CN105964567B - A kind of vial sorting control system being directed in house refuse - Google Patents
A kind of vial sorting control system being directed in house refuse Download PDFInfo
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- CN105964567B CN105964567B CN201610362689.1A CN201610362689A CN105964567B CN 105964567 B CN105964567 B CN 105964567B CN 201610362689 A CN201610362689 A CN 201610362689A CN 105964567 B CN105964567 B CN 105964567B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0072—Sorting of glass
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Abstract
The invention discloses a kind of vial sorting control system being directed in house refuse, the system includes bottle pose receiving module, multi-robot dispatching control module, multiple TRAJECTORY CONTROL modules and the manipulator with gravity detection function, multi-robot dispatching control module judges whether multiple vials enter the operation interval of idle manipulator simultaneously, the coordinate of the vial and attitude angle information are distributed into manipulator TRAJECTORY CONTROL module corresponding to the manipulator of free time, manipulator TRAJECTORY CONTROL module control machinery hand captures to bottle, and bottle weight is judged, if the weight characteristics with vial, crawl thing is then placed into material container, otherwise it is placed back into conveyer belt.Multiple sorting tasks are distributed to more manipulators simultaneously and sorted by the present invention, in addition, increasing weight sensor on a robotic arm, extract the weight characteristics of bottle, compensate for Machine Vision Recognition system can not recognize the deficiency of destination object material.
Description
Technical field
The present invention relates to a kind of vial sorting control system being directed in house refuse, belongs to environmentally friendly automated arm neck
Domain.
Background technology
In the front end of house refuse remanufacture line, it is necessary to carry out sorting recovery to the vial in rubbish, prevent from crushing
Glass follow-up apparatus for production line is damaged.Vial recovery in existing house refuse is all to use manual sorting
Method, there is certain danger, and sort that person works' bad environments, labor intensity are high and operating efficiency is low lacks
Point.The method that sorting to vial can use manipulator crawl, manipulator crawl is with efficiency high, the low and continuous work of cost
The advantages of making, therefore widely used.
At present, vial sorting system framework is that conveyer belt front end disposes NI Vision Builder for Automated Inspection in house refuse, by right
The rubbish paved on conveyer belt carries out IMAQ and image procossing, sends the bottle class shape and posture information of identification to machinery
Hand controls, the coordinate points specified are reached by Manipulator Controller control machinery hand end posture progress glass is grabbed with certain hand
The crawl of bottle.
But existing manipulator control is all largely the motion control to separate unit manipulator, even more machineries
The control of hand and the sorting task for different types of sorting target in different processes.Produced for multiple target mobile
The practical situations of garbage sorting on line, this easy missing inspection of method for sorting, efficiency are low.In addition, existing sorting identification
Technology, as the image acquisition element of identification object, can only be recognized typically using CCD optical cameras by the method for image procossing
Sort the shape of object, it is impossible to recognize its material.Vial and plastic bottle are the bottle class sorting objects for being easier to obscure, if
The sorting to vial is realized it is necessary to while manipulator captures sorting object, its weight be detected, so as to pick out glass
Bottle.In general manipulator cannot be distinguished by whether captured object is vial.
The content of the invention
The technology of the present invention solves problem：A kind of overcome the deficiencies in the prior art, there is provided glass being directed in house refuse
Glass bottle sorting control system, solve the problems, such as the fast automatic sorting of vial in house refuse, improve garbage sorting efficiency, reduce
The labor intensity of worker, improve the automaticity of garbage sorting production line.
The technical solution of the present invention：A kind of multi-robot sorting control system of the vial being directed in house refuse
System, the system include bottle pose receiving module, multi-robot dispatching control module, N number of manipulator, N number of control machinery hand
TRAJECTORY CONTROL module and weight sensor, manipulator correspond with TRAJECTORY CONTROL module, and weight sensor is used for collection machinery
The joint weight of hand paw and crawl thing, wherein：
Bottle pose receiving module, the bottle posture information frame for receiving outside input are deposited into reception buffering area, institute
Stating bottle posture information frame includes bottle coordinate, attitude angle and shooting time under imaging plane coordinate system；
Multi-robot dispatching control module, extraction receive the bottle posture information frame in buffering area, calculate bottle pose letter
Bottle is in t in breath frame2The prediction coordinate of+Δ T moment under conveyer belt plane coordinate system, the t2For current time, Δ T is machine
Tool hand receives instruction to the time grabbed required for bottle, judges whether the prediction coordinate falls into the work of any one manipulator
Make space, if into the working space of some manipulator, judge the manipulator working condition whether " free time ", if
" free time ", then the coordinate under the imaging plane coordinate system of the bottle and attitude angle information is distributed to corresponding to idle manipulator
Manipulator TRAJECTORY CONTROL module；
Manipulator TRAJECTORY CONTROL module, during initialization, control machinery hand is located at default ready position；Receive bottle into
After coordinate information under photo coordinate system, working condition is set to " busy ", the coordinate information of the bottle and attitude angle are entered
Row Coordinate Conversion, obtains coordinate of the bottle under this manipulator coordinate system, and control machinery hand is moved to vial position, whirler
The angle of tool hand is consistent with attitude angle, captures bottle, when bottle leaves transmission belt surface, reads weight sensor values, according to
Weight judges whether captured bottle has the weight characteristics of vial, refers in addition if it is, bottle is sent into conveyer belt
Bottle, if not the weight characteristics of vial, is then put back on conveyer belt by fixed material memory block, afterwards, control machinery
Hand returns to default ready position, and working condition is set to " free time ".
The manipulator TRAJECTORY CONTROL module according to bottle weight judge captured bottle whether be vial method
For：
Weight is judged whether in preset threshold range, if it is, being determined as vial, is otherwise determined as other bottles
Class, the threshold value are determined by the statistical weight sum of manipulator paw and vial.
N number of manipulator circulates along transmission tape motion direction arrangement, 1~N of serial number, multi-robot dispatching control module
Perform following steps：
(1) judge that current time receives whether buffering area has new bottle posture information frame, if so, by new bottle position
In the current crawl queue of appearance information frame deposit, into step (2), otherwise, step (2) is directly entered；
(2) according to the principle of first in first out, first bottle posture information frame in crawl queue is chosen；
(3) coordinate information (x of the bottle under imaging plane coordinate system in bottle posture information frame is parsedP_0,yP_0) and clap
Take the photograph time t1；
(4) by bottle in imaging plane coordinate system coordinate information (xP_0,yP_0) Coordinate Conversion is carried out, obtain conveyer belt and put down
Coordinate information (x under areal coordinate systemC_0,yC_0)；
(5) bottle is calculated in t2Prediction coordinate (the x under conveyer belt plane coordinate system at+Δ T momentC_target,
yC_target)；
(6) current time judges bottle prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st manipulator
The working space of~n-th manipulator, if the bottle enters the working space of some manipulator, it is determined that the manipulator is
Manipulator to be grabbed, into step (7), otherwise, the bottle posture information frame is saved in temporary queue, into step (8)；
(7) judge robot work state to be grabbed whether " free time ", if " free time ", by the bottle posture information frame
Imaging plane coordinate system coordinate and attitude angle information be sent to TRAJECTORY CONTROL module corresponding to the manipulator, into step (8)；
If working condition is " busy ", the bottle posture information frame is saved in temporary queue, into step (8)；
(8) next bottle posture information frame is chosen, step (3)~step (7) is re-executed, until having judged crawl team
All bottle posture information frames in row, into step (9)；
(9) crawl queue is emptied, by all bottle posture information frames deposit crawl queue in temporary queue.
The step (5) calculates bottle in t by resolving equation below group2+ Δ T the moment is under conveyer belt plane coordinate system
Prediction coordinate (xC_target,yC_target)：
xC_target=xC_0+v×(t2+ΔT-t1)
yC_target=yC_0
zR_target=0
Wherein, (xR_int, yR_int, zR_int) it is seat of the ready position of i-th of manipulator under the robot coordinate system
Mark；VR_handFor pre-set velocity of the manipulator along point-to-point linear motion, v is the speed of conveyer belt, MC_R_iSat for conveyer belt plane
System is marked to the coordinate conversion matrix of i-th of robot coordinate system, t2For current time.
The multi-robot dispatching control module judges bottle prediction coordinate (xC_target,yC_target) whether enter i-th
The method of the operation interval of individual manipulator is：
(6a) is by the i-th manipulator in i-th of manipulator plane coordinate system XRiORiYRiUnder the origin of coordinates (0,0) sat
Mark conversion, obtains coordinate (x of the origin of coordinates under conveyer belt plane coordinate systemC_i,yC_i)；
(6b) judges (xC_target,yC_target) whether meet condition：
When, manipulator
Working space is the sector region that radius is R, is met, then it is assumed that (xC_target,yC_target) fall into the work of i-th of manipulator
In section, otherwise it is assumed that (xC_target,yC_target) not in the operation interval of the manipulator.
Bottle posture information frame is according to following regularly arranged in the middle crawl queue of the step (1)：Different shooting times
Bottle posture information frame, arranged according to time order and function order, the bottle posture information frame of same shooting time, according to the position of bottle
Arrangement is put, the posture information frame close to the bottle of manipulator is arranged in front.
The present invention has the advantages that compared with prior art：
1st, the present invention arranges that multiple manipulators sort to rubbish, makes full use of the sorting ability of every manipulator, will
Multiple sorting tasks are distributed to more manipulators simultaneously and sorted, and the sorting energy of the most target crawl things of whole system can be achieved
Power, operating efficiency are high.
2nd, invention defines fixed conveyer belt plane coordinate system, whether coordinate falls into the meter of the crawl scope of manipulator
Calculation is calculated in conveyer belt plane coordinate system, advantageously reduces amount of calculation, improves computational efficiency.
3rd, invention defines multiple robot coordinate systems, robot coordinate system to change with the installation site of manipulator,
The processing complexity of manipulator TRAJECTORY CONTROL module is reduced, in addition, multi-robot control module only needs to put down bottle imaging
The coordinate of areal coordinate system is sent to each manipulator TRAJECTORY CONTROL module, is responsible for by each manipulator TRAJECTORY CONTROL module to each needing
The coordinate of the bottle of crawl carries out Coordinate Conversion, simplifies the complexity of multi-robot control module.
4th, the present invention, which solves in general sorting identification link, can only identify sorting object profile, can not recognize sorting object
It is vial or plastic bottle problem, it is proposed that the weight characteristics of detection sorting object when manipulator captures sorting object, make
For judge capture object whether be vial sort thing condition, to vial carry out automatic sorting, effectively prevent broken
Glass destroys to caused by follow-up apparatus for production line.
Brief description of the drawings
Fig. 1 is the system construction drawing of the present invention；
Fig. 2 is the control method flow chart of the present invention；
Fig. 3 sorting manipulator distribution modes.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
It is related to following several coordinate systems in the embodiment of the present invention, is defined as follows：
(1) imaging plane coordinate system
Using camera optical axis and the intersection point of conveyer belt plane as the origin of coordinates, it is along transmission direction of belt travel on imaging plane
XPAxle, with XPThe vertical direction of direction of principal axis is YPAxle, imaging plane are conveyer belt plane.
(2) conveyer belt plane coordinate system
The origin of conveyer belt plane coordinate system is a fixing point O of transmission belt edgeC, XCAxle is the motion along conveyer belt
Direction, YCPositioned at conveyer belt plane and and XCAxle is vertical.
(3) N number of robot coordinate system
The robot coordinate system of i-th of manipulator is XRiORiYRi, origin is the pedestal of manipulator and the friendship of conveyer belt plane
Point, axle ZRVertically with conveyer belt plane, axle XR, axle YRRespectively with the axle X of conveyer belt plane coordinate systemCWith axle YCDirection is consistent.
Imaging plane coordinate system converts with imaging plane, and multiple robot coordinate systems become with the installation site of manipulator
Change, the difficulty of imager coordinate acquisition and the processing complexity of manipulator TRAJECTORY CONTROL module can be reduced.
Fig. 1 is a kind of vial sorting control system structured flowchart being directed in house refuse.As illustrated, the system bag
Include bottle pose receiving module, multi-robot dispatching control module, N number of manipulator, the TRAJECTORY CONTROL module of N number of control machinery hand
And weight sensor, manipulator correspond with TRAJECTORY CONTROL module, weight sensor is used for collection machinery hand paw and crawl
The joint weight of thing, directly over manipulator paw, and the stress axis of gravity sensor passes through the center of gravity of paw, its
In：
Bottle posture information receiving module, the bottle posture information frame of outside input is received by serial communication mode, will
It, which is stored in, receives in buffering area, and transmission standard can be RS232, RS485, RS422, and the bottle posture information frame includes bottle
Coordinate, attitude angle and shooting time under imaging plane coordinate system；Coordinate is the minimum external of bottle in the posture information
The Geometric center coordinates of rectangle, the attitude angle information are the long side of minimum enclosed rectangle and the angle of X-axis of bottle；Bottle position
For the posture information of appearance information frame using imaging plane coordinate system as reference, content is brief and contains whole letters required for crawl
Breath, be advantageous to shorten the data volume of delivery time and transmission.
Multiple manipulators that multi-robot dispatching control module is controlled it are scheduled control, are controlled with manipulator track
The communication of module can be realized by the way of industrial field bus.Multi-robot dispatching control module, extraction receive buffering
Bottle posture information frame in area, calculate bottle posture information frame in bottle in t2+ Δ T the moment is under conveyer belt plane coordinate system
Prediction coordinate, the t2For current time, Δ T is that manipulator receives instruction to the time grabbed required for bottle, judgement
Whether the prediction coordinate enters the working space of any one manipulator, if into the working space of some manipulator, sentences
Break the manipulator working condition whether " free time ", if " free time ", by the coordinate under the imaging plane coordinate system of the bottle
Manipulator TRAJECTORY CONTROL module corresponding to the manipulator of free time is distributed to attitude angle information.Multi-robot dispatching control module with
The running status of each manipulator of controlling cycle poll of Millisecond, task distribution is carried out to the manipulator of free time in time, it is ensured that
Manipulator is efficiently captured to bottle.
Manipulator TRAJECTORY CONTROL module, during initialization, control machinery hand is located at default ready position；Receive bottle into
After coordinate information under photo coordinate system, working condition is set to " busy ", the coordinate information of the bottle and attitude angle are entered
Row Coordinate Conversion, coordinate of the bottle under this manipulator coordinate system is obtained, control machinery hand is moved to the position of bottle, rotation
The angle of manipulator is consistent with attitude angle, captures bottle, after bottle leaves conveyer belt plane, inspecting manipuator paw and crawl
The joint weight of thing, judge that its weight whether in certain threshold range, if it is, being determined as vial, is sent to
The material memory block specified beyond conveyer belt, otherwise, it is determined that being other material bottles, paw is unclamped, is placed back into conveyer belt, institute
Threshold value is stated to be determined by the statistical weight sum of manipulator paw and vial.Afterwards, control machinery hand returns to default preparation position
Put, working condition is set to " free time ".The default ready position can be the surface of conveyer belt plane, and it puts down in conveyer belt
Projection on face is located at conveyer belt in YPThe center of direction of principal axis.The position is advantageous to manipulator and quickly reaches transmission belt surface
Captured.
Multi-robot control module only needs bottle being sent to each manipulator track in the coordinate of imaging plane coordinate system
Control module, the coordinate for being responsible for the bottle to each needing to capture by each manipulator TRAJECTORY CONTROL module carry out Coordinate Conversion, letter
The complexity of multi-robot control module is changed.
N number of manipulator performs along transmission tape motion direction arrangement, 1~N of serial number, the circulation of multi-robot dispatching control module
Following steps：
(1) judge to receive whether buffering area has new bottle posture information frame, if so, by new bottle posture information frame
In the current crawl queue of deposit, into step (2), otherwise, step (2) is directly entered
(2) according to the principle of first in first out, first bottle posture information frame in crawl queue is chosen；
(3) coordinate information (x of the bottle posture information frame under imaging plane coordinate system is parsedP_0,yP_0) and shooting time
t1；
(4) by bottle in imaging plane coordinate system coordinate information (xP_0,yP_0) Coordinate Conversion is carried out, obtain conveyer belt and put down
Coordinate information (x under areal coordinate systemC_0,yC_0)；
MP_CCoordinate conversion matrix for imaging plane coordinate system to conveyer belt plane coordinate system；
In the origin O of conveyer belt plane coordinate systemCAnd XCAxle and YCObvious physical label is set on axle on any point, led to
These obvious physical labels are crossed in the coordinate value corresponding to imaging plane coordinate system and the coordinate under conveyer belt plane coordinate system
Value can calculate imaging plane coordinate system to the coordinate conversion matrix M of conveyer belt plane coordinate systemP_C。
(5) target crawl thing is calculated in t by resolving equation below group2+ Δ T the moment is under conveyer belt plane coordinate system
Predict coordinate (xC_target,yC_target)：
xC_target=xC_0+v×(t2+ΔT-t1) (2)
yC_target=yC_0 (3)
zR_target=0 (6)
Wherein, (xR_int, yR_int, zR_int) it is seat of the ready position of i-th of manipulator under the robot coordinate system
Mark；VR_handFor pre-set velocity of the manipulator along point-to-point linear motion, v is the speed of conveyer belt, t2For current time, MC_R_i
For i-th of mechanical coordinate system to the coordinate conversion matrix of conveyer belt plane coordinate system, i=1~N.
With three particular points on conveyer belt a little contact with the taper frock that arm end is installed, determine manipulator
Coordinate system XRiORiYRi, plane XRiORiYRiOverlapped with conveyer belt plane.Conveyer belt plane coordinates is measured using precision optical instrument
The origin of system and along XCAxle and along YCThe coordinate value of any on axle, then mechanical bradawl shape frock is measured with precision optical instrument
Cusp is in three the not coordinate value of collinear position and its coordinate values under robot coordinate system.It can be resolved by such as co-relation
Go out transition matrix MC_R_i。
Forecasting Methodology of the above-mentioned coordinates of targets when manipulator reaches crawl position, is advantageous to capture object location to target
Accurate judgement, increase the accuracy of crawl.Calculation error is avoided to cause target crawl thing not exist when manipulator captures
In its working space, crawl is caused to fail.
(6) current time judges target crawl thing prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st
The working space of manipulator~n-th manipulator, if target crawl thing enters the working space of some manipulator, really
The fixed manipulator is manipulator to be grabbed, and into step (7), otherwise, the object pose information frame is saved in temporary queue, entered
Enter step (8)；
Multi-robot dispatching control module judges target crawl thing prediction coordinate (xC_target,yC_target) whether enter
The method of the operation interval of i-th of manipulator is：
(6a) is by the i-th manipulator in i-th of robot coordinate system XRiORiYRiUnder the origin of coordinates (0,0) carry out coordinate turn
Change, obtain coordinate (x of the origin of coordinates under conveyer belt plane coordinate systemC_i,yC_i)；
(6b) judges (xC_target,yC_target) whether meet condition：
When, manipulator
Working space is the sector region that radius is R, is met, then it is assumed that (xC_target,yC_target) fall into the work of i-th of manipulator
In region, otherwise it is assumed that (xC_target,yC_target) not in the working region of the manipulator.
(7) judge robot work state to be grabbed whether " free time ", if " free time ", by the object pose information frame
Imaging plane coordinate system coordinate and attitude angle information be sent to TRAJECTORY CONTROL module corresponding to the manipulator, into step (8)；
If working condition is " busy ", the object pose information frame is saved in temporary queue, into step (8)；
(8) according to the principle of first in first out, next object pose information frame is chosen, re-executes step (3)~step
(7), until having chosen all object pose information frames in crawl queue, into step (9)；
(9) crawl queue is emptied, by all object pose information frames deposit crawl queue in temporary queue.
When crawl object leaves conveyer belt, manipulator TRAJECTORY CONTROL module reads the detected value of weight sensor, judges
Whether it is in threshold range set in advance, crawl thing if it is is placed into material container, if it is not, then paw is loose
Open, crawl object drops back into conveyer belt.
Above-mentioned coordinate, which calculates most of, to be calculated in conveyer belt plane coordinate system, advantageously reduces amount of calculation,
Improve computational efficiency.
Embodiment：
3 manipulators are configured in a kind of vial sorting control system being directed in house refuse, as shown in Figure 3.Machinery
Hand is arranged in order along conveyer belt direction of transfer, wherein, manipulator 1 and manipulator 2 are located at conveyer belt the same side, and manipulator 3 is located at
Opposite side.The origin of conveyer belt plane coordinate system is a point O of transmission belt edgeC, XCAxle be along conveyer belt the direction of motion, YC
Positioned at conveyer belt plane and and XCAxle is vertical.
In the present embodiment, imaging plane coordinate system overlaps with conveyer belt plane coordinate system, then,
The robot coordinate system of manipulator 1 is XRYRZROROrigin is the pedestal of manipulator and is located at conveyer belt plane, axle ZR
Vertically with conveyer belt plane, axle XR, axle YRRespectively with axle XCWith axle YCDirection is consistent.
1., 2., 3. and 4. bottle to be captured moves along conveyer belt direction, wherein, it is 1. plastic bottle, remaining is glass
Bottle, before bottle enters the working space of manipulator 1, the information frame of the bottle has transmitted to posture information receiving module.
All information frames received are stored in reception buffering area by posture information receiving module, and multi-robot scheduler module can be west
The sub- S7-300 series of programmable logic controller (PLC) of door.The cycle (within 1ms) is performed to circulation in PLC each program
Perform following steps：.
(1) judge to receive buffering takes whether have new bottle posture information frame, if so, by new bottle posture information frame
The current crawl queue of deposit, into step (2), otherwise, is directly entered step (2).Have 4 in current crawl queue shown in Fig. 2
Individual bottle posture information frame.Bottle posture information frame is according to following regularly arranged in the crawl queue：Different shooting times
Bottle posture information frame, arranged according to time order and function order, the bottle posture information frame of same shooting time, according to bottle pose
The position arrangement of information frame, the bottle posture information frame close to manipulator are arranged in front.
(2) the bottle 1. information frame in crawl queue is chosen.
(3) bottle 1. information frame coordinate information (x under imaging plane coordinate system is parsedP_0,yP_0)=(0,300) and shooting
Time t1=1；
(4) by the bottle 1. coordinate information (x in imaging plane coordinate systemP_0,yP_0)=(0,300) Coordinate Conversion is carried out,
Obtain the coordinate information (x under conveyer belt plane coordinate systemC_0,yC_0)；
Wherein,
MP_CCoordinate conversion matrix for imaging plane coordinate system to conveyer belt plane coordinate system, Two coordinate system overlap, i.e.
(xC_0,yC_0)=(0,300)；
(5) current time t is set2=3s, the coordinate of the ready position of the 1st manipulator under the robot coordinate system
(xR_int,yR_int,zR_int)=(0,600,500)；Δ T be manipulator receive instruction to grab target crawl thing required for
Time, VR_hand=2000, the speed v=1000, M of conveyer beltC_R_iFor conveyer belt plane coordinate system to i-th of robot coordinate
The coordinate conversion matrix of system；
1st robot coordinate system be to the coordinate conversion matrix of conveyer belt plane coordinate system：
Two coordinate system is translation relation.
Resolve equation group (formula (2)~formula (6)) and obtain target crawl thing in t2+ Δ T the moment in conveyer belt plane
Prediction coordinate (x under coordinate systemC_target,yC_target)：
Wherein, zR_target=0, xC_0=0, yC_0=yC_target=300
(x is calculatedC_target,yC_target)=(2288.675,300), Δ T=0.289.
(6) current time judges bottle prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st manipulator
The working space of~the 3 manipulator, if target crawl thing enters the working space of some manipulator, it is determined that the machine
Tool hand is manipulator to be grabbed, and into step (7), otherwise, the bottle posture information frame is saved in temporary queue, into step
(8)；
Judge (xC_target,yC_target) whether manipulator 1 Work Space Range, if manipulator 1 is in the work of conveyer belt
Make space radius R=1000mm.
(xC_1,yC_1)=(2000, -300)
xC_targetMeet
1. relation, therefore, bottle are in the working space in manipulator 1, into step (7)；
(7) judge the working condition of manipulator 1 to be grabbed whether " free time ", if " free time ", by the object pose information frame
In imaging plane coordinate system coordinate information be sent to TRAJECTORY CONTROL module corresponding to the manipulator, into step (8)；If work
It is " busy " to make state, then the object pose information frame is saved in temporary queue, into step (9)；
(8) manipulator crawl bottle, when 1. bottle leaves conveyer belt, manipulator TRAJECTORY CONTROL module sense weight sensing
The input quantity of device, it is judged whether in default threshold value, the present embodiment, using gripper made of super light material, gripper
Weight and in general vial weight summation generally lie in 800~850g between, therefore, threshold range takes [800,850],
The bottle is empty plastic bottle, it should in 420g or so, hence it is evident that not in threshold range, control paw unclamps, 1. bottle drops back into
Conveyer belt.
(9) according to the principle of first in first out, multi-robot dispatching control module chooses next bottle posture information frame, weight
It is new to perform step (3)~step (7), until having chosen all bottle posture information frames in crawl queue, into step (10)；
(10) multi-robot dispatching control module empties crawl queue, by all bottle posture information frames in temporary queue
Deposit crawl queue.
The present invention arranges that multiple manipulators sort to the bottle in rubbish, can make full use of point of every manipulator
Ability is picked, multiple sorting tasks are distributed into more manipulators simultaneously and sorted, the most target crawls of whole system can be achieved
The sorting ability of thing, operating efficiency are high.Because the speed of conveyer belt is slow, and the loop control speed of multi-robot control module
It hurry up, for same target captures thing, will have multiple chance into the working space of multiple manipulators, and can reach very
Low loss.
In addition, the weight characteristics of the detection sorting object of the invention when manipulator captures sorting object, are captured as judgement
Object whether be vial sorting thing condition, to vial carry out automatic sorting, effectively prevent broken glass to follow-up
Apparatus for production line caused by destruction.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. it is a kind of be directed to house refuse in vial sorting control system, it is characterised in that including bottle pose receiving module,
Multi-robot dispatching control module, N number of manipulator, the TRAJECTORY CONTROL module of N number of control machinery hand and weight sensor, manipulator
Being corresponded with TRAJECTORY CONTROL module, weight sensor is used for collection machinery hand paw with capturing the joint weight of thing, wherein：
Bottle pose receiving module, the bottle posture information frame for receiving outside input are deposited into reception buffering area, the bottle
Sub- posture information frame includes bottle coordinate, attitude angle and shooting time under imaging plane coordinate system；
Multi-robot dispatching control module, extraction receive the bottle posture information frame in buffering area, calculate bottle posture information frame
Middle bottle is in t2The prediction coordinate of+Δ T moment under conveyer belt plane coordinate system, the t2For current time, Δ T is manipulator
Instruction is received to the time grabbed required for bottle, judges whether the prediction coordinate falls into the work sky of any one manipulator
Between, if into the working space of some manipulator, judge the manipulator working condition whether " free time ", if " empty
It is not busy ", then the coordinate under the imaging plane coordinate system of the bottle and attitude angle information are distributed to machine corresponding to the manipulator of free time
Tool hand TRAJECTORY CONTROL module；
Manipulator TRAJECTORY CONTROL module, during initialization, control machinery hand is located at default ready position；It is flat in imaging to receive bottle
After coordinate information under areal coordinate system, working condition is set to " busy ", the coordinate information of the bottle and attitude angle are sat
Mark conversion, obtains coordinate of the bottle under this manipulator coordinate system, control machinery hand is moved to vial position, rotating machine arm
Angle it is consistent with attitude angle, capture bottle, when bottle leave transmission belt surface when, read weight sensor values, according to weight
Whether have the weight characteristics of vial, if it is, bottle is sent into what is specified beyond conveyer belt if judging captured bottle
Material memory block, if not the weight characteristics of vial, then bottle is put back on conveyer belt, afterwards, control machinery hand is returned
To default ready position, working condition is set to " free time ".
A kind of 2. vial sorting control system being directed in house refuse according to claim 1, it is characterised in that institute
State manipulator TRAJECTORY CONTROL module and judge whether captured bottle is that the method for vial is according to bottle weight：
Weight is judged whether in preset threshold range, if it is, being determined as vial, is otherwise determined as other bottles of classes, institute
Threshold value is stated to be determined by the statistical weight sum of manipulator paw and vial.
A kind of 3. vial sorting control system being directed in house refuse according to claim 1, it is characterised in that institute
State N number of manipulator and perform following step along transmission tape motion direction arrangement, 1~N of serial number, the circulation of multi-robot dispatching control module
Suddenly：
(1) judge that current time receives whether buffering area has new bottle posture information frame, if so, new bottle pose is believed
Cease in the current crawl queue of frame deposit, into step (2), otherwise, be directly entered step (2)；
(2) according to the principle of first in first out, first bottle posture information frame in crawl queue is chosen；
(3) coordinate information (x of the bottle under imaging plane coordinate system in bottle posture information frame is parsedP_0,yP_0) and shooting when
Between t1；
(4) by bottle in imaging plane coordinate system coordinate information (xP_0,yP_0) Coordinate Conversion is carried out, obtain conveyer belt plane seat
Coordinate information (x under mark systemC_0,yC_0)；
(5) bottle is calculated in t2Prediction coordinate (the x under conveyer belt plane coordinate system at+Δ T momentC_target,yC_target)；
(6) current time judges bottle prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st manipulator~N
The working space of individual manipulator, if the bottle enters the working space of some manipulator, it is determined that the manipulator is to wait to grab
Manipulator, into step (7), otherwise, the bottle posture information frame is saved in temporary queue, into step (8)；
(7) judge robot work state to be grabbed whether " free time ", if " free time ", by the bottle posture information frame into
Photo coordinate system coordinate and attitude angle information are sent to TRAJECTORY CONTROL module corresponding to the manipulator, into step (8)；If
Working condition is " busy ", then the bottle posture information frame is saved in temporary queue, into step (8)；
(8) according to the principle of first in first out, next object pose information frame is chosen, re-executes step (3)~step (7),
Until having chosen all object pose information frames in crawl queue, into step (9)；
(9) crawl queue is emptied, by all object pose information frames deposit crawl queue in temporary queue.
A kind of 4. vial sorting control system being directed in house refuse according to claim 3, it is characterised in that institute
State step (5) and calculate bottle in t by resolving equation below group2The prediction coordinate of+Δ T moment under conveyer belt plane coordinate system
(xC_target,yC_target)：
xC_target=xC_0+v×(t2+ΔT-t1)
yC_target=yC_0
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zR_target=0
Wherein, (xR_int, yR_int, zR_int) it is coordinate of the ready position of i-th of manipulator under the robot coordinate system；
VR_handFor pre-set velocity of the manipulator along point-to-point linear motion, v is the speed of conveyer belt, MC_R_iFor conveyer belt plane coordinates
It is the coordinate conversion matrix to i-th of robot coordinate system, t2For current time.
A kind of 5. vial sorting control system being directed in house refuse according to claim 3, it is characterised in that institute
State multi-robot dispatching control module and judge bottle prediction coordinate (xC_target,yC_target) whether enter i-th manipulator
The method of operation interval is：
(6a) is by the i-th manipulator in i-th of manipulator plane coordinate system XRiORiYRiUnder the origin of coordinates (0,0) carry out coordinate turn
Change, obtain coordinate (x of the origin of coordinates under conveyer belt plane coordinate systemC_i,yC_i)；
(6b) judges (xC_target,yC_target) whether meet condition：
When, the work of manipulator
Space is the sector region that radius is R, is met, then it is assumed that (xC_target,yC_target) fall into the operation interval of i-th of manipulator
It is interior, otherwise it is assumed that (xC_target,yC_target) not in the operation interval of the manipulator.
A kind of 6. vial sorting control system being directed in house refuse according to claim 3, it is characterised in that institute
Bottle posture information frame is stated in step (1) in crawl queue according to following regularly arranged：The bottle pose letter of different shooting times
Frame is ceased, is arranged according to time order and function order, the bottle posture information frame of same shooting time, is arranged, leaned on according to the position of bottle
The posture information frame of the bottle of nearly manipulator is arranged in front.
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| CN108273761A (en) * | 2018-03-12 | 2018-07-13 | 华侨大学 | A kind of device and method of sorting building waste |
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| CN109584298B (en) * | 2018-11-07 | 2020-07-28 | 上海交通大学 | Robot-oriented autonomous object picking task online self-learning method |
| CN110689059A (en) * | 2019-09-12 | 2020-01-14 | 华中科技大学 | Automatic garbage sorting method |
| CN111702760B (en) * | 2020-06-11 | 2021-06-11 | 湖北美和易思教育科技有限公司 | Internet of things mechanical arm cooperative operation system and method |
| CN113751339B (en) * | 2021-09-23 | 2023-05-23 | 浙江工业大学 | Multi-robot task allocation method based on intelligent sorting assembly line |
| CN114789151B (en) * | 2022-03-25 | 2023-08-04 | 四川硅旺新材料科技有限公司 | Dynamic scheduling method for intelligent manufacturing system |
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