CN106003024B - A kind of multi-robot garbage sorting control system - Google Patents
A kind of multi-robot garbage sorting control system Download PDFInfo
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- CN106003024B CN106003024B CN201610365672.1A CN201610365672A CN106003024B CN 106003024 B CN106003024 B CN 106003024B CN 201610365672 A CN201610365672 A CN 201610365672A CN 106003024 B CN106003024 B CN 106003024B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39102—Manipulator cooperating with conveyor
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Abstract
The invention discloses a kind of multi-robot garbage sorting control system, the system includes target crawl thing pose receiving module, multi-robot dispatching control module, multiple TRAJECTORY CONTROL modules and manipulator, manipulator and corresponded with TRAJECTORY CONTROL module.Multi-robot dispatching control module judges whether target crawl thing enters the operation interval of idle manipulator, the coordinate of target crawl thing 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 target crawl thing.The present invention makes full use of the sorting ability of every manipulator, and multiple sorting tasks are distributed into more manipulators simultaneously and sorted, and the sorting ability of the most target crawl things of whole system can be achieved, and operating efficiency is high.
Description
Technical field
The present invention relates to a kind of multi-robot garbage sorting control system, belongs to environmentally friendly automated arm field.
Background technology
In the front end of house refuse remanufacture line, it is necessary to carry out sorting recovery to the Recyclable in rubbish.It is existing
Most of regenerant in house refuse is all the method using manual sorting, has sorting person works bad environments, work
The shortcomings that intensity height and low operating efficiency.
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 vial shape and posture information of identification to machine
Tool 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 glass 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.
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 multi-robot garbage sorting control
System processed, garbage sorting efficiency is improved, 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 garbage sorting control system, the system capture including target
Thing pose receiving module, multi-robot dispatching control module, the TRAJECTORY CONTROL module of N number of manipulator and N number of control machinery hand, machine
Tool hand corresponds with TRAJECTORY CONTROL module, wherein：
Target captures thing pose receiving module, and the object pose information frame for receiving outside input is deposited into reception buffering area
In, when in the object pose information frame comprising coordinate of the target crawl thing under imaging plane coordinate system, attitude angle and shooting
Between；
Multi-robot dispatching control module, extraction receive the object pose information frame in buffering area, calculate object pose letter
Cease target in frame and capture thing in t2The prediction coordinate of+Δ T moment under conveyer belt plane coordinate system, the t2For current time, Δ
T is that manipulator receives instruction to the time grabbed required for target captures thing, and it is any one to judge whether the prediction coordinate enters
The working space of individual manipulator, if into the working space of some manipulator, judge the manipulator working condition whether
" free time ", if " free time ", the target is captured to the coordinate under the imaging plane coordinate system of thing and attitude angle information is distributed to
Manipulator TRAJECTORY CONTROL module corresponding to idle manipulator；
Manipulator TRAJECTORY CONTROL module, during initialization, control machinery hand is located at default ready position；Receive target crawl
After coordinate information under the imaging plane coordinate system of thing, working condition is set to " busy ", the coordinate that the target is captured to thing is believed
Breath and attitude angle carry out Coordinate Conversion, obtain coordinate of the target crawl thing under this manipulator coordinate system, and control machinery hand is moved
Move to target and capture object location, the angle of rotating machine arm is consistent with attitude angle, crawl target crawl thing, crawl thing is sent into biography
The material memory block specified beyond band is sent, afterwards, control machinery hand returns to default ready position, working condition is set to " empty
It is not busy ".
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 object pose information frame, if so, by new target 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, the first aim posture information frame in crawl queue is chosen；
(3) target crawl thing coordinate information (x under imaging plane coordinate system in object pose information frame is parsedP_0,yP_0)
With shooting time t1；
(4) target is captured into coordinate information (x of the thing under imaging plane coordinate systemP_0,yP_0) Coordinate Conversion is carried out, obtain
Coordinate information (x under conveyer belt plane coordinate systemC_0,yC_0)；
(5) calculate target and capture thing in t2Prediction coordinate (x of+Δ T the moment under conveyer belt plane coordinate systemC_target,
yC_target)；
(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)；
(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.
The step (5) calculates target crawl thing in t by resolving equation below group2+ Δ T the moment sits in conveyer belt plane
Prediction coordinate (x under mark systemC_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 target crawl thing prediction coordinate (xC_target,yC_target) whether
Method into 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 section, otherwise it is assumed that (xC_target,yC_target) not in the operation interval of the manipulator.
Object pose information frame is according to following regularly arranged in the middle crawl queue of the step (1)：Different shooting times
Object pose information frame, arranged according to time order and function order, the object pose information frame of same shooting time, according to object pose
The position arrangement of information frame, the object pose information frame close to manipulator are 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 target capturing thing
Imaging plane coordinate system coordinate is sent to each manipulator TRAJECTORY CONTROL module, is responsible for by each manipulator TRAJECTORY CONTROL module to respective
The coordinate for the object for needing to capture carries out Coordinate Conversion, simplifies the complexity of multi-robot control module.
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 system architecture diagram of multi-robot garbage sorting control system.As illustrated, the system includes mesh
Mark captures the TRAJECTORY CONTROL of thing pose receiving module, multi-robot dispatching control module, N number of manipulator and N number of control machinery hand
Module, manipulator correspond with TRAJECTORY CONTROL module, wherein：
Target captures thing posture information receiving module, and the object pose information of outside input is received by serial communication mode
Frame, it is deposited into and receives in buffering area, transmission standard can be RS232, RS485, RS422, in the object pose information frame
Coordinate, attitude angle and shooting time of the thing under imaging plane coordinate system are captured comprising target；Coordinate is in the posture information
The Geometric center coordinates of the minimum enclosed rectangle of target crawl thing, the attitude angle information are that target captures thing minimum enclosed rectangle
Long side and X-axis angle；For the posture information of object pose information frame using imaging plane coordinate system as reference, content is brief and wraps
Contain the full detail required for crawl, 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
Object pose information frame in area, calculate target in object pose information frame and capture thing in t2+ Δ T the moment sits in conveyer belt plane
Prediction coordinate under mark system, the t2For current time, Δ T is that manipulator receives instruction to required for grabbing target crawl thing
Time, judge the prediction coordinate whether enter any one manipulator working space, if the work into some manipulator
Make space, then judge the manipulator working condition whether " free time ", if " free time ", by the target capture thing imaging put down
Coordinate and attitude angle information under areal coordinate system distribute to manipulator TRAJECTORY CONTROL module corresponding to the manipulator of free time.It is more mechanical
Hand dispatching control module is entered to the manipulator of free time in time with the running status of each manipulator of controlling cycle poll of Millisecond
Row task is distributed, it is ensured that manipulator is efficiently captured to target.
Manipulator TRAJECTORY CONTROL module, control machinery hand is located at default ready position during initialization；Receive target crawl
After coordinate information under the imaging plane coordinate system of thing, working condition is set to " busy ", the coordinate that the target is captured to thing is believed
Breath and attitude angle carry out Coordinate Conversion, obtain coordinate of the target crawl thing under this manipulator coordinate system, and control machinery hand is moved
Move to target and capture object location, the angle of rotating machine arm is consistent with attitude angle, crawl target crawl thing, crawl thing is sent into biography
The material memory block specified beyond band is sent, afterwards, control machinery hand returns to default ready position, working condition is set to " empty
It is not busy ".The default ready position can be the surface of conveyer belt plane, and vertical with transmission tape motion direction in conveyer belt
Direction center.The position be advantageous to manipulator quickly reach transmission belt surface captured.
Multi-robot control module only needs target crawl thing imaging plane coordinate system coordinate being sent to each manipulator rail
Mark control module, the coordinate for being responsible for the object to each needing to capture by each manipulator TRAJECTORY CONTROL module carry out coordinate turn
Change, simplify the complexity of multi-robot control module.
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 object pose information frame, if so, by new object pose 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, the first aim posture information frame in crawl queue is chosen；
(3) parse object pose information frame in target crawl thing imaging plane coordinate system under coordinate information (xP_0,yP_0)
With shooting time t1；
(4) target is captured into coordinate information (x of the thing under imaging plane coordinate systemP_0,yP_0) Coordinate Conversion is carried out, obtain
Coordinate information (x under conveyer belt plane 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 section, otherwise it is assumed that (xC_target,yC_target) not in the operation interval 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.
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 multi-robot garbage sorting control system, as shown in Figure 3.Manipulator is along conveyer belt
Direction of transfer is arranged in order, wherein, manipulator 1 and manipulator 2 are located at conveyer belt the same side, and manipulator 3 is located at opposite side.Transmission
Origin with plane coordinate system is a point O of transmission belt edgeC, XCAxle be along conveyer belt the direction of motion, YCPut down positioned at conveyer belt
Face 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. thing to be captured moves along conveyer belt direction, enter the working space of manipulator 1 in thing to be captured
Before, the information frame of the crawl thing has transmitted to posture information receiving module.Posture information receiving module receives all
Information frame be stored in reception buffering area, multi-robot scheduler module can be Siemens S7-300 series of programmable logic controls
Device (PLC).The cycle (within 1ms) is performed to circulation execution following steps in PLC each program：.
(1) judge to receive buffering takes whether have new object pose information frame, if so, by new object pose 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 object pose information frame.Object pose information frame is according to following regularly arranged in the crawl queue：Different shooting times
Object pose information frame, arranged according to time order and function order, the object pose information frame of same shooting time, according to object pose
The position arrangement of information frame, the object pose information frame close to manipulator are arranged in front.
(2) the target 1. information frame in crawl queue is chosen.
(3) coordinate information (x under the imaging plane coordinate system of target crawl thing of the target 1. in information frame is parsedP_0,yP_0)
=(0,300) and shooting time t1=1；
(4) by the target 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 target crawl thing prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st
The working space of manipulator~3rd 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)；
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, target 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 (8)；
(8) next target 2. information frame is chosen, step (3)~step (7) is re-executed, until having judged crawl queue
In object pose information frame, into step (9)；
It can be seen that 1. first round cycle detection will capture target by manipulator 1 captures target with manipulator 3
4. 2. and 3. remaining target is stored in temporary queue.
(9) crawl queue is emptied, by all object pose information frames deposit crawl queue in temporary queue.Remaining mesh
2. and 3. mark crawl thing will capture in follow-up next round detection.
The present invention arranges that multiple manipulators sort to rubbish, can make full use of the sorting ability of every manipulator,
Multiple sorting tasks are distributed into more manipulators simultaneously to be sorted, the sorting of the most target crawl things of whole system can be achieved
Ability, operating efficiency are high.Because the speed of conveyer belt is slow, and the loop control speed of multi-robot control module is fast, for same
For one target crawl thing, there will be multiple chance into the working space of multiple manipulators, low-down missing inspection can be reached
Rate.
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 (5)
1. a kind of multi-robot garbage sorting control system, it is characterised in that including target crawl thing pose receiving module, multimachine
The TRAJECTORY CONTROL module of tool hand dispatching control module, N number of manipulator and N number of control machinery hand, manipulator and TRAJECTORY CONTROL module
Correspond, wherein：
Target captures thing pose receiving module, and the object pose information frame for receiving outside input is deposited into reception buffering area,
In the object pose information frame coordinate, attitude angle and shooting time of the thing under imaging plane coordinate system are captured comprising target；
Multi-robot dispatching control module, extraction receive the object pose information frame in buffering area, calculate object pose information frame
Middle target captures thing in t2The prediction coordinate of+Δ T moment under conveyer belt plane coordinate system, the t2For current time, Δ T is
Manipulator receives instruction to the time grabbed required for target captures thing, judges whether the prediction coordinate enters any one machine
The working space of tool hand, if into the working space of some manipulator, judge whether the working condition of the manipulator is " empty
It is not busy ", if " free time ", the target is captured to the coordinate under the imaging plane coordinate system of thing and attitude angle information distributes to the free time
Manipulator corresponding to TRAJECTORY CONTROL module；
TRAJECTORY CONTROL module, during initialization, control machinery hand is located at default ready position；The imaging for receiving target crawl thing is put down
After coordinate information under areal coordinate system, working condition is set to " busy ", the target is captured to the coordinate information and attitude angle of thing
Coordinate Conversion is carried out, obtains coordinate of the target crawl thing under this manipulator coordinate system, control machinery hand is moved to target and grabbed
Object location is taken, the angle of rotating machine arm is consistent with attitude angle, crawl target crawl thing, crawl thing is sent into conveyer belt and referred in addition
Fixed material memory block, afterwards, control machinery hand returns to default ready position, and working condition is set to " free time ".
A kind of 2. multi-robot garbage sorting control system according to claim 1, it is characterised in that N number of manipulator
Following steps are performed along transmission tape motion direction arrangement, 1~N of serial number, the circulation of multi-robot dispatching control module：
(1) judge that current time receives whether buffering area has new object pose information frame, if so, new object 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, the first aim posture information frame in crawl queue is chosen；
(3) target crawl thing coordinate information (x under imaging plane coordinate system in object pose information frame is parsedP_0,yP_0) and clap
Take the photograph time t1；
(4) target is captured into coordinate information (x of the thing under imaging plane coordinate systemP_0,yP_0) Coordinate Conversion is carried out, transmitted
With the coordinate information (x under plane coordinate systemC_0,yC_0)；
(5) calculate target and capture thing in t2Prediction coordinate (x of+Δ T the moment under conveyer belt plane coordinate systemC_target,
yC_target)；
(6) current time judges target crawl thing prediction coordinate (x successivelyC_target,yC_target) whether enter the 1st manipulator
The working space of~n-th 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 object pose 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 object pose 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 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.
3. a kind of multi-robot garbage sorting control system according to claim 2, it is characterised in that the step (5) is logical
Cross resolving equation below group and calculate target crawl thing in t2The 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 4. multi-robot garbage sorting control system according to claim 2, it is characterised in that the multi-robot
Dispatching control module judges target crawl thing prediction coordinate (xC_target,yC_target) whether enter the work of i-th manipulator
The method in section 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 Conversion, obtain
To 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.
5. a kind of multi-robot garbage sorting control system according to claim 2, it is characterised in that in the step (1)
Object pose information frame is according to following regularly arranged in crawl queue：The object pose information frame of different shooting times, according to when
Between sequencing arrange, the object pose information frame of same shooting time, according to the position of object pose information frame arrange, it is close
The object pose information frame of manipulator is arranged in front.
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| CN108406177B (en) * | 2018-03-15 | 2020-07-14 | 广州中国科学院工业技术研究院 | Battery welding equipment and battery welding method |
| CN110315525A (en) * | 2018-03-29 | 2019-10-11 | 天津工业大学 | A kind of robot workpiece grabbing method of view-based access control model guidance |
| CN109159118B (en) * | 2018-08-29 | 2020-10-27 | 苏州精濑光电有限公司 | Interference mechanism cross operation anti-collision method and device |
| CN111168686B (en) * | 2020-02-25 | 2021-10-29 | 深圳市商汤科技有限公司 | Object grabbing method, device, equipment and storage medium |
| CN112792812A (en) * | 2020-12-02 | 2021-05-14 | 配天机器人技术有限公司 | Robot control device and robot system |
| CN112565616A (en) * | 2021-03-01 | 2021-03-26 | 民航成都物流技术有限公司 | Target grabbing method, system and device and readable storage medium |
| CN112845143A (en) * | 2021-03-04 | 2021-05-28 | 广州大学华软软件学院 | Household garbage classification intelligent sorting system and method |
| CN113510711B (en) * | 2021-08-02 | 2022-12-16 | 厦门锋元机器人有限公司 | Industrial robot action execution monitoring and regulating method based on artificial intelligence and cloud monitoring and regulating platform |
| CN113351496B (en) * | 2021-08-10 | 2021-11-02 | 常州唯实智能物联创新中心有限公司 | Multi-mechanical arm strategy and multi-mechanical arm collaborative sorting system modeling method and system |
| CN115847394B (en) * | 2022-10-21 | 2023-10-10 | 圣名科技(广州)有限责任公司 | Method and device for controlling mechanical arm to grasp object, electronic equipment and storage medium |
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