by fixtures. Repositioning each workpiece according to the traditional positioning method is too time-consuming. Therefore, this method is crucial in ensuring accurate positioning of workpieces and improving processing efficiency during the processing process. Summary of the Invention

[0005] The purpose of this invention is to provide an industrial robot control method based on industrial processing, so as to solve the problems mentioned in the background art above:

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An industrial robot control method based on industrial processing includes an image acquisition module for real-time image acquisition of the initial placement position of the workpiece to be processed;

[0008] The image information processing module performs noise reduction and magnification processing on the real-time acquired workpiece position image, compares it with the images in the historical qualified basic image library, calculates the workpiece offset through the image information processing module, calculates the compensation amount required by the robot based on the offset, and then outputs the compensation amount data.

[0009] The robot control cabinet is used to receive compensation data in real time, process the data, and adjust the motion trajectory of the industrial robot to process the parts to be processed.

[0010] Preferably, the image acquisition module includes a high-resolution industrial camera and a checkerboard calibration plate, wherein the high-resolution industrial camera is used to capture workpiece position images from multiple angles.

[0011] Preferably, the image information processing module includes: an image receiving module, a reference image library, an image preprocessing module, a feature extraction module, an information calculation module, and a sending module.

[0012] Preferably, the image receiving module is used to receive workpiece position images acquired from multiple angles by the image acquisition module through a high-resolution industrial camera.

[0013] Preferably, the reference image library is created by storing pre-processing position images of workpieces acquired by the image acquisition module, after filtering and confirming their suitability, as comparison reference images for subsequent processing. The specific filtering method is as follows:

[0014] S1: Take photos of qualified workpieces from multiple angles before processing, repeating the photos 10 times from each angle, and group the photos by angle.

[0015] S2: Compare the images in each group in terms of sharpness, contrast, and signal-to-noise ratio, and record the scores. Each item is preset to 10 points.

[0016] S3: Select the highest total score for each group of photos. If there are ties for the highest score, randomly select one from the highest scores.

[0017] S4: Store the selected images in the benchmark image library as benchmark images for subsequent processing and comparison.

[0018] Preferably, the image preprocessing module includes a denoising and enhancement unit and a binarization unit;

[0019] The denoising and enhancement unit can improve the stability and accuracy of the image by filtering to eliminate noise and enhancing features through histogram equalization.

[0020] The binarization unit converts the grayscale image into a black and white image, which facilitates contour extraction.

[0021] Preferably, the feature extraction module includes a contour detection unit, a key point matching unit, and a geometric feature unit;

[0022] The contour detection unit obtains the workpiece shape through edge detection algorithms or connected component analysis.

[0023] The key point matching unit detects feature points with uniqueness, repetition, and stability in the image, establishes the correspondence between feature points in different images, and then calculates the spatial transformation of the workpiece, i.e., the offset of the workpiece.

[0024] The geometric characteristic unit is used to obtain shape and structural spatial information from the workpiece image to calculate the center coordinates, angle, and area of ​​the workpiece.

[0025] Preferably, the information calculation module includes a workpiece offset calculation unit, a robot compensation calculation unit, and a coordinate transformation unit;

[0026] The workpiece offset calculation unit calculates the workpiece placement offset by comparing the workpiece position image acquired in real time by the image acquisition module with the reference image in the reference image library.

[0027] The robot compensation calculation unit calculates the amount of compensation the robot needs to make by measuring the offset between the real-time workpiece image and the reference image.

[0028] The coordinate transformation unit determines the camera's intrinsic parameters (focal length, distortion coefficient) and extrinsic parameters (relative position of the camera and the robotic arm) using a checkerboard calibration plate, and converts the calculated robot compensation amount into world coordinates usable by the industrial robot control system using the calibration results.

[0029] Preferably, the sending module sends the calculated world coordinates to the robot control cabinet via the PLC interface.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] This invention uses a high-resolution industrial camera to acquire multi-angle images of the workpiece position and compares them with reference images in a reference image library. The information processing module calculates the workpiece offset and robot compensation amount, which are then converted into world coordinates usable by the industrial robot control system. The calculated world coordinates are sent to the robot control cabinet via a sending module. After the workpiece is placed for the first time, it can be accurately positioned. During subsequent processing, the system will automatically compensate for the offset workpiece, saving time on repeated positioning in subsequent processing, improving processing efficiency, reducing the number of repeated positioning in subsequent processing, and also reducing the probability of positioning errors. Attached Figure Description

[0032] Figure 1 A flowchart illustrating the overall process of industrial robot control in industrial processing.

[0033] Figure 2 Flowchart of the image acquisition module for industrial robot control methods in industrial processing;

[0034] Figure 3 A flowchart of the image information processing module for industrial robot control methods in industrial processing;

[0035] Figure 4 Flowchart of the image preprocessing module for industrial robot control methods in industrial processing;

[0036] Figure 5 Flowchart of the feature extraction module for industrial robot control methods in industrial processing;

[0037] Figure 6 A flowchart of the information calculation module for industrial robot control methods in industrial processing. Detailed Implementation

[0038] Please see Figure 1 - Figure 6 An industrial robot control method based on industrial processing includes an image acquisition module, which acquires workpiece position images from multiple angles using a high-resolution industrial camera, and sends the acquired workpiece position images to an image information processing module.

[0039] The image information processing module performs noise reduction and magnification processing on the real-time acquired workpiece position image, and then converts the grayscale image to a black and white image to facilitate contour extraction. Next, the feature extraction module extracts the contour and key points of the position image and compares them with the reference image in the reference image library. The information calculation module calculates the workpiece offset. If the workpiece offset is within the minimum compensable threshold range, the information is directly transmitted to the robot control cabinet through the sending module, so that the workpiece can be processed normally. If the workpiece offset exceeds the maximum compensable threshold, the information is also directly transmitted to the robot control cabinet through the sending module, so that processing is paused. If the workpiece offset is between the minimum and maximum compensable thresholds, the amount of compensation required by the robot is calculated based on the offset. Then, the coordinate transformation unit converts the calculated robot compensation amount into world coordinates that can be used by the industrial robot control system. The sending module sends the calculated world coordinates to the robot control cabinet through the PLC interface.

[0040] The robot control cabinet is used to receive compensation data in real time, process the data, and adjust the motion trajectory of the industrial robot to process the parts to be processed.

[0041] The system acquires workpiece position images from multiple angles using a high-resolution industrial camera and compares them with reference images in a reference image library. The information processing module calculates the workpiece offset and robot compensation amount, which are then converted into world coordinates usable by the industrial robot control system. The calculated world coordinates are sent to the robot control cabinet via the sending module. After the workpiece is placed for the first time, it can be accurately positioned. During subsequent processing, the system will automatically compensate for the offset workpiece, saving time spent on repeated positioning in subsequent processing, improving processing efficiency, reducing the number of repeated positioning in subsequent processing, and also reducing the probability of positioning errors.

[0042] The image information processing module includes: an image receiving module, a reference image library, and an image preprocessing module;

[0043] The image receiving module is used to receive workpiece position images acquired from multiple angles by the image acquisition module through a high-resolution industrial camera.

[0044] The reference image library is created by storing pre-processed workpiece position images acquired by the image acquisition module, after filtering and selecting qualified images, as comparison reference images for subsequent processing. The specific filtering method is as follows:

[0045] S1: Take photos of qualified workpieces from multiple angles before processing, repeating the photos 10 times from each angle, and group the photos by angle.

[0046] S2: Compare the images in each group in terms of sharpness, contrast, and signal-to-noise ratio, and record the scores. Each item is preset to 10 points.

[0047] S3: Select the highest total score for each group of photos. If there are ties for the highest score, randomly select one from the highest scores.

[0048] S4: Store the selected images in the benchmark image library as benchmark images for subsequent processing and comparison;

[0049] The image preprocessing module includes a denoising and enhancement unit and a binarization unit;

[0050] The denoising and enhancement unit can improve the stability and accuracy of the image by filtering to eliminate noise and enhancing features through histogram equalization.

[0051] The binarization unit converts the grayscale image into a black and white image, which facilitates contour extraction.

[0052] The image information processing module also includes a feature extraction module, an information calculation module, and a sending module;

[0053] The feature extraction module includes a contour detection unit, a key point matching unit, and a geometric feature unit.

[0054] The contour detection unit obtains the workpiece shape through edge detection algorithms or connected component analysis.

[0055] The key point matching unit detects feature points with uniqueness, repetition, and stability in the image, establishes the correspondence between feature points in different images, and then calculates the spatial transformation of the workpiece, i.e., the offset of the workpiece.

[0056] The geometric feature unit is used to obtain spatial information such as shape and structure from the workpiece image to calculate the center coordinates, angle, and area of ​​the workpiece.

[0057] The information calculation module includes a workpiece offset calculation unit, a robot compensation calculation unit, and a coordinate transformation unit;

[0058] The workpiece offset calculation unit calculates the workpiece placement offset by comparing the workpiece position image acquired in real time by the image acquisition module with the reference image in the reference image library.

[0059] The coordinate transformation unit determines the camera's intrinsic parameters (focal length, distortion coefficient) and extrinsic parameters (relative position of the camera and robotic arm) using a checkerboard calibration plate. It then uses the calibration results to convert the calculated robot compensation values ​​into world coordinates usable by the industrial robot control system. The specific calculation method is as follows:

[0060] The offset is usually expressed as: translation vector Δt = [Δt] x ,Δ y ,Δ z ] T And the rotation matrix ΔR. Where the superscript T denotes the transpose of the vector, Δx represents the offset in the X direction, and Δ... y Δ represents the offset in the Y direction. z This represents the offset in the Z direction.

[0061] Compensation calculation steps: Establish coordinate relationship

[0062] Theoretical workpiece coordinate system {W}: reference coordinate system.

[0063] The actual workpiece coordinate system {W'}: the coordinate system used in subsequent machining, and its relationship with {W} is as follows:

[0064] in The homogeneous transformation matrix contains rotation and translation information.

[0065] Calculate compensation amount

[0066] Objective: To adjust the robot's machining trajectory from {W} to {W'}, so that the position of the tool path relative to the workpiece remains unchanged.

[0067] Compensation methods:

[0068] Translation compensation: Directly superimpose the offset Δt.

[0069] Rotation compensation: Corrects attitude using rotation matrices or Euler angles.

[0070] The target point after compensation:

[0071] If the original target point is P in {W} W Then the compensated point P W' For: PW' ＝ΔR ·PW +Δt ΔR is the rotation matrix, which describes the change in the workpiece's posture after a coordinate system rotation, such as a second clamping.

[0072] Or in homogeneous coordinate form: This formula will apply to point P. W By mapping from the original coordinate system {W} to the new coordinate system {W'}, this formula can accurately calculate the position of the machining target point after the workpiece is clamped twice, ensuring that the robot trajectory matches the actual workpiece position.

[0073] The sending module sends the calculated world coordinates to the robot control cabinet via the PLC interface.

[0074] The steps of this invention are as follows: When using this industrial robot control method based on industrial processing, the position image of the pre-processed workpiece, acquired by the image acquisition module, is stored as a reference for comparison with the real-time workpiece position image acquired during subsequent processing. During subsequent processing, the real-time information of the workpiece position image is first acquired by the image acquisition module and then transmitted to the image information processing module. The image preprocessing module performs noise reduction and amplification on the image, converts the grayscale image to a black and white image, extracts the contour and key points, and compares it with the reference image in the reference image library. The information calculation module calculates the workpiece position offset. If the workpiece position offset is within the minimum compensable threshold range, the information is directly transmitted to the robot control cabinet through the information sending module, allowing normal workpiece processing. If the workpiece position offset exceeds the maximum compensable threshold, the information is also directly transmitted to the robot control cabinet through the information sending module, pausing processing. If the workpiece position offset is between the minimum and maximum compensable thresholds, the data information is transmitted to the compensation meter. The robot compensation calculation unit calculates the compensation amount the robot should make by comparing the actual image position of the workpiece with the position of the reference image in the reference image library. Then, the coordinate transformation unit converts the calculated robot compensation amount into world coordinates usable by the industrial robot control system. The sending module sends the calculated world coordinates to the robot control cabinet through the PLC interface. Compared with traditional industrial robot control methods, this solution uses a high-resolution industrial camera to acquire workpiece position images from multiple angles and compares them with reference images in the reference image library. The information processing module calculates the workpiece offset and robot compensation amount, and then converts them into world coordinates usable by the industrial robot control system. The sending module sends the calculated world coordinates to the robot control cabinet. After the workpiece is placed for the first time, the workpiece can be accurately positioned. During subsequent processing, the system will automatically compensate for the offset workpiece, saving the time of repeated positioning in subsequent processing, improving processing efficiency, reducing the number of repeated positioning in subsequent processing, and also reducing the probability of positioning errors.

[0075] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot control method based on industrial processing, characterized by: The application relates to an image processing method for industrial robots. The method comprises the following steps: An image acquisition module is used to acquire images of the initial placement position of a workpiece to be processed in real time; An image information processing module is used to process the acquired images, compare the images with images in a historical image library of qualified workpieces, calculate the workpiece displacement through the image information processing module, calculate the compensation required by the robot based on the displacement, and output the compensation data; 2. The industrial robot control method based on industrial processing according to claim 1, characterized by: A robot control cabinet is used to receive and process the compensation data in real time, adjust the movement track of the industrial robot, and process the workpiece to be processed.

3. The industrial robot control method based on industrial processing according to claim 1, characterized by: The image acquisition module comprises a high-resolution industrial camera and a chessboard calibration plate, and the high-resolution industrial camera is used to shoot images of the workpiece position from multiple angles.

4. The industrial robot control method based on industrial processing according to claim 3, characterized by: The image information processing module comprises an image receiving module, a reference image library, an image preprocessing module, a feature extraction module, an information calculation module and a sending module.

5. The industrial robot control method based on industrial processing according to claim 3, characterized by: The image receiving module is used to receive the images of the workpiece position acquired by the high-resolution industrial camera of the image acquisition module from multiple angles. The reference image library is used to store the images of the workpiece position before processing of the workpiece which has been processed and qualified, and the images are used as reference images for comparison in subsequent processing. S1: the workpiece to be processed is shot from multiple angles, and each angle is shot 10 times, and the pictures are grouped according to the angles; S2: the pictures in each group are compared in terms of definition, contrast and signal-to-noise ratio, and scores are recorded, with each item being preset to 10 points; S3: the highest score of each group of pictures is selected, and if the highest score is equally shared, a score is randomly selected from the highest score; 6. The industrial robot control method based on industrial processing according to claim 3, characterized by: S4: the selected pictures are stored in the reference image library as reference images for comparison in subsequent processing. The image preprocessing module comprises a denoising and enhancement unit and a binarization unit; The denoising and enhancement unit can improve the stability and precision of the image by filtering to eliminate noise and histogram equalization to enhance features; 7. The industrial robot control method based on industrial processes according to claim 3, characterized by: The binarization unit converts the gray-scale image into a black-and-white image, which is convenient for contour extraction. The feature extraction module comprises a contour detection unit, a key point matching unit and a geometric characteristic unit; The contour detection unit acquires the shape of the workpiece through an edge detection algorithm or connected domain analysis; The key point matching unit detects feature points with uniqueness, repeatability and stability in the image, establishes the corresponding relationship between the feature points in different images, and calculates the spatial transformation of the workpiece, i.e. the displacement of the workpiece; 8. The industrial robot control method based on industrial processes according to claim 3, characterized by: The geometric characteristic unit acquires shape and structure space information from the workpiece image to calculate the center coordinates, angle and area of the workpiece. The information calculation module comprises a workpiece displacement calculation unit, a robot compensation calculation unit and a coordinate conversion unit; The workpiece displacement calculation unit calculates the displacement of the workpiece through comparison between the real-time workpiece position image acquired by the image acquisition module and the reference image in the reference image library; The robot compensation calculation unit calculates the compensation required by the robot based on the displacement of the real-time workpiece image and the reference image. The coordinate conversion unit determines the camera intrinsic parameters, i.e., focal length and distortion coefficient, and the camera extrinsic parameters, i.e., the relative position of the camera and the robot, through a checkerboard calibration board, and converts the calculated robot compensation amount into world coordinates available for an industrial robot control system by using the calibration result.

9. The industrial robot control method based on industrial processing according to claim 3, characterized by: The sending module sends the calculated world coordinates to a robot control cabinet through a PLC interface.

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