CN109623821B - Visual guide method for grabbing articles by mechanical arm - Google Patents
Visual guide method for grabbing articles by mechanical arm Download PDFInfo
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- CN109623821B CN109623821B CN201811603790.7A CN201811603790A CN109623821B CN 109623821 B CN109623821 B CN 109623821B CN 201811603790 A CN201811603790 A CN 201811603790A CN 109623821 B CN109623821 B CN 109623821B
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of visual guidance methods, and discloses a visual guidance method for grabbing articles by a manipulator, which comprises the following steps: 1) carrying out position calibration on the visual camera positioned on the conveying line; the visual camera shoots an image of an article conveyed on the conveying line, processes the image of the article and measures the coordinate position of the shot image of the article; 2) converting the image coordinate position into a manipulator coordinate position, and obtaining an article absolute position of article transmission; 3) correcting the absolute position of the article, and stopping the manipulator on the absolute position of the article; according to the visual guiding method for grabbing articles by the manipulator, the images of the articles on the conveying line are shot by the visual camera and are converted into the manipulator coordinate position, namely the absolute position of the articles, through measurement and calculation, so that the effect of visually guiding the motion of the manipulator is achieved, and the manipulator can grab the articles efficiently and accurately in the process of grabbing the articles by the manipulator.
Description
Technical Field
The invention relates to the technical field of visual guidance methods, in particular to a visual guidance method for grabbing articles by a manipulator.
Background
With the development of electronic commerce, the express industry closely linked with online shopping is developed rapidly, and the prospect is wide. However, in the express industry, phenomena of 'warehouse burst' and 'violent sorting' of all newspaper ends are frequently seen, and the increase of the business volume brings a situation of high working strength to workers in the express industry, thereby seriously influencing the further development of the express industry.
At present, automatic equipment is introduced into an express sorting flow, so that the lagging situation of the existing manual sorting is changed, and the method has extremely high social value and economic value. Research finds that the traditional automatic sorting equipment often occupies a large area, and the early investment is huge, so that the popularization of the automatic equipment in the industry is seriously influenced.
The purpose of establishing automatic sorting equipment at home and abroad is to reduce the use of personnel, lighten labor intensity and improve the use efficiency of personnel, and the use of traditional manual sorting personnel is mainly limited to the following work:
1) the delivery vehicle arrives at the delivery end of the sorting place and receives the goods manually;
2) manual sorting;
3) and manually carrying and loading the sorted articles at the tail end of the sorting position.
4) And the operation, management and maintenance of the sorting equipment.
Aiming at the current situation of the automation technology and the consideration of economic cost, automatic sorting control is introduced in the step 2), and the mechanical arm is used for automatically sorting the small pieces which account for the main share in the express sorting process by combining the mature bar code recognition technology.
In the prior art, in the process of grabbing articles by using the manipulator, the flowing articles need to be positioned at first, and the manipulator needs to be visually guided, so that the articles can be grabbed efficiently and accurately.
Disclosure of Invention
The invention aims to provide a visual guide method for grabbing articles by a manipulator, and aims to solve the problem that in the prior art, the manipulator is visually guided in the article grabbing process so that the manipulator can grab the articles efficiently and accurately.
The invention discloses a visual guide method for grabbing articles by a manipulator, which comprises the following steps:
1) carrying out position calibration on the visual camera positioned on the conveying line; the visual camera shoots an image of an article conveyed on the conveying line, processes the image of the article and measures the coordinate position of the shot image of the article;
2) converting the image coordinate position into a manipulator coordinate position, and obtaining an article absolute position of article transmission;
3) and correcting the absolute position of the article, and allowing the manipulator to stop at the absolute position of the article.
Further, in the step 3), the absolute position of the article is acquired again according to a set period, and a movement plan for the manipulator to reach the absolute position of the article is set according to the acquired absolute position of the article.
And further, according to the parameters of the current position, the current speed and the current acceleration of the manipulator, a motion plan of the manipulator moving towards the absolute position of the article is formulated.
Further, after the manipulator makes a motion plan, and in the process of moving towards the absolute position of the article, the motion of the manipulator is interpolated in real time and periodically.
Further, overshoot and static are reduced by a PID algorithm during the movement of the manipulator towards the absolute position of the article.
Furthermore, in the process that the manipulator moves towards the absolute position of the article, fusion of the absolute precision of the manipulator and the visual precision of the visual camera is achieved through servo vibration suppression and dynamic error compensation.
Compared with the prior art, the visual guide method for grabbing articles by the manipulator provided by the invention has the advantages that the images of the articles on the conveying line are shot by the visual camera, and are converted into the manipulator coordinate position, namely the absolute position of the articles, through measurement and calculation, so that the effect of visually guiding the motion of the manipulator is realized, and therefore, the manipulator can grab the articles efficiently and accurately in the process of grabbing the articles by the manipulator.
Drawings
FIG. 1 is a block diagram of a visual flow chart of a method for visually guiding a robot to grasp an object according to the present invention;
fig. 2 is a guiding flowchart of the visual guiding method for grabbing an object by a manipulator according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Referring to fig. 1-2, a preferred embodiment of the present invention is shown.
The visual guidance method for grabbing articles by the manipulator in the embodiment is applied to sorting operation in the express delivery industry, is used for visually guiding the operation of the sorting manipulator, and can be applied to any other equipment with the manipulator needing visual guidance, such as intelligent fetching and the like.
The visual guide method for grabbing articles by the manipulator is characterized by comprising the following steps of:
1) carrying out position calibration on the visual camera positioned on the conveying line; the visual camera shoots an image of an article conveyed on the conveying line, processes the image of the article and measures the coordinate position of the shot image of the article;
2) converting the image coordinate position into a manipulator coordinate position, and obtaining an article absolute position of article transmission;
3) and correcting the absolute position of the article, and stopping the manipulator on the absolute position of the article.
In actual operation, an external sensor is adopted to compensate the actually captured Z-axis depth of field height error, interaction between vision and a controller is realized through an internal control system chip-level bus, a vision camera head is sent to the controller, the absolute coordinates of a target point in a robot coordinate system are updated, hardware, a protocol, an interface and the like meet the strong real-time requirement, and control from the vision camera coordinate system of different positions and postures of a basic image to a manipulator coordinate system and the posture precision is completed.
According to the visual guide method for grabbing the articles by the manipulator, the images of the articles on the conveying line are shot by the visual camera, the images are converted into the coordinate positions of the manipulator, namely the absolute positions of the articles, through measurement and calculation, the movement effect of the visual guide manipulator is achieved, and therefore the manipulator can grab the articles efficiently and accurately in the process of grabbing the articles by the manipulator.
In the step 3), the absolute position of the article is obtained again according to the set period, and the movement plan of the manipulator reaching the absolute position of the article is set according to the obtained absolute position of the article, so that the absolute position of the article is fed back continuously, and the movement of the manipulator is corrected continuously.
And formulating a motion plan of the manipulator moving towards the absolute position of the article according to the current position, the current speed and the parameters of the acceleration of the manipulator.
After the manipulator makes a motion plan, and in the process of moving towards the absolute position of the article, the motion of the manipulator is interpolated in real time and periodically.
And reducing overshoot and static deviation through a PID algorithm in the process that the manipulator moves towards the absolute position of the article.
In the process that the manipulator moves towards the absolute position of the article, fusion of the absolute precision of the manipulator and the visual precision of the visual camera is achieved through servo vibration suppression and dynamic error compensation.
The basic control strategy is to obtain the position of the article again at regular intervals, plan the movement facing the target point according to the position of the distance target, the current speed and the acceleration, if the distance reaches the deceleration stop-quasi distance, realize the accurate positioning of the target point through the stop-quasi planning, and reduce overshoot and static error through the corresponding PID algorithm. The track guiding effect after the fusion of the absolute precision and the visual precision of the robot is realized through servo vibration suppression and dynamic error compensation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. The visual guide method for grabbing articles by the manipulator is characterized by comprising the following steps of:
1) carrying out position calibration on the visual camera positioned on the conveying line; the visual camera shoots an image of an article conveyed on the conveying line, processes the image of the article and measures the coordinate position of the shot image of the article;
2) converting the image coordinate position into a manipulator coordinate position, and obtaining an article absolute position of article transmission;
3) correcting the absolute position of the article, and stopping the manipulator on the absolute position of the article;
in the step 3), the absolute position of the article is acquired again according to a set period, and a motion plan of the manipulator reaching the absolute position of the article is set according to the acquired absolute position of the article;
in actual operation, an external sensor is adopted to compensate the actually captured Z-axis depth of field height error, interaction between vision and a controller is realized through an internal control system chip-level bus, the vision camera sends information to the controller, the absolute coordinates of a target point in a robot coordinate system are updated, and transformation from a coordinate system of the vision camera for obtaining different positions and postures of an object basic image to a manipulator coordinate system and control of manipulator posture precision are completed;
acquiring the position of the article once again at regular intervals, and formulating a motion plan of the manipulator moving towards the absolute position of the article according to the current position, the current speed and the parameters of the acceleration of the manipulator; after the manipulator makes a motion plan and moves towards the absolute position of the article, performing real-time interpolation and periodic interpolation on the motion of the manipulator; reducing overshoot and static error by a PID algorithm during movement of the manipulator towards the absolute position of the item; and in the process that the manipulator moves towards the absolute position of the article, fusion of the absolute precision of the manipulator and the visual precision of the visual camera is realized through servo vibration suppression and dynamic error compensation.
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| CN201811603790.7A CN109623821B (en) | 2018-12-26 | 2018-12-26 | Visual guide method for grabbing articles by mechanical arm |
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| CN201811603790.7A CN109623821B (en) | 2018-12-26 | 2018-12-26 | Visual guide method for grabbing articles by mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110562553B (en) * | 2019-08-22 | 2021-04-09 | 深海弈智京山智能科技有限公司 | Paper discharge visual guide system and guide method |
| CN111005163B (en) * | 2019-12-30 | 2022-04-26 | 深圳市越疆科技有限公司 | Automatic leather sewing method, device, equipment and computer readable storage medium |
| CN112139053B (en) * | 2020-09-14 | 2022-06-21 | 深圳市几米物联有限公司 | Visual guidance method, system and computer readable storage medium |
| CN112589795B (en) * | 2020-12-04 | 2022-03-15 | 中山大学 | Vacuum chuck mechanical arm grabbing method based on uncertainty multi-frame fusion |
| CN112720474A (en) * | 2020-12-21 | 2021-04-30 | 深圳市越疆科技有限公司 | Pose correction method and device for robot, terminal device and storage medium |
| CN114725753B (en) * | 2022-02-28 | 2023-07-18 | 福建星云电子股份有限公司 | Automatic opposite-inserting method and system based on visual guidance |
| CN116494248B (en) * | 2023-06-26 | 2023-08-29 | 深圳市长荣科机电设备有限公司 | Visual positioning method of industrial robot |
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Effective date of registration: 20210106 Address after: 276800 north of Shantou Road, west of Hangzhou Road, east of Luzhou Road, Rizhao Economic Development Zone, Shandong Province Applicant after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518055 3rd floor, building 3, tongfuyu industrial city, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
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Inventor after: Liu Peichao Inventor after: Lang Xulin Inventor after: Huang Rui Inventor after: Lin Jionghui Inventor after: Lin Junkai Inventor before: Liu Peichao Inventor before: Lang Zulin Inventor before: Huang Rui Inventor before: Lin Jionghui Inventor before: Lin Junkai |