CN116834023A - Nailing robot control system - Google Patents
Nailing robot control system Download PDFInfo
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- CN116834023A CN116834023A CN202311085313.7A CN202311085313A CN116834023A CN 116834023 A CN116834023 A CN 116834023A CN 202311085313 A CN202311085313 A CN 202311085313A CN 116834023 A CN116834023 A CN 116834023A
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- 238000003708 edge detection Methods 0.000 claims description 10
- 238000003709 image segmentation Methods 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention relates to the technical field of industrial machinery, in particular to a nailing robot control system, which comprises: the device comprises a workpiece image acquisition module, a workpiece image processing module, a workbench and automatic nailing equipment; the workbench is used for placing and fixing workpieces to be nailed; the workpiece image acquisition module is used for acquiring a workpiece image of the workpiece and sending the acquired workpiece image to the workpiece image processing module; the workpiece image processing module is used for processing the received workpiece image to obtain a to-be-nailed region of the workpiece to be nailed, and sending the information of the to-be-nailed region to the automatic nailing equipment; the automatic nailing equipment is used for controlling the nailing head to move to the upper part of the area to be nailed according to the received information of the area to be nailed so as to realize nailing operation. The system can realize automatic nailing work and improve nailing efficiency and accuracy.
Description
Technical Field
The invention relates to the technical field of industrial machinery, in particular to a nailing robot control system.
Background
When the existing nailing operation is carried out on a workpiece, a technician generally determines a to-be-nailed area according to working experience, and then the nailing operation is finished in a manual nailing mode. On the one hand, when the area to be nailed is determined, the method is related to the experience and proficiency of technicians, and errors are easy to occur in the manual determination of the area to be nailed, so that the accuracy of nailing is easy to be low; on the other hand, manual nailing is performed later, so that the nailing accuracy is not high easily, the manual operation efficiency is low, and large-scale industrial application is difficult.
Disclosure of Invention
In view of the above problems, the present invention provides a nailing robot control system which can realize automatic nailing work and improve nailing efficiency and accuracy.
The aim of the invention is realized by adopting the following technical scheme:
a nailing robot control system for nailing comprising: the device comprises a workpiece image acquisition module, a workpiece image processing module, a workbench and automatic nailing equipment;
the workbench is used for placing and fixing workpieces to be nailed;
the workpiece image acquisition module is used for acquiring a workpiece image of the workpiece and sending the acquired workpiece image to the workpiece image processing module;
the workpiece image processing module is used for processing the received workpiece image to obtain a to-be-nailed region of the workpiece to be nailed, and sending the information of the to-be-nailed region to the automatic nailing equipment;
the automatic nailing equipment is used for controlling the nailing head to move to the upper part of the area to be nailed according to the received information of the area to be nailed so as to realize nailing operation.
Preferably, the workpiece image processing module includes: the device comprises a workpiece image segmentation unit, a workpiece image noise reduction unit and a to-be-nailed region identification unit;
the workpiece image segmentation unit is used for processing the workpiece image and segmenting a first workpiece image;
the workpiece image noise reduction unit is used for performing noise reduction operation on the first workpiece image;
the to-be-nailed region identification unit is used for identifying the to-be-nailed region in the first workpiece image after noise reduction to obtain the position information of the to-be-nailed region needing nailing.
Preferably, the workpiece image dividing unit includes: an edge detection unit and a segmentation unit;
the edge detection unit is used for detecting the edge of the contour of the workpiece on the workpiece image to obtain a contour map of the workpiece;
the dividing unit is used for dividing the workpiece image after graying based on the obtained workpiece contour map to obtain a first workpiece image.
Preferably, the workpiece contour edge detection is performed on the workpiece image to obtain a workpiece contour map, which specifically includes:
the size of the sliding window is determined using the following formula:
wherein S is the size of the sliding window,representing a rounding down, B is a preset reference window size, < >>Is the maximum value of the brightness component of the preset pixel point, < + >>Is the minimum value of the brightness component of the preset pixel point, < ->Maximum value of brightness component of pixel point in workpiece image, < >>The average value of the brightness components of the pixel points in the workpiece image;
sliding the determined sliding window on the workpiece image, and calculating the density value of the pixel points in the sliding window;
traversing all pixel points in the workpiece image to obtain the density values of all the pixel points;
based on the obtained density value, judging the edge of the contour of the workpiece to obtain a contour map of the workpiece; specifically, if the density value of the pixel point is greater than a preset threshold value, the pixel point is an edge point, otherwise, the pixel point is not.
Preferably, the workpiece image acquisition module is an image sensor or a CCD camera.
The beneficial effects of the invention are as follows: the system can realize automatic nailing work and improve nailing efficiency and accuracy.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a block diagram of a nailing robot control system framework;
fig. 2 is a frame structure diagram of the workpiece image processing module 2.
Reference numerals: a workpiece image acquisition module 1, a workpiece image processing module 2, a workbench 3, an automatic nailing device 4, a workpiece image segmentation unit 21, a workpiece image noise reduction unit 22, a region to be nailed identification unit 23, an edge detection subunit 211 and a segmentation subunit 212.
Detailed Description
The invention will be further described with reference to the following examples.
Referring to fig. 1-2, a nailing robot control system for nailing comprising: the workpiece image processing device comprises a workpiece image acquisition module 1, a workpiece image processing module 2, a workbench 3 and an automatic nailing device 4;
the workbench 3 is used for placing and fixing a workpiece to be nailed;
the workpiece image acquisition module 1 is used for acquiring a workpiece image of the workpiece and sending the acquired workpiece image to the workpiece image processing module 2;
the workpiece image processing module 2 is used for processing the received workpiece image to obtain a to-be-nailed region of the workpiece to be nailed, and sending the information of the to-be-nailed region to the automatic nailing equipment 4;
the automatic nailing device 4 is used for controlling the nailing head to move to the upper part of the area to be nailed according to the received information of the area to be nailed so as to realize nailing operation.
Preferably, the workpiece image processing module 2 includes: a workpiece image dividing unit 21, a workpiece image noise reduction unit 22, and a region to be nailed identifying unit 23;
the workpiece image segmentation unit 21 is used for processing the workpiece image to segment a first workpiece image;
the workpiece image denoising unit 22 is configured to perform a denoising operation on the first workpiece image;
the to-be-nailed region identifying unit 23 is configured to identify a to-be-nailed region in the first workpiece image after noise reduction, so as to obtain position information of a to-be-nailed region requiring nailing.
Preferably, the control system further comprises a database, wherein specific position information of the workpiece to be nailed, which needs nailing, is pre-stored in the database. The to-be-nailed region identifying unit 23 identifies the to-be-nailed region in the noise-reduced first workpiece image specifically as follows: and comparing the noise-reduced workpiece image with the specific position information of the workpiece to be nailed, which is prestored in the database, and needing to be nailed, so as to obtain the position information of the region to be nailed, which is convenient for the subsequent automatic nailing equipment 4 to control the nailing head to move to the corresponding position so as to realize nailing operation.
Preferably, the workpiece image dividing unit 21 includes: an edge detection subunit 211 and a segmentation subunit 212;
the edge detection unit is used for detecting the edge of the contour of the workpiece on the workpiece image to obtain a contour map of the workpiece;
the dividing unit is used for dividing the workpiece image after graying based on the obtained workpiece contour map to obtain a first workpiece image.
Preferably, the workpiece contour edge detection is performed on the workpiece image to obtain a workpiece contour map, which specifically includes:
the size of the sliding window is determined using the following formula:
wherein S is the size of the sliding window,representing a rounding down, B is a preset reference window size, < >>Is the maximum value of the brightness component of the preset pixel point, < + >>Is the minimum value of the brightness component of the preset pixel point, < ->Maximum value of brightness component of pixel point in workpiece image, < >>The average value of the brightness components of the pixel points in the workpiece image;
sliding the determined sliding window on the workpiece image, and calculating the density value of the pixel points in the sliding window;
traversing all pixel points in the workpiece image to obtain the density values of all the pixel points;
based on the obtained density value, judging the edge of the contour of the workpiece to obtain a contour map of the workpiece; specifically, if the density value of the pixel point is greater than a preset threshold value, the pixel point is an edge point, otherwise, the pixel point is not.
Preferably, the workpiece image acquisition module is an image sensor or a CCD camera.
The beneficial effects of the invention are as follows: the system can realize automatic nailing work and improve nailing efficiency and accuracy.
When the workpiece image is collected, the influence of brightness on the quality of the collected image is great, if the brightness is too low, noise points contained in the collected image are too many, and the identification of a nailing region of a subsequent workpiece is not facilitated, therefore, the size of the sliding window is adjusted based on the brightness information value, when the brightness is too low, the fact that the noise points are more is included in the workpiece image is indicated, at the moment, the sliding window with relatively small size is selected for workpiece edge contour detection, more accurate workpiece edge contour is facilitated, the subsequent identification of the nailing region is facilitated, and when the brightness is relatively high, the sliding window with relatively large size is selected for workpiece edge contour detection, at the moment, the noise points contained in the sliding window are less, and at the moment, the detection efficiency is improved while the accurate detection of the workpiece edge contour is ensured.
Sliding the determined sliding window on the workpiece image, and calculating the density value of the pixel points in the sliding window;
traversing all pixel points in the workpiece image to obtain the density values of all the pixel points;
based on the obtained density value, judging the edge of the contour of the workpiece to obtain a contour map of the workpiece; specifically, if the density value of the pixel point is greater than a preset adaptive threshold, the pixel point is an edge point, otherwise, the pixel point is not.
Preferably, the workpiece image acquisition module is an image sensor or a CCD camera.
The beneficial effects of the invention are as follows: the system can realize automatic nailing work and improve nailing efficiency and accuracy.
In an optional implementation manner, the determined sliding window is slid on the workpiece image, and the density value of the pixel points in the sliding window is calculated, specifically:
with pixel point Q (x) 0 ,y 0 ) Taking a sliding window with a determined size as a detection window as a center, calculating a pixel point Q (x 0 ,y 0 ) Density value of (2):
in the method, in the process of the invention,is the density value of the pixel point Q and other pixel points V in the monitoring window where the pixel point Q is located,/>In order to monitor a set formed by other pixels except the pixel point Q in the window, M is the number of the pixels in the set, and +.>、/>Is the derivative of the L component of pixel Q in the horizontal and vertical directions, +.>、/>Is the derivative of the A component of the pixel point Q in the horizontal direction and the vertical direction, +.>、/>Is the derivative of the B component of pixel point Q in the horizontal and vertical directions, +.>、Is the derivative of the L component of pixel point V in the horizontal and vertical directions, +.>、/>Is the derivative of the A component of pixel V in the horizontal and vertical directions, +.>、/>Is the derivative of the B component of the pixel point V in the horizontal direction and the vertical direction, alpha 1 、α 2 、α 3 Is a weight coefficient which satisfies alpha 1 +α 2 +α 3 =1, preferably α 1 =0.5，α 2 =0.3，α 3 =0.2。
The beneficial effects are that: the density value of the pixel point Q is calculated in the mode, and the influence of the pixel point and other pixel points in the monitoring window on the L component, the A component and the B component in the horizontal direction and the vertical direction is considered, so that the density value of the pixel point Q can be accurately estimated, the pixel point can be conveniently and subsequently monitored in an edge mode, the follow-up accurate identification of a nailing region is improved, and the nailing robot can accurately execute a nailing instruction.
In an alternative embodiment, based on the obtained density value, judging the edge of the contour of the workpiece so as to obtain a contour map of the workpiece; specifically, if the density value of the pixel point is greater than a preset self-adaptive threshold value, the pixel point is an edge point, otherwise, the obtained edge point is not connected, the obtained edge point is a workpiece contour edge map, and an image positioned in a workpiece contour edge line (including the workpiece contour edge point) is the workpiece contour map; the preset adaptive threshold may be specifically determined as follows:
in the method, in the process of the invention,is a preset adaptive density threshold value about the pixel point Q,>in order to arrange all pixels in descending order, the intermediate value in the ordered sequence is +.>、/>Is the maximum and minimum values of the pixel point, +.>For the average value of the density values of all pixels, +.>In order to take the pixel point Q as the center, the average value of the density values of all the pixel points in the sliding window with the determined size above is taken as +.>Is the standard deviation of the gaussian function.
The beneficial effects are that: in the above embodiment, the preset adaptive threshold is adaptively set based on the density value of the pixel point, which has better flexibility than directly setting a fixed density threshold, so that the density threshold can be specifically set according to the actual situation of each pixel point, and accurate classification of each pixel point is realized, thereby obtaining a more accurate workpiece profile.
The beneficial effects of the invention are as follows: the system can realize automatic nailing work and improve nailing efficiency and accuracy.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (5)
1. A nailing robot control system characterized in that it is for nailing, comprising: the device comprises a workpiece image acquisition module, a workpiece image processing module, a workbench and automatic nailing equipment;
the workbench is used for placing and fixing workpieces to be nailed;
the workpiece image acquisition module is used for acquiring a workpiece image of the workpiece and sending the acquired workpiece image to the workpiece image processing module;
the workpiece image processing module is used for processing the received workpiece image to obtain a to-be-nailed region of the workpiece to be nailed, and sending the information of the to-be-nailed region to the automatic nailing equipment;
the automatic nailing equipment is used for controlling the nailing head to move to the upper part of the area to be nailed according to the received information of the area to be nailed so as to realize nailing operation.
2. The nailing robot control system of claim 1, wherein the workpiece image processing module comprises: the device comprises a workpiece image segmentation unit, a workpiece image noise reduction unit and a to-be-nailed region identification unit;
the workpiece image segmentation unit is used for processing the workpiece image and segmenting a first workpiece image;
the workpiece image noise reduction unit is used for performing noise reduction operation on the first workpiece image;
the to-be-nailed region identification unit is used for identifying the to-be-nailed region in the first workpiece image after noise reduction to obtain the position information of the to-be-nailed region needing nailing.
3. The nailing robot control system of claim 2 wherein: the workpiece image dividing unit includes: an edge detection unit and a segmentation unit;
the edge detection unit is used for detecting the edge of the contour of the workpiece on the workpiece image to obtain a contour map of the workpiece;
the dividing unit is used for dividing the workpiece image after graying based on the obtained workpiece contour map to obtain a first workpiece image.
4. The nailing robot control system of claim 3 wherein said workpiece image is subjected to workpiece contour edge detection to obtain a workpiece contour map, specifically:
the size of the sliding window is determined using the following formula:
，
wherein S is the size of the sliding window,representing a rounding down, B is a preset reference window size, < >>Is the maximum value of the brightness component of the preset pixel point, < + >>Is the minimum value of the brightness component of the preset pixel point, < ->Maximum value of brightness component of pixel point in workpiece image, < >>The average value of the brightness components of the pixel points in the workpiece image;
sliding the determined sliding window on the workpiece image, and calculating the density value of the pixel points in the sliding window;
traversing all pixel points in the workpiece image to obtain the density values of all the pixel points;
based on the obtained density value, judging the edge of the contour of the workpiece to obtain a contour map of the workpiece; specifically, if the density value of the pixel point is greater than a preset threshold value, the pixel point is an edge point, otherwise, the pixel point is not.
5. The nailing robot control system of claim 1 wherein the workpiece image acquisition module is an image sensor or a CCD camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311085313.7A CN116834023B (en) | 2023-08-28 | 2023-08-28 | Nailing robot control system |
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| CN202311085313.7A CN116834023B (en) | 2023-08-28 | 2023-08-28 | Nailing robot control system |
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