CN108502433A - A kind of automatic positioning grasping means - Google Patents
A kind of automatic positioning grasping means Download PDFInfo
- Publication number
- CN108502433A CN108502433A CN201810336323.6A CN201810336323A CN108502433A CN 108502433 A CN108502433 A CN 108502433A CN 201810336323 A CN201810336323 A CN 201810336323A CN 108502433 A CN108502433 A CN 108502433A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- goods yard
- grasping means
- automatic positioning
- vertical frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automatic positioning grasping means, the technical solution adopted is that：Face battle array camera shoots goods yard, and picture data is transferred to microcontroller and carries out data processing, calculate the error of position of manipulator, manipulator is made to be moved along lifting column vertical direction for control circuit board control motor I while controlling motor II makes manipulator progress horizontal direction move, and ensures that positioning crawl is accurate.The present invention may replace manual intervention in operation process, reduce cost, accelerate operating speed, reduces the operation delay manually brought, improves crawl efficiency.
Description
Technical field
The present invention relates to a kind of manipulator for being automatically stored and automatically extracting suitable for the cargo to logistics tower is accurate
The method of the automatic crawl cargo of positioning.
Background technology
In existing automatic crawl positioning industry, such as in logistics tower operation, since shelf installation error and manipulator move
The reason of dynamic accumulated error, manipulator can not accurately capture cargo, and manipulator is often collided with shelf.
By manually storing or discharging of goods, labor intensity is big, operating cost is high, therefore logistics tower needs a kind of computer
The automatic positioning grasping means of control replaces people, and wants low cost.
With industrialized fast development, the required precision for being automatically positioned crawl is higher and higher, breaks away from manpower, by calculating
The equipment automatic positioning of machine control improves crawl precision, improves working efficiency, it has also become trend of the times.
Invention content：
The object of the present invention is to provide a kind of reduction labor intensity, greatly improve the automatic positioning grasping means of efficiency, Er Qieyao
Low cost.
The technical solution adopted by the present invention is：A kind of automatic positioning grasping means, includes the following steps：
1）The field of view of the photo in face battle array camera shooting goods yard, camera acquisition is greater than the size in a goods yard, and will
Picture data is transferred to microcontroller and carries out data processing, calculates the position in the shelf lower left corner.
2）Control circuit board control motor I makes manipulator move along lifting column vertical direction while controlling motor II to make
Manipulator carries out horizontal direction movement, ensures that positioning crawl is accurate；
3）Wherein, the horizontal position of vertical frame is detected, if the position of vertical frame is at preset pixel, it is believed that position
It sets correct；If detecting that the abscissa of the position of vertical frame is less than the abscissa of preset location of pixels, send out
Signal is moved to right by manipulator；If detecting that the abscissa of the position of vertical frame is more than the horizontal seat of preset location of pixels
Mark, moves to left then sending out signal by manipulator.
4）Detection for the vertical position of horizontal pane, if the position of horizontal pane is at preset pixel, it is believed that
Position is correct.If detecting that the ordinate of the position of horizontal pane is less than the ordinate of preset location of pixels, send out
Go out signal to move up by manipulator；If detecting that the ordinate of the position of horizontal pane is more than the vertical seat of preset location of pixels
Mark, moves down then sending out signal by manipulator；
The goods yard position is the position in the goods yard lower left corner, i.e. the pixel position of horizontal pane and vertical frame junction.
The error is the position in the lower left corner in goods yard and the lateral distance between reference position and vertical distance.
The resolution ratio of the face battle array camera is not less than 1280 × 720, adjusts the focal length of camera, camera is enable to adopt
The width of the object of collection is more than the width in goods yard, therefore the width that each pair of point is answered is 0.5mm.
The beneficial effects of the invention are as follows：
1. the present invention may replace manual intervention in operation process, production cost is reduced.
2. the present invention can improve homework precision by the position of equipment adjust automatically machinery hand.
3. the present invention can accelerate operating speed, the operation delay manually brought is reduced, production efficiency is improved.
4. the present invention need not install robot scaling equipment or sensor on shelf, reduce and be mounted to when system is installed
This.
Description of the drawings
Fig. 1 is automatic crawl control system figure.
Fig. 2 is manipulator schematic diagram.
Fig. 3 is the work flow diagram of this method.
Fig. 4 is the position detection schematic diagram of this method.
Specific implementation mode
Embodiment 1 is automatically positioned the control system of grasping means
As shown, in automatic positioning grasping means, face battle array camera 1, the both ends of lifting column 3 respectively with revolving platform 4 and adjust
Whole frame 5 is fixed, and manipulator 6 passes through lifting column 3, so that manipulator 6 is moved along lifting column 3, control circuit board 7, I 8 and of motor
Motor II 9 is connected respectively at manipulator 6；11 both ends of picking holder are connected with manipulator 6 and cargo pallet 10 respectively, picking holder
11 is scalable, and face battle array camera 1 is fixed on picking holder 11, and motor III 8 and motor IV 9 are connected with picking holder 11.
Embodiment 2 is automatically positioned grasping means
As shown, cargo pallet 10 is placed in front of goods yard by control circuit board 7, motor I 8 and motor II 9 by manipulator 6,
Due to error, position detection need to be carried out by face battle array camera 1, face battle array camera 1 takes pictures in real time to goods yard, is sent to control electricity
Road plate 7, the microcontroller in control circuit board 7 carry out processing calculating to photo, calculate the position data in the goods yard lower left corner 12, and
The site error of manipulator is obtained, then control circuit board 7, which controls motor I 8, makes manipulator 6 be moved along 3 vertical direction of lifting column
It moves while controlling motor II 9 makes manipulator 6 carry out horizontal direction movement, to be accurately positioned goods yard position, the drive of motor III 8 takes
Goods holder 11 pushes ahead mobile storage cargo or motor IV 9 drives picking holder 11 to move backward discharging of goods.Face battle array camera shooting
The resolution ratio of head is not less than at 1280 × 720 points, adjusts the focal length of face battle array camera 1, the object for enabling face battle array camera 1 to acquire
Width be not less than 60cm, the width that each pair of point is answered is 0.5mm, and the resolution ratio of 0.5mm width can meet the requirement of engineering.
Wherein, for the detection of the horizontal position of vertical frame 13, if the position of vertical frame 13 is in preset pixel
Place, it is believed that position is correct；If detecting that the abscissa of the position of vertical frame 13 is less than the horizontal seat of preset location of pixels
Mark, moves to right then sending out signal by manipulator 6；If detecting that the abscissa of the position of vertical frame 13 is more than preset picture
The abscissa of plain position is moved to left by manipulator 6 to suitable position then sending out signal.
Detection for the vertical position of horizontal pane 14, if the position of horizontal pane 14 is recognized at preset pixel
It is correct for position；If detecting that the ordinate of the position of horizontal pane 14 is less than the ordinate of preset location of pixels, that
Signal is sent out to move up by manipulator 6；If detecting that the ordinate of the position of horizontal pane 14 is more than preset pixel position
The ordinate set, then send out signal is displaced downwardly to suitable position by manipulator 6.
Claims (4)
1. a kind of automatic positioning grasping means, it is characterised in that：Include the following steps：
The position photo in face battle array camera shooting goods yard, and picture data is transferred to microcontroller and carries out data processing, it calculates
The error of position of manipulator；
Control circuit board control motor I so that manipulator is moved along lifting column vertical direction and meanwhile control motor II make manipulator into
Row horizontal direction moves, and ensures that positioning crawl is accurate；
3）Detection for the horizontal position of vertical frame, if the position of vertical frame is at preset pixel, it is believed that position
Correctly；If detecting that the abscissa of the position of vertical frame is less than the abscissa of preset location of pixels, letter is sent out
Number manipulator is allowed to move to right；If detecting that the abscissa of the position of vertical frame is more than the abscissa of preset location of pixels,
Signal is so sent out to move to left by manipulator；
Detection for the vertical position of horizontal pane, if the position of horizontal pane is at preset pixel, it is believed that position is just
Really；If detecting that the ordinate of the position of horizontal pane is less than the ordinate of preset location of pixels, signal is sent out
Manipulator is allowed to move up；If detecting that the ordinate of the position of vertical frame is more than the ordinate of preset location of pixels, that
Signal is sent out to move down by manipulator.
2. a kind of automatic positioning grasping means according to claim 1, it is characterised in that：The step 1）In shooting
Goods yard is the reference position in the goods yard lower left corner.
3. a kind of automatic positioning grasping means according to claim 1, it is characterised in that：The step 1）In error
Be the goods yard lower left corner reference position and reference position between lateral distance and vertical distance.
4. a kind of automatic positioning grasping means according to claim 1, it is characterised in that：The step 1）In face battle array
The resolution ratio of camera is not less than at 1280 × 720 points, adjusts the focal length of camera, enables the width for the object that camera acquires
Not less than the width in goods yard, the corresponding width of each pixel is 0.5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336323.6A CN108502433A (en) | 2018-04-16 | 2018-04-16 | A kind of automatic positioning grasping means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336323.6A CN108502433A (en) | 2018-04-16 | 2018-04-16 | A kind of automatic positioning grasping means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108502433A true CN108502433A (en) | 2018-09-07 |
Family
ID=63382314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810336323.6A Pending CN108502433A (en) | 2018-04-16 | 2018-04-16 | A kind of automatic positioning grasping means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108502433A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109166251A (en) * | 2018-10-18 | 2019-01-08 | 广州市星保信息科技有限公司 | A kind of intelligent pillow management cabinet application method and device |
Citations (5)
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|---|---|---|---|---|
| JP2002002909A (en) * | 2000-06-19 | 2002-01-09 | Shinko Electric Co Ltd | Teaching confirmation method for robot for stocker |
| CN102027568A (en) * | 2007-12-27 | 2011-04-20 | 朗姆研究公司 | Systems and methods for calibrating end effector alignment in a plasma processing system |
| CN105729477A (en) * | 2016-05-05 | 2016-07-06 | 四川省桑瑞光辉标识系统股份有限公司 | Method and system for automatically placing aged lamp tube onto production line based on visual positioning |
| CN106934813A (en) * | 2015-12-31 | 2017-07-07 | 沈阳高精数控智能技术股份有限公司 | A kind of industrial robot workpiece grabbing implementation method of view-based access control model positioning |
| CN106926277A (en) * | 2017-03-07 | 2017-07-07 | 深圳华用科技有限公司 | A kind of integral intelligent camera for industrial robot positioning |
-
2018
- 2018-04-16 CN CN201810336323.6A patent/CN108502433A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002909A (en) * | 2000-06-19 | 2002-01-09 | Shinko Electric Co Ltd | Teaching confirmation method for robot for stocker |
| CN102027568A (en) * | 2007-12-27 | 2011-04-20 | 朗姆研究公司 | Systems and methods for calibrating end effector alignment in a plasma processing system |
| CN106934813A (en) * | 2015-12-31 | 2017-07-07 | 沈阳高精数控智能技术股份有限公司 | A kind of industrial robot workpiece grabbing implementation method of view-based access control model positioning |
| CN105729477A (en) * | 2016-05-05 | 2016-07-06 | 四川省桑瑞光辉标识系统股份有限公司 | Method and system for automatically placing aged lamp tube onto production line based on visual positioning |
| CN106926277A (en) * | 2017-03-07 | 2017-07-07 | 深圳华用科技有限公司 | A kind of integral intelligent camera for industrial robot positioning |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109166251A (en) * | 2018-10-18 | 2019-01-08 | 广州市星保信息科技有限公司 | A kind of intelligent pillow management cabinet application method and device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180907 |