CN110480630B - Adaptive target positioning system and method of industrial robot - Google Patents
Adaptive target positioning system and method of industrial robot Download PDFInfo
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- CN110480630B CN110480630B CN201910639542.6A CN201910639542A CN110480630B CN 110480630 B CN110480630 B CN 110480630B CN 201910639542 A CN201910639542 A CN 201910639542A CN 110480630 B CN110480630 B CN 110480630B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
Abstract
The invention relates to an adaptive target positioning system and method of an industrial robot, wherein the system comprises an image acquisition module, a mark band identification module, a target identification module and a time calculation module, the mark band identification module can identify a mark band in the mark band according to an image acquired by the image acquisition module, the target identification module can identify a target in the mark band according to the acquired image, the time calculation module can calculate the movement speed of a conveying belt according to the identification time of the mark band and the distance between the mark bands, and further adjust the starting time of a mechanical arm. By adopting the self-adaptive target positioning system and method of the industrial robot, the speed of the conveyor belt can be automatically identified, the working time of the mechanical arm can be adjusted in a self-adaptive manner, the system can be applied to target grabbing on the speed-adjustable conveyor belt, and the working efficiency and the self-adaptability of the industrial robot are improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a self-adaptive target positioning system and a self-adaptive target positioning method for an industrial robot.
Background
The development level of the robot industry becomes an important mark for measuring the industrialization level of a country and a region, in recent years, the robot industry in China develops rapidly, a plurality of robot manufacturers emerge, and the produced robots are various in variety and different in function. Nowadays, the rapid development of intelligent robot has very big promotion to the development of industry to industrial robot can be applied to each link of production line, and a very important link is exactly to adopt industrial robot to snatch commodity on the conveyer belt, thereby replaces people's repeatability to work, uses manpower and materials sparingly.
However, the existing industrial robots have many defects, which bring some inconvenience to the production. For example, in order to ensure the accuracy of grabbing an object by an industrial robot, the conveyor belts in the prior art can only run at a single speed, and one conveyor belt can only convey one commodity, which is not suitable for more various industrial production.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an adaptive target positioning system of an industrial robot, which can automatically identify the speed of a conveyor belt, adaptively adjust the working time of a mechanical arm and be applied to the grabbing of targets on the conveyor belt with adjustable speed.
The embodiment of the invention provides an adaptive target positioning system of an industrial robot, which is used for grabbing targets on a speed-adjustable conveyor belt, wherein a mark belt is arranged on the conveyor belt at intervals of a preset distance, and the system comprises:
the image acquisition module is used for acquiring the image of the conveyor belt;
the marker band identification module is used for identifying the marker band from the image acquired by the image acquisition module and recording the acquisition time t1 and t2 corresponding to the image of the marker band identified twice continuously;
the target identification module is used for identifying and obtaining a target to be captured from the image acquired by the image acquisition module and recording the time t3 when the target is identified;
the time calculation module is used for determining the starting time of the mechanical arm by adopting the following steps:
calculating the running speed of the current conveyor belt according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts;
acquiring time t4 required by the mechanical arm to move from the current position to the grabbing position;
calculating the time t5 of the target moving from the image acquisition position to the grabbing position at the current running speed of the conveyor belt according to the distance L2 between the image acquisition position and the grabbing position;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
the robot arm is actuated at time t6 such that the robot arm travels from the current position to the gripping position.
Optionally, a plurality of industrial robots are arranged on one side of the conveyor belt, the system stores the serial number of each industrial robot, the gripping position of each industrial robot, the current position of the mechanical arm of each industrial robot, the mechanical arm movement speed of each industrial robot and the current state of each industrial robot, wherein the current state of each industrial robot comprises gripping and idle states;
and the time calculation module calculates time t4 required by the mechanical arm of the idle industrial robot closest to the image acquisition position to move from the current position to the gripping position when the target recognition module recognizes the target, calculates whether time t5 is less than time t4, and if so, the time calculation module calculates time t4 required by the mechanical arm of the idle industrial robot next closest to the image acquisition position to move from the current position to the gripping position until the obtained time t4 is more than or equal to time t5, and takes the currently calculated industrial robot as the industrial robot gripping the target.
Optionally, the time calculation module calculates a time t4 required for the robot arm of the industrial robot to travel from the current position to the gripping position based on the current position of the robot arm of the industrial robot, the robot arm movement speed of the industrial robot, and the gripping position of the industrial robot.
Optionally, a first two-dimensional code is arranged on the surface of the marker band, a second two-dimensional code is arranged on the surface of the target, the marker band recognition module is used for recording the current time of detecting the marker band when recognizing the first two-dimensional code, and the target recognition module is used for recording the current time of detecting the target when recognizing the second two-dimensional code.
Optionally, the system further includes a target classification module, where the target classification module is configured to classify the target according to the identification information of the second two-dimensional code; and the object classification module determines the storage position of the object according to the classification result of the object and sends the storage position of the object to the industrial robot, so that the mechanical arm of the industrial robot grabs the object to the corresponding storage position.
Optionally, the system further includes a state management module, where the state management module is configured to, after the time calculation module determines to grab the robot of the target, change the state corresponding to the robot into grabbing, and when receiving a task completion notification of the robot, change the state corresponding to the robot into idle.
Optionally, a storage box is arranged at each classified storage position, a plurality of storage cells are arranged in the storage box, and the system further stores the storage cell number, the storage cell position and the stored number of each classification;
and after the target classification module classifies the targets, searching the classified stored quantity, determining the number of the storage cells to be stored according to the stored quantity, searching the positions of the storage cells, sending the positions of the storage cells to the robot, and adding one to the classified stored quantity.
Optionally, the system further comprises a target boxing module, the system further stores various classified boxing positions and boxing positions, and the target boxing module is used for searching for a free robot when the fact that one classified storage box is completely stored is detected, sending the classified storage position and boxing position to the robot, enabling the robot to grab and move the storage box at the storage position to the boxing position, searching for another free robot, sending the classified boxing position and storage position to the robot, and enabling the robot to grab and move a new storage box at the boxing position to the boxing position.
The embodiment of the invention also provides an adaptive target positioning method of the industrial robot, which adopts the adaptive target positioning system of the industrial robot, and the method comprises the following steps:
collecting an image of the conveyor belt;
identifying a marker band from the image acquired by the image acquisition module, and recording acquisition time t1 and t2 corresponding to the image of the marker band identified twice continuously;
identifying and obtaining a target to be captured from the image acquired by the image acquisition module, and recording the time t3 when the target is identified;
calculating the running speed of the current conveyor belt according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts;
acquiring time t4 required by the mechanical arm to move from the current position to the grabbing position;
calculating the time t5 of the target moving from the image acquisition position to the grabbing position at the current running speed of the conveyor belt according to the distance L2 between the image acquisition position and the grabbing position;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
the robot arm is actuated at time t6 such that the robot arm travels from the current position to the gripping position.
The self-adaptive target positioning system of the industrial robot has the following beneficial effects:
the system comprises an image acquisition module, a mark belt identification module, a target identification module and a time calculation module, wherein the mark belt identification module can identify a mark belt according to an image acquired by the image acquisition module, the target identification module can identify a target according to the acquired image, the time calculation module can calculate the movement speed of the conveyor belt according to the identification time of the mark belt and the distance between the mark belts, and further adjusts the starting time of the mechanical arm. By adopting the self-adaptive target positioning system and method of the industrial robot, the speed of the conveyor belt can be automatically identified, the working time of the mechanical arm can be adjusted in a self-adaptive manner, the system can be applied to target grabbing on the speed-adjustable conveyor belt, and the working efficiency and the self-adaptability of the industrial robot are improved.
Drawings
Fig. 1 is a schematic diagram of an adaptive target positioning system of an industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a plurality of industrial robots arranged on one side of a conveyor belt according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of cells in a storage box according to an embodiment of the invention;
fig. 4 is a flowchart of an adaptive target positioning method of an industrial robot according to an embodiment of the present invention.
Reference numerals:
1 conveyor belt 11 sign belt
2 Industrial robot
3 storage boxes 301-312 for storing inward cells
4 pick-up head
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus detailed descriptions thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the inventive aspects may be practiced without one or more of the specific details, or with other structures, components, steps, methods, and so forth. In other instances, well-known structures, components, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
As shown in fig. 1, an embodiment of the present invention provides an adaptive object positioning system for an industrial robot for object gripping on a speed adjustable conveyor belt. As shown in fig. 2, a marker band 11 is disposed on the conveyor belt 1 at a predetermined distance, that is, the marker bands 11 are uniformly distributed on the conveyor belt, and the running speed of the conveyor belt 1 can be calculated according to the spacing of the marker bands 11 and the recognized time. Beside the conveyor belt 1 at least one industrial robot 2 is arranged.
The adaptive target positioning system of the industrial robot comprises:
the image acquisition module M100 is configured to acquire an image of the conveyor belt 1, and may employ various image acquisition devices, such as a CCD camera, a camera 4, and the like;
a sign tape 11 recognition module M200, configured to recognize the sign tape 11 from the image captured by the image capturing module, and record capturing times t1 and t2 corresponding to two consecutive images recognized to the sign tape 11, where t1 and t2 represent time points, but not time intervals, such as capturing times of two consecutive images recognized to the sign tape 11 being 5 points 30 minutes 20 seconds and 5 points 31 minutes 33 seconds, respectively;
the object recognition module M300 is configured to recognize an object to be captured from the image acquired by the image acquisition module, and record a time t3 when the object is recognized, where the time t3 is also a time point, for example, the time when the object is recognized is 5 points, 31 minutes and 50 seconds;
a time calculation module M400, configured to determine the time when the mechanical arm is started by using the following steps:
calculating the running speed of the current conveyor belt 1 according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts 11, specifically according to the formula v ═ d/(t2-t1), wherein v is the running speed of the conveyor belt 1 and d is the distance between the two marker belts 11;
acquiring time t4 required for the mechanical arm to run from the current position to the grabbing position, wherein time t4 is a time interval, but not a time point, for example, the time required for the mechanical arm to run from the current position to the grabbing position is 50 seconds;
calculating the time t5 of the object moving from the image acquisition position to the grabbing position at the current running speed v of the conveyor belt 1 according to the distance L2 between the image acquisition position and the grabbing position, specifically, using the formula t5 as L2/v, where the time t5 is a time interval, not a time point, for example, t5 is calculated as 60 seconds;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
for example, with the above-described parameter calculations, the time t6 is 5 o' clock, 32 minutes and 0 seconds, that is, the robot arm is activated at the time t6, and the robot arm is moved from the current position to the gripping position, so that the target is successfully gripped.
As shown in fig. 2, in this embodiment, a plurality of the industrial robots 2 are provided on one side of the conveyor belt 1, and the system stores the number of each of the industrial robots 2, the gripping position of each of the industrial robots 2, the current position of the arm of each of the industrial robots 2, the arm movement speed of each of the industrial robots 2, and the current state of each of the industrial robots 2, including gripping and idling.
The time calculation module calculates a time t4 required for the robot arm of the industrial robot 2 in idle closest to the image capturing position to travel from the current position to the gripping position when the target recognition module recognizes the target, and calculates whether or not a time t5 is less than a time t4, and if so, the time calculation module calculates a time t4 required for the robot arm of the industrial robot 2 in idle closest to the image capturing position to travel from the current position to the gripping position next, and sets the currently calculated industrial robot 2 as the industrial robot 2 gripping the target until the obtained time t4 is equal to or greater than a time t 5.
As can be seen from the above, when t5 is smaller than t4, the robot arm is not in time to move to the gripping position, and the object may be missed, so that another industrial robot 2 needs to be selected, and when t5 is equal to or greater than t4, the robot arm of the robot has time to move to the gripping position to grip the object. By adopting the method, the method can be applied to more complex production lines, and a plurality of industrial robots 2 and a plurality of targets on the conveyor belt 1 can be reasonably matched to work more orderly.
In this embodiment, the time calculation module calculates the time t4 required for the robot arm of the industrial robot 2 to travel from the current position to the gripping position based on the current position of the robot arm of the industrial robot 2, the robot arm movement speed of the industrial robot 2, and the gripping position of the industrial robot 2. Here, it may be calculated according to the formula t4 ═ (s1-s2)/v1, where v1 is the moving speed of the robot arm, and s1 and s2 are the grip position and the current position of the robot arm, respectively. In other embodiments, t4 may also be obtained by using a table lookup, for example, a mapping table between the current position of the robot arm, the movement speed of the robot arm, and t4 is prepared in advance according to the characteristics of the robot arm, and the table lookup may obtain the value of t 4.
In this embodiment, a first two-dimensional code is disposed on the surface of the logo strip 11, a second two-dimensional code is disposed on the surface of the target, the logo strip 11 recognition module is configured to record the current time when the logo strip 11 is detected when the first two-dimensional code is recognized, and the target recognition module is configured to record the current time when the target is detected when the second two-dimensional code is recognized. The identification of the marker band 11 and the target is carried out in a two-dimensional code identification mode, so that the identification of the marker band 11 and the target can be carried out more quickly, and excessive delay is avoided. In other embodiments, other ways of identifying the marker band 11 and the target may be used, for example, comparing the pre-stored images of the marker band 11 and the target with the images captured by the conveyor belt 1, and the like, which are within the scope of the present invention.
In this embodiment, the system further includes a target classification module, where the target classification module is configured to classify the target according to the identification information of the second two-dimensional code; and the object classification module determines the storage position of the object according to the classification result of the object and sends the storage position of the object to the industrial robot 2, so that the mechanical arm of the industrial robot 2 grabs the object to the corresponding storage position. Therefore, the present invention can be applied not only to the speed-adjustable conveyor belt 1 but also to the conveyor belts 1 of various products. For example, when applied to a production line shared by a plurality of products of the same major and minor classes, the adaptive object positioning system of the present invention can automatically identify the object type, classify the object type, and place the object type in different storage positions. For another example, the present invention may be applied to a conveyor belt 1 for express delivery, and the classification may be performed according to a region to which a destination address belongs.
In this embodiment, the system further includes a state management module, where the state management module is configured to, after the time calculation module determines to grab the robot of the target, change the state corresponding to the robot into grabbing, and when receiving a task completion notification of the robot, change the state corresponding to the robot into idle. By changing the state of the robot in time, the allocation of the grabbing tasks can be better realized.
As shown in fig. 3, in this embodiment, a storage box 3 is provided at each storage location of each category, a plurality of storage cells are provided in the storage box 3, and the system further stores the storage cell number, the storage cell location, and the stored number of each category. And after the target classification module classifies the targets, searching the classified stored quantity, determining the number of the storage cells to be stored according to the stored quantity, searching the positions of the storage cells, sending the positions of the storage cells to the robot, and adding one to the classified stored quantity.
Therefore, the method can further realize reasonable placement of the grabbed targets, and facilitates boxing and quantity statistics of the targets at the later stage. In practical applications, a plurality of boxes 3 may be provided for each classified storage location.
In this embodiment, the system further includes a target boxing module, the system further stores various classified boxing positions and boxing positions, and the target boxing module is configured to, when it is detected that a classified storage box 3 is completely stored, search for an idle robot, send the classified storage position and boxing position to the robot, enable the robot to grab and move the storage box 3 in the storage position to the boxing position, search for another idle robot, and send the classified boxing position and storage position to the robot, enable the robot to grab and move a new storage box 3 in the boxing position to the boxing position.
Therefore, in this embodiment, when a sorted storage box 3 is full, it can be automatically removed from the storage position to avoid affecting the storage of the target of the next sort, and a new storage box 3 can be automatically placed for continuously storing the sorted target, thereby better realizing the automation process of industrial production. In practical applications, a plurality of boxes 3 may be placed in a storage position, when a new box 3 replaces a full box 3, the storage cells of the box 3 need to be numbered, the number may be the number of the replaced box 3, and the system needs to change the storage state in the storage cells of the box 3, that is, to reset all the storage cells as non-storage targets.
As shown in fig. 4, an embodiment of the present invention further provides an adaptive target positioning method for an industrial robot, which employs an adaptive target positioning system for the industrial robot, and the method includes the following steps:
collecting an image of the conveyor belt;
identifying a marker band from the image acquired by the image acquisition module, and recording acquisition time t1 and t2 corresponding to the image of the marker band identified twice continuously;
identifying and obtaining a target to be captured from the image acquired by the image acquisition module, and recording the time t3 when the target is identified;
calculating the running speed of the current conveyor belt according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts;
acquiring time t4 required by the mechanical arm to move from the current position to the grabbing position;
calculating the time t5 of the target moving from the image acquisition position to the grabbing position at the current running speed of the conveyor belt according to the distance L2 between the image acquisition position and the grabbing position;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
the robot arm is actuated at time t6 such that the robot arm travels from the current position to the gripping position.
In the adaptive target positioning method of the industrial robot, each step can be realized by adopting the implementation mode of each functional module of the adaptive positioning system of the industrial robot, so that the speed of the conveyor belt is automatically identified, the working mode of the industrial robot is adaptively adjusted, the working efficiency and the adaptability of the industrial robot are improved, and details are not repeated here.
The self-adaptive target positioning system of the industrial robot has the following beneficial effects:
the system comprises an image acquisition module, a mark belt identification module, a target identification module and a time calculation module, wherein the mark belt identification module can identify a mark belt according to an image acquired by the image acquisition module, the target identification module can identify a target according to the acquired image, the time calculation module can calculate the movement speed of the conveyor belt according to the identification time of the mark belt and the distance between the mark belts, and further adjusts the starting time of the mechanical arm. By adopting the self-adaptive target positioning system and method of the industrial robot, the speed of the conveyor belt can be automatically identified, the working time of the mechanical arm can be adjusted in a self-adaptive manner, the system can be applied to target grabbing on the speed-adjustable conveyor belt, and the working efficiency and the self-adaptability of the industrial robot are improved.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (8)
1. An adaptive object positioning system for an industrial robot, for object grabbing on a speed adjustable conveyor belt, said conveyor belt being provided with a marker band at predetermined intervals, said system comprising:
the image acquisition module is used for acquiring the image of the conveyor belt;
the marker band identification module is used for identifying the marker band from the image acquired by the image acquisition module and recording the acquisition time t1 and t2 corresponding to the image of the marker band identified twice continuously;
the target identification module is used for identifying and obtaining a target to be captured from the image acquired by the image acquisition module and recording the time t3 when the target is identified;
the time calculation module is used for determining the starting time of the mechanical arm by adopting the following steps:
calculating the running speed of the current conveyor belt according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts;
acquiring time t4 required by the mechanical arm to move from the current position to the grabbing position;
calculating the time t5 of the target moving from the image acquisition position to the grabbing position at the current running speed of the conveyor belt according to the distance L2 between the image acquisition position and the grabbing position;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
starting the mechanical arm at a time t6, so that the mechanical arm runs from the current position to the grabbing position;
a plurality of industrial robots are arranged on one side of the conveying belt, the system stores the serial number of each industrial robot, the gripping position of each industrial robot, the current position of the mechanical arm of each industrial robot, the mechanical arm movement speed of each industrial robot and the current state of each industrial robot, and the current state of each industrial robot comprises gripping and idle states;
and the time calculation module calculates time t4 required by the mechanical arm of the idle industrial robot closest to the image acquisition position to move from the current position to the gripping position when the target recognition module recognizes the target, calculates whether time t5 is less than time t4, and if so, the time calculation module calculates time t4 required by the mechanical arm of the idle industrial robot next closest to the image acquisition position to move from the current position to the gripping position until the obtained time t4 is more than or equal to time t5, and takes the currently calculated industrial robot as the industrial robot gripping the target.
2. The adaptive object positioning system of an industrial robot according to claim 1, wherein the time calculation module calculates a time t4 required for the robot arm of the industrial robot to travel from the current position to the gripping position based on the current position of the robot arm of the industrial robot, the robot arm movement speed of the industrial robot, and the gripping position of the industrial robot.
3. An adaptive object positioning system for an industrial robot according to claim 2, characterized in that the surface of the marker band is provided with a first two-dimensional code and the surface of the object is provided with a second two-dimensional code, the marker band recognition module is adapted to record the time when the marker band is currently detected when the first two-dimensional code is recognized and the object recognition module is adapted to record the time when the object is currently detected when the second two-dimensional code is recognized.
4. The adaptive object localization system of an industrial robot according to claim 3, characterized in that the system further comprises an object classification module for classifying the object based on the identification information of the second two-dimensional code; and the object classification module determines the storage position of the object according to the classification result of the object and sends the storage position of the object to the industrial robot, so that the mechanical arm of the industrial robot grabs the object to the corresponding storage position.
5. The adaptive object positioning system for an industrial robot according to claim 4, further comprising a state management module for changing the state corresponding to the robot to be in grabbing after the time calculation module determines the robot to grab the object, and changing the state corresponding to the robot to be idle when a task completion notification of the robot is received.
6. An adaptive target positioning system for an industrial robot according to claim 4 characterized in that a storage box is provided in each storage location of each category, a plurality of storage cells are provided in the storage box, and the system further stores the number of storage cells of each category, the position of the storage cell, and the number of stored storage cells of each category;
and after the target classification module classifies the targets, searching the classified stored quantity, determining the number of the storage cells to be stored according to the stored quantity, searching the positions of the storage cells, sending the positions of the storage cells to the robot, and adding one to the classified stored quantity.
7. An adaptive object positioning system for an industrial robot according to claim 6, characterized in that the system further comprises an object binning module, the system further storing binning positions and binning positions for each classification, the object binning module being adapted to find a free robot when it is detected that a classification bin is stored, to send the classification bin position and binning position to the robot, such that the robot moves a bin grab of a bin position to the binning position, and to find another free robot, to send the classification bin position and bin position to the robot, such that the robot moves a new bin grab of a bin position to the binning position.
8. An adaptive object localization method of an industrial robot, characterized in that an adaptive object localization system of an industrial robot according to any of claims 1 to 7 is used, the method comprising the steps of:
collecting an image of the conveyor belt;
identifying a marker band from the image acquired by the image acquisition module, and recording acquisition time t1 and t2 corresponding to the image of the marker band identified twice continuously;
identifying and obtaining a target to be captured from the image acquired by the image acquisition module, and recording the time t3 when the target is identified;
calculating the running speed of the current conveyor belt according to the acquisition time t1, the acquisition time t2 and the distance between the two marker belts;
acquiring time t4 required by the mechanical arm to move from the current position to the grabbing position;
calculating the time t5 of the target moving from the image acquisition position to the grabbing position at the current running speed of the conveyor belt according to the distance L2 between the image acquisition position and the grabbing position;
the time t6 for the robot arm to start is calculated using the following formula:
t6＝t3+t5-t4；
the robot arm is actuated at time t6 such that the robot arm travels from the current position to the gripping position.
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| CN107618030B (en) * | 2016-07-16 | 2021-02-19 | 深圳市得意自动化科技有限公司 | Robot dynamic tracking grabbing method and system based on vision |
| CN106483984B (en) * | 2016-12-13 | 2019-06-25 | 广州智能装备研究院有限公司 | A kind of method and apparatus that control robot follows conveyer belt to move |
| CN108355979B (en) * | 2018-01-31 | 2021-01-26 | 塞伯睿机器人技术（长沙）有限公司 | Target tracking and sorting system on conveyor belt |
| CN108549324B (en) * | 2018-05-16 | 2019-07-05 | 山东大学 | Workpiece for high speed sorting system follows crawl method for planning track and system |
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