A control device and a visual control integrated system
By integrating the execution process control module, the robotic arm behavior control module, and the vision behavior control module into a control device, the problem of wasted communication resources between the robotic arm and the vision device is solved, efficient collaborative control is achieved, communication resource consumption is reduced, and control stability and continuity are improved.
Patent Information
- Application Number
- CN202521364373.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-30
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-06-30
AI Technical Summary
In the existing technology, the robotic arm controller and the vision industrial computer are two independent devices that need to communicate with each other constantly, resulting in a large consumption of communication resources.
A control device is provided that integrates an execution process control module, a robotic arm behavior control module, and a vision behavior control module. Through a unified communication interface and processor resource allocation, it enables collaborative control of the robotic arm and vision device, reducing the communication and coordination steps between devices.
It reduces the consumption of communication resources during the control of the robotic arm, improves the stability of the robotic arm's movements and the continuity of vision device control, and reduces the waste of communication resources.
Smart Images
Figure CN224927977U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a control device and a vision-control integrated system. Background Technology
[0002] With the continuous development of industrial automation and intelligent manufacturing technologies, robotic arm control technology has been widely used. Its core lies in realizing the precise positioning and operation of the robotic arm on the task target, so as to complete the task accurately and efficiently.
[0003] To cope with more diverse work scenarios and more complex tasks, robotic arms and cameras typically need to work together to complete tasks. The camera provides the robotic arm with vision capabilities, enabling it to perceive its environment in real time and successfully complete tasks based on that perception.
[0004] In related technologies, the robotic arm controller independently controls the robotic arm, and the vision industrial control computer independently controls the vision device. Thus, during task execution, not only is communication necessary between the robotic arm controller and the robotic arm to control the robotic arm, and between the vision industrial control computer and the camera to control the vision device, but communication is also required between the robotic arm controller and the vision industrial control computer to achieve coordinated operation between the robotic arm and the vision device.
[0005] It is evident that the robotic arm controller and the vision industrial computer, as two independent devices, need to continuously communicate with each other to coordinate and control the robotic arm and the vision equipment, which consumes a significant amount of communication resources. Utility Model Content
[0006] The purpose of this utility model embodiment is to provide a control device and a visual control integrated system to reduce the communication resources consumed during the control of a robotic arm. The specific technical solution is as follows:
[0007] In a first aspect, this utility model provides a control device, the control device comprising:
[0008] The device comprises a housing, an execution flow control module, at least one robotic arm behavior control module, and at least one vision behavior control module. The execution flow control module, the at least one robotic arm behavior control module, and the at least one vision behavior control module are disposed within the housing. The at least one robotic arm behavior control module and the at least one vision behavior control module are communicatively connected to the execution flow control module. The at least one robotic arm behavior control module is provided with a first communication interface for connecting to the robotic arm, and the at least one vision behavior control module is provided with a second communication interface for connecting to a vision device.
[0009] The execution flow control module is used to send control commands to the robotic arm behavior control module and the vision behavior control module; the robotic arm behavior control module is used to control the robotic arm to perform actions through the first communication interface after receiving the control commands; the vision behavior control module is used to control the vision device to perform actions through the second communication interface after receiving the control commands.
[0010] In one possible implementation, the processor of the control device includes a real-time task core and a non-real-time task core among its multiple processing cores;
[0011] The robotic arm behavior control module includes the real-time task core, and the vision behavior control module includes the non-real-time task core.
[0012] In one possible implementation, the at least one visual behavior control module includes: a first type of visual behavior control module and a second type of visual behavior control module.
[0013] The first type of visual behavior control module includes a first processor of the control device, and the second type of visual behavior control module includes a second processor of the control device.
[0014] In one possible implementation, the execution flow control module and the robotic arm behavior control module share the first processor.
[0015] In one possible implementation, the execution flow control module communicates with the first type of visual behavior control module via shared memory, and the execution flow control module communicates with the second type of visual behavior control module via a port.
[0016] In one possible implementation, the execution flow control module, the robotic arm behavior control module, and the vision behavior control module share the same processor.
[0017] Secondly, this utility model provides a vision-control integrated system, the system comprising: the control device, robotic arm, and vision device described in the first aspect;
[0018] The robotic arm and the vision device are deployed in the same working environment;
[0019] The control device is communicatively connected to the robotic arm and the vision device, respectively.
[0020] The control device is used to control the robotic arm and the vision device to perform actions.
[0021] In one possible implementation, the control device is housed within the robotic arm cavity; or, the control device and the robotic arm are separately arranged in the working environment.
[0022] In one possible implementation, the vision device is mounted on the housing of the robotic arm; or, the vision device is mounted at a designated location in the working environment.
[0023] In one possible implementation, the control device is communicatively connected to the robotic arm and the vision device via a network port; and / or, the control device is communicatively connected to the robotic arm and the vision device via an input / output (IO) interface.
[0024] As can be seen from the above, the control device provided in this application integrates three modules: an execution flow control module, a robotic arm behavior control module, and a vision behavior control module. Both the robotic arm behavior control module and the vision behavior control module are communicatively connected to the execution flow control module. Thus, when a control command is received from the execution flow control module, the robotic arm behavior control module controls the robotic arm to execute the action indicated by the control command through a first communication interface, and the vision behavior control module controls the vision device to execute the action indicated by the control command through a second communication interface, thereby achieving coordinated control of the robotic arm and the vision device. It is evident that compared to a robotic arm controller controlling the robotic arm alone, and a vision control computer controlling the vision device alone, a single control device can jointly control the communicatively connected robotic arm and vision device. This eliminates the need for inter-device communication between the robotic arm controller and the vision control computer to coordinate the control of the robotic arm and vision device, reducing the communication resources consumed during robotic arm control.
[0025] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.
[0027] Figure 1 A first schematic diagram of the control device provided by this utility model;
[0028] Figure 2 A second schematic diagram of the control device provided by this utility model;
[0029] Figure 3 A third schematic diagram of the control device provided by this utility model;
[0030] Figure 4 A fourth schematic diagram of the control device provided by this utility model;
[0031] Figure 5 A fifth schematic diagram of the control device provided by this utility model;
[0032] Figure 6 A sixth schematic diagram of the control device provided by this utility model;
[0033] Figure 7 This is a schematic diagram of the integrated visual control system provided by this utility model. Detailed Implementation
[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.
[0035] In order to reduce the communication resources consumed in the process of controlling the robotic arm, this utility model provides a control device.
[0036] The aforementioned control device includes a housing, an execution flow control module, and at least one robotic arm behavior control module and at least one vision behavior control module. Specifically, the control device may include one or more robotic arm behavior control modules, and may include one or more vision behavior control modules. The execution flow control module, the at least one robotic arm behavior control module, and the at least one vision behavior control module are housed within the housing.
[0037] The following is combined with Figure 1 and Figure 2 To provide a detailed introduction, Figure 1 and Figure 2 Solid lines connecting modules indicate communication connections between modules.
[0038] For example, see Figure 1 The control device 1 includes:
[0039] The system includes a housing 14, an execution flow control module 11, a robotic arm behavior control module 12, and a vision behavior control module 13, with both the robotic arm behavior control module 12 and the vision behavior control module 13 being communicatively connected to the execution flow control module 11. All of these modules are housed within the housing 14.
[0040] For example, see also Figure 2 The control device 1 includes:
[0041] The system comprises a housing 14, an execution flow control module 11, multiple robotic arm behavior control modules 12, and multiple vision behavior control modules 13, with the multiple robotic arm behavior control modules 12 and the multiple vision behavior control modules 13 all communicatively connected to the execution flow control module 11. All of the above modules are housed within the housing 14.
[0042] Furthermore, both the aforementioned robotic arm behavior control module and vision behavior control module are communicatively connected to the execution process control module.
[0043] The aforementioned modules, as hardware modules in the control device, can be physically connected using metal wiring, enabling signal interaction between modules and achieving the aforementioned communication connection. Alternatively, the aforementioned communication connection can be achieved through shared memory, ports, etc., as detailed in subsequent sections.
[0044] In addition, such as Figure 1 and Figure 2 As shown, the robotic arm behavior control module 12 is provided with a first communication interface 18 for connecting to the robotic arm, and the robotic arm behavior control module 12 communicates with the robotic arm to be controlled through the first communication interface 18; the vision behavior control module 13 is provided with a second communication interface 19 for connecting to a vision device, and the vision behavior control module 13 communicates with the vision device to be controlled through the second communication interface 19. The aforementioned vision device includes image acquisition devices such as cameras, and may also include auxiliary image acquisition devices such as light source devices. The aforementioned first communication interface 18 and second communication interface 19 can be a network port, I / O interface, etc.
[0045] The visual behavior control module 13 may include one or more second communication interfaces 19. Therefore, the visual behavior control module 13 can communicate with a single visual device, such as a camera; or it can communicate with multiple visual devices, such as multiple cameras, a camera and a light source device, or multiple cameras and a light source device.
[0046] The aforementioned execution flow control module 11 is used to send control commands to the robotic arm behavior control module 12 and the vision behavior control module 13.
[0047] Specifically, the execution flow control module 11 can pre-store the task execution flow, so that when the task execution conditions are met, control commands are sent to the robotic arm behavior control module 12 and the vision behavior control module 13 in sequence according to the information recorded in the task execution flow.
[0048] The aforementioned robotic arm behavior control module 12 is used to control the robotic arm to perform actions through the first communication interface 18 after receiving control commands.
[0049] In other words, the robotic arm behavior control module 12 controls the robotic arm connected to the communication link to execute actions indicated by control commands, specifically including controlling the movement of each joint of the robotic arm and controlling the end effector to perform actions. The end effector may include grippers, suction cups, spray guns, etc.
[0050] The aforementioned visual behavior control module 13 is used to control the visual device to perform actions through the second communication interface 19 after receiving a control command.
[0051] In other words, the visual behavior control module 13 controls the visual device connected to the communication to execute the actions indicated by the control commands, specifically including controlling the light source to turn on and controlling the camera to acquire images.
[0052] As can be seen from the above, the control device 1 provided in this application embodiment integrates three modules: an execution flow control module 11, a robotic arm behavior control module 12, and a vision behavior control module 13. Both the robotic arm behavior control module 12 and the vision behavior control module 13 are communicatively connected to the execution flow control module 11. Thus, when a control command is received from the execution flow control module 11, the robotic arm behavior control module 12 controls the robotic arm to execute the action indicated by the control command through the first communication interface 18, and the vision behavior control module 13 controls the vision device to execute the action indicated by the control command through the second communication interface 19, thereby achieving coordinated control of the robotic arm and the vision device. It is evident that compared to a robotic arm controller controlling the robotic arm alone, or a vision control computer controlling the vision device alone, a single control device 1 can jointly control the communicatively connected robotic arm and vision device, eliminating the step of inter-device communication between the robotic arm controller and the vision control computer to coordinate the control of the robotic arm and vision device, and reducing the communication resources consumed during the control of the robotic arm.
[0053] In one possible implementation, see Figure 3 The processor of the control device 1 includes multiple processing cores: a real-time task core 20 and a non-real-time task core 15. The robotic arm behavior control module 12 includes a real-time task core 20, and the vision behavior control module 13 includes a non-real-time task core 15.
[0054] That is, the robotic arm behavior control module 12 executes various operations such as instruction response and robotic arm control based on the computing resources of the real-time task core 20, while the vision behavior control module 13 executes various operations such as instruction response and vision device control based on the computing resources of the non-real-time task core 15.
[0055] Among them, the real-time task core 20 is a processing core designed specifically for real-time tasks, which adopts a priority scheduling algorithm to ensure that high-priority tasks are responded to quickly and executed first; the non-real-time task core 15 is a processing core used to process ordinary tasks, which adopts a fair scheduling algorithm to ensure that all tasks have the opportunity to be executed.
[0056] In this embodiment, the robotic arm behavior control module 12 executes various operations such as instruction response and robotic arm control based on the computing resources of the real-time task core 20, enabling the various control instructions for controlling the robotic arm to be processed preferentially, thus improving the stability and accuracy of the robotic arm's motion control. The vision behavior control module 13 executes various operations such as instruction response and vision device control based on the computing resources of the non-real-time task core 15, enabling the various control instructions for controlling the vision device to be processed sequentially, thus improving the stability and continuity of vision behavior control. In summary, by allocating different processor task cores to different modules based on their characteristics, the rational utilization of processor computing resources is achieved.
[0057] In one possible implementation, see Figure 4 The multiple visual behavior control modules 13 in the control device 1 include: a first type of visual behavior control module 131 and a second type of visual behavior control module 132. The first type of visual behavior control module 131 includes a first processor 16 of the control device 1, and the second type of visual behavior control module 132 includes a second processor 17 of the control device 1.
[0058] That is, the first type of visual behavior control module 131 performs various operations such as instruction response and visual device control based on the computing resources of the first processor 16, and the second type of visual behavior control module 132 performs various operations such as instruction response and visual device control based on the computing resources of the second processor 17.
[0059] As can be seen, the first type of visual behavior control module 131 and the second type of visual behavior control module 132 can perform operations based on the computing resources of different processors. In this way, when a visual algorithm with a high computational load needs to be executed and the performance of a single processor cannot support it, an additional processor can be provided to the control device 1, so that the visual behavior control module 13 can perform tasks based on the computing resources of the new processor, thereby expanding the computing performance.
[0060] In one possible implementation, see Figure 5 The execution process control module 11 and the robotic arm behavior control module 12 share the aforementioned first processor 16.
[0061] The shared first processor 16 means that the first processor 16 is a component shared by the execution flow control module 11, the robotic arm behavior control module 12, and the first type of vision behavior control module 131.
[0062] Thus, the execution process control module 11, the robotic arm behavior control module 12, and the first type of vision behavior control module 131 all perform operations based on the computing resources of the first processor 16, while only the second type of vision behavior control module 132 performs operations based on the computing resources of the second processor 17.
[0063] In one possible implementation, if the execution flow control module 11 and the robotic arm behavior control module 12 share the aforementioned first processor 16, the execution flow control module 11 can communicate with the first type of visual behavior control module 131 through shared memory, and the execution flow control module 11 can communicate with the second type of visual behavior control module 132 through a port. Specifically, the execution flow control module 11 can establish a communication connection with the second processor through the communication port, thereby establishing a communication connection with the second type of visual behavior control module 132 through the communication port.
[0064] In this context, shared memory means that both the execution flow control module 11 and the first type of visual behavior control module 131 perform read and write operations on the same storage area. In this way, both parties can obtain the information sent by the other party from the above storage area and realize mutual communication. The above port can be a predefined communication interface, and the execution flow control module 11 and the second type of visual behavior control module 132 can communicate with each other using the communication protocol defined by the above communication interface.
[0065] It is evident that, for the first type of visual behavior control module 131 that shares the first processor 16 with itself, the execution flow control module 11 can use shared memory to achieve efficient communication with the first type of visual behavior control module 131; for the second type of visual behavior control module 132 that does not share the first processor 16 with itself, the execution flow control module 11 can use port communication to achieve communication with the first type of visual behavior control module 131. Thus, depending on whether the visual behavior control module 13 shares the first processor 16 with itself, the execution flow control module 11 can successfully achieve communication with each visual behavior control module 13 in different ways.
[0066] As can be seen, when the control device 1 includes multiple vision behavior control modules 13, the execution flow control module 11, the robotic arm behavior control module 12, and several of the vision behavior control modules 13 can share the first processor 16. Modules sharing the first processor 16 have high communication efficiency. Furthermore, to prevent insufficient computing resources of the first processor 16, an additional second processor 17 can be allocated to the remaining vision behavior control modules 13, ensuring that the remaining modules also have sufficient computing resources to perform operations. This balances the control efficiency and robustness of the control device 1.
[0067] In one possible implementation, see Figure 6 The execution process control module 11, the robotic arm behavior control module 12, and the vision behavior control module 13 share the same processor.
[0068] Similarly, sharing the same processor means that the components of the execution flow control module 11, the robotic arm behavior control module 12, and the vision behavior control module 13 include the same processor.
[0069] In this way, when the processor has sufficient computing resources, all modules included in the control device 1 can share the same processor, which makes the communication between the modules more efficient.
[0070] Corresponding to the aforementioned control device 1, this application also provides a visual control integrated system.
[0071] See Figure 7 The integrated vision and control system includes: the aforementioned control device 1, robotic arm 2, and vision device 3.
[0072] The robotic arm 2 and vision device 3 are deployed in the same working environment, and the control device 1 is communicatively connected to the robotic arm 2 and vision device 3 respectively. The control device 1 is used to control the robotic arm 2 and vision device 3 to perform actions.
[0073] In this configuration, control device 1 can communicate with robotic arm 2 and vision device 3 via a network port. In this case, control device 1 can send control commands to the robotic arm behavior control module and vision behavior control module via the network port. Alternatively, control device 1 can communicate with robotic arm 2 and vision device 3 via an input / output (IO) interface. In this case, control device 1 can send control commands to the robotic arm behavior control module and vision behavior control module via the IO interface. Furthermore, control device 1 can communicate with robotic arm 2 and vision device 3 via both a network port and an IO interface. In this case, control device 1 can send control commands to the robotic arm behavior control module and vision behavior control module via both methods. This allows for selection of the connection methods supported by robotic arm 2 and vision device 3 from multiple options, providing a high degree of flexibility.
[0074] As can be seen from the above, in the integrated vision and control system provided in this application embodiment, the control device 1 is communicatively connected to both the robotic arm 2 and the vision device 3, enabling coordinated control of the robotic arm 2 and the vision device 3. Compared to the robotic arm 2 controller controlling the robotic arm 2 independently, and the vision industrial control computer controlling the vision device 3 independently, a single control device 1 can jointly control the communicatively connected robotic arm 2 and vision device 3. This eliminates the step of communication between the robotic arm 2 controller and the vision industrial control computer to coordinate the control of the robotic arm 2 and the vision device 3, reducing the communication resources consumed in controlling the robotic arm 2.
[0075] It should be noted that, Figure 7 Only the connection relationships between the devices are illustrated. Figure 7 The content does not limit the placement of each device.
[0076] The control device 1 can be housed within the cavity of the robotic arm 2, thus reducing the space it occupies in the working environment and facilitating deployment; alternatively, it can be... Figure 7 As shown, the control device 1 is deployed separately from the robotic arm 2 in the working environment. The specific deployment method of the control device 1 can be flexibly selected by the staff according to the actual situation.
[0077] Similarly, the vision device 3 can be installed on the outer shell of the robotic arm 2; or... Figure 7 As shown, the devices are positioned within the work environment. This allows staff to select the appropriate deployment method for the vision equipment based on the specific work scenario and task type, demonstrating strong adaptability to various specific scenarios.
[0078] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.
Claims
1. A control device, characterized in that, The control device includes: a housing, an execution process control module, at least one robotic arm behavior control module, and at least one vision behavior control module. The execution process control module, the at least one robotic arm behavior control module, and the at least one vision behavior control module are disposed within the housing. The at least one robotic arm behavior control module and the at least one vision behavior control module are communicatively connected to the execution process control module. The at least one robotic arm behavior control module is provided with a first communication interface for connecting to the robotic arm, and the at least one vision behavior control module is provided with a second communication interface for connecting to a vision device. The execution flow control module is used to send control commands to the robotic arm behavior control module and the vision behavior control module; the robotic arm behavior control module is used to control the robotic arm to perform actions through the first communication interface after receiving the control commands; the vision behavior control module is used to control the vision device to perform actions through the second communication interface after receiving the control commands.
2. The control device according to claim 1, characterized in that, The processor of the control device includes multiple processing cores, including: a real-time task core and a non-real-time task core; The robotic arm behavior control module includes the real-time task core, and the vision behavior control module includes the non-real-time task core.
3. The control device according to claim 1, characterized in that, The at least one visual behavior control module includes: a first type of visual behavior control module and a second type of visual behavior control module. The first type of visual behavior control module includes a first processor of the control device, and the second type of visual behavior control module includes a second processor of the control device.
4. The control device according to claim 3, characterized in that, The execution process control module and the robotic arm behavior control module share the first processor.
5. The control device according to claim 4, characterized in that, The execution flow control module communicates with the first type of visual behavior control module through shared memory, and the execution flow control module communicates with the second type of visual behavior control module through a port.
6. The control device according to claim 1 or 2, characterized in that, The execution process control module, the robotic arm behavior control module, and the vision behavior control module share the same processor.
7. A visual control integrated system, characterized in that, The system includes: The control device, robotic arm, and vision device according to any one of claims 1-6; The robotic arm and the vision device are deployed in the same working environment; The control device is communicatively connected to the robotic arm and the vision device, respectively. The control device is used to control the robotic arm and the vision device to perform actions.
8. The system according to claim 7, characterized in that, The control device is installed inside the robotic arm cavity; or The control equipment and the robotic arm are deployed separately in the working environment.
9. The system according to claim 7, characterized in that, The vision device is mounted on the outer shell of the robotic arm; or The vision device is installed at a designated location in the working environment.
10. The system according to any one of claims 7-9, characterized in that, The control device is communicatively connected to the robotic arm and the vision device via a network port. and / or The control device is communicatively connected to the robotic arm and the vision device via an input / output (IO) interface.