CN111152197B - Robot gripper tracking and grabbing control method and system - Google Patents
Robot gripper tracking and grabbing control method and system Download PDFInfo
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- CN111152197B CN111152197B CN202010267910.1A CN202010267910A CN111152197B CN 111152197 B CN111152197 B CN 111152197B CN 202010267910 A CN202010267910 A CN 202010267910A CN 111152197 B CN111152197 B CN 111152197B
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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
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
Abstract
The invention discloses a robot gripper tracking and gripping control method and system, wherein the control method comprises the following steps: transmitting initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt to the robot gripper, and storing the initial position information and the grabbing information in a queue to be grabbed of the robot gripper; the robot gripper reads a coding signal of a coder of the conveyor belt in real time and monitors the real-time position of the material according to the initial position information; when the robot gripper is in an idle state, detecting whether the information of the materials to be gripped in the queue to be gripped is detected, if so, calculating a following path according to the current position of the materials arranged at the forefront in the queue to be gripped and the current position of the robot gripper, and the robot gripper follows the encoder of the conveying belt in real time in an electronic cam mode so as to grip the target materials within the shortest distance of the target materials entering a gripping area; by adopting the robot gripper tracking and grabbing control method, the grabbing efficiency can be effectively improved, and the service life of the robot is prolonged.
Description
Technical Field
The invention relates to the technical field of robot grabbing control, in particular to a robot grabbing tracking and grabbing control method and system.
Background
With the continuous development of industrial robots, more and more assembly line work adopts the way that the robot is matched with the conveyor belt 1' to grab materials, for example, in the process of garbage sorting operation, as shown in figure 5, the garbage conveyed from the upstream of the conveyor belt 1 ' is grabbed by a robot gripper 2 ' arranged at the downstream of the conveyor belt 1 ' to realize the sorting of the garbage, in the current tracking and grabbing method for controlling the robot gripper 2 ', the garbage materials on the conveying belt 1 ' in the shooting area are generally shot by the image acquisition device 3 ', after the current position of the materials is obtained, and the position is sent to the robot gripper 2 ', the robot gripper 2' records the position of an encoder at the moment of finishing photographing by receiving a coding signal arranged on the conveyor belt 1 ', and the current position of the material is updated in real time in the moving process of the conveyor belt 1'. When the material is located at the upstream of the gripping area, for example at position point Z1 ', the robot gripper is always in the waiting position even if it is idle, waiting for the material to enter the gripping area, and only when the material crosses the upstream limit J1 ' of the gripping area, for example at position point Z2 ', the robot gripper 2 ' starts to run from the waiting position, tracking the material at the set maximum speed and maximum acceleration, and when the robot gripper 2 ' starts to follow the material above the material synchronously, it simultaneously moves downwards to grip the material, and after the gripping is completed, it moves upwards by a certain height, and then it exits the synchronous following. According to the method, as the robot gripper 2 ' is to start to run from the waiting position, when the robot gripper 2 ' moves to the position above the material to grab, the material passes through the upstream position of the grabbing area for a certain distance, so that the grabbing time and space are wasted, the direct grabbing at the position just past the upstream shortest distance cannot be guaranteed, the robot gripper 2 ' always works at the maximum speed and acceleration, the service life of the robot gripper 2 ' is shortened, and the robot gripper cannot move to the grabbing position at a low speed in advance by using the waiting time, so that the service life of the robot gripper 2 ' is damaged.
Disclosure of Invention
The invention aims to provide a robot gripper tracking and grabbing control method, which is used for grabbing materials within the shortest distance after the materials enter a grabbing area by shortening the waiting time of the robot gripper so as to improve the grabbing efficiency and prolong the service life of the robot gripper.
In order to achieve the purpose, the invention discloses a robot gripper tracking and grabbing control method, wherein a robot gripper is arranged at the downstream position of a conveyor belt and is used for grabbing materials conveyed by the conveyor belt, and the tracking and grabbing control method comprises the following steps:
transmitting initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt to the robot gripper, and storing the initial position information and the grabbing information in a queue to be grabbed of the robot gripper;
the robot gripper reads a coding signal of a coder of the conveyor belt in real time and monitors the real-time position of the material according to the initial position information;
when the robot gripper is in an idle state, detecting whether the material information of the queue to be gripped is detected, if so, calculating a following path according to the current position of the material arranged at the forefront in the queue to be gripped and the current position of the robot gripper, and the robot gripper follows an encoder of the conveyor belt in real time in an electronic cam mode so as to grip the target material within the shortest distance of the target material entering a gripping area.
Compared with the prior art, the robot gripper tracking and grabbing control method has the advantages that the robot gripper monitors the real-time position of the material on the conveyor belt, when the robot gripper is in an idle state, as long as the information of the material to be grabbed in the queue to be grabbed of the robot gripper is detected, no matter whether the material enters the grabbing area of the robot gripper or not, the robot gripper calculates a following path according to the current position of the material and the current position of the robot gripper, follows an encoder of the conveyor belt in real time in an electronic cam mode, and starts to perform following work on the material, so that the target material is grabbed within the shortest distance of the target material entering the grabbing area, the grabbing efficiency is effectively improved, in addition, the robot gripper can move ahead when the material enters the grabbing area, when the target material is far away from the grabbing area, the robot gripper can follow at a lower speed and an accelerated speed, so that the service life of the robot is prolonged.
Preferably, an image acquisition device is arranged at an upstream position of the conveyor belt, the robot gripper triggers the image acquisition device to acquire material pictures passing through the position of the image acquisition device, and the initial position information and the gripping information of each material in the material pictures are obtained by processing the material pictures.
Preferably, before storing the initial position information and the grabbing information of any current material into the queue to be grabbed, the initial position information corresponding to the current material is compared with the initial position information corresponding to all the materials stored in the queue to be grabbed, and if the distance between the initial position information and the grabbing information is smaller than a certain preset value, the initial position information and the grabbing information corresponding to the current material are discarded.
Preferably, when a following path is calculated according to the current position of the material arranged at the forefront in the queue to be grabbed and the current position of the robot gripper, if the calculated following path crosses or is close to the downstream limit position of the grabbing area, the grabbing work of the current material is abandoned.
The invention also discloses a robot gripper tracking and gripping control system, which comprises a robot gripper, a conveyor belt and an industrial personal computer;
the conveying belt is used for conveying materials to be grabbed;
the industrial personal computer is used for transmitting initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt to the robot gripper;
the robot gripper is arranged at the downstream position of the conveyor belt, initial position information and gripping information of each material received from the industrial personal computer are sequentially stored in a queue to be gripped, and in the running process of the conveyor belt, the robot gripper can read a coding signal of a coder of the conveyor belt in real time and monitor the real-time position of the material on the conveyor belt according to the initial position information;
when the robot gripper is in an idle state, if the robot gripper detects that the information of the materials to be grabbed in the queue to be grabbed is obtained, the robot gripper calculates a following path according to the current position of the materials arranged at the forefront in the queue to be grabbed and the current position of the robot gripper, and follows an encoder of the conveyor belt in real time in an electronic cam mode so as to grab the target materials within the shortest distance of the target materials entering a grabbing area.
Preferably, the robot system further comprises an image acquisition device arranged on the upstream of the conveyor belt, the image acquisition device is used for acquiring material pictures on the conveyor belt according to triggering of the robot gripper, and the industrial personal computer is used for processing the material pictures to obtain the initial position information and the grabbing information of each material in the material pictures.
Preferably, a comparison module is further arranged in the robot gripper, and the comparison module is used for comparing initial position information corresponding to the current material with initial position information corresponding to all materials stored in the queue to be grabbed before storing the initial position information and the grabbing information of any material in the queue to be grabbed, and discarding the initial position information corresponding to the current material and the grabbing information if the distance between the initial position information and the grabbing information is smaller than a certain preset value.
Preferably, when the robot gripper calculates a following path according to the current position of the foremost material in the queue to be gripped and the current position of the robot gripper, if the calculated following path crosses or approaches the downstream limit position of the gripping area, the gripping operation on the current material is abandoned.
The invention also discloses a robot gripper tracking and gripping control system, which comprises one or more processors and a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the robotic gripper tracking gripper control method as described above.
In addition, the invention also discloses a computer readable storage medium which comprises a computer program for testing, wherein the computer program can be executed by a processor to complete the robot gripper tracking and gripping control method.
Drawings
Fig. 1 is a system configuration diagram of a robot gripper tracking and gripping control system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating the robot gripper tracking a material according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating the speed variation of the robot gripper in the reverse slow tracking gripping process according to the embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating the speed variation of the robot gripper in the reverse fast tracking gripping process according to the embodiment of the present invention.
Fig. 5 is a schematic diagram of a robot gripper tracking a material in the prior art.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
As shown in fig. 1 and 2, the invention discloses a robot gripper tracking and gripping control system, which comprises a robot gripper 2 and an industrial personal computer 4 which are mutually communicated and connected through a switch 6, wherein an encoder 5 is arranged on a conveyor belt 1 and used for measuring the speed of the conveyor belt 1 and recording the position of a material on the conveyor belt 1, the robot gripper 2 is communicated and connected with the encoder 5, and the robot gripper 2 is arranged at the downstream position of the conveyor belt 1 and used for gripping the material conveyed from the conveyor belt 1.
The control method corresponding to the control system comprises the following steps:
the industrial personal computer 4 transmits initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt 1 to the robot gripper 2, and stores the initial position information and the grabbing information in a queue to be grabbed of the robot gripper 2, wherein the grabbing information in the embodiment comprises the profile, the posture, the material information and the like of the material;
the robot gripper 2 reads the coding signals of the encoder 5 of the conveyor belt 1 in real time and monitors the real-time position of the material according to the initial position information;
when the robot gripper 2 is in an idle state (including a waiting state and a discharging completion state), whether the information of the materials to be gripped in the queue is detected, if yes, a following path is calculated by adopting a moving target tracking algorithm according to the current position of the materials arranged at the forefront in the queue to be gripped and the current position of the robot gripper 2, and the robot gripper 2 follows an encoder 5 of the conveyor belt 1 in real time in an electronic cam mode so that the target materials are gripped within the shortest distance of entering a gripping area.
Therefore, when the robot gripper 2 is in an idle state, as long as the information that the material to be gripped in the queue of the robot gripper 2 is detected, no matter whether the material enters the gripping area of the robot gripper 2 or not, the robot gripper 2 calculates a following path according to the current position of the material and the current position of the robot gripper 2, follows the encoder 5 of the conveyor belt 1 in real time in an electronic cam manner, and starts to perform following work on the material, so that the target material is gripped within the shortest distance of the target material entering the gripping area. As shown in fig. 2, the material is moved out of the photographing area and located at position Z1, if the robot gripper is idle at this time, the material is immediately tracked, and after passing through position Z2, the material can be caught and gripped at position Z3 within a short distance after passing through the upstream limit J1 of the gripping area. Compare in the tradition only just control the mode that robot tongs 2 started to move from the waiting position after the material got into and snatchs the region, can effectively improve and snatch efficiency, in addition, because robot tongs 2 can get into and snatch regional advancing action at the material, when the target material apart from snatching regional than far away, robot tongs 2 can follow by lower speed and acceleration to promote robot's life. It should be noted that the moving object tracking algorithm in the present embodiment is common knowledge of those skilled in the art, and therefore, the details thereof are not described herein again.
In order to facilitate the industrial personal computer 4 to acquire initial position information and grabbing information of a material to be grabbed, the control system further comprises an image acquisition device 3 arranged in a shooting area arranged at the upper stream of the conveying belt 1, the image acquisition device 3 is in communication connection with the industrial personal computer 4 through a switch 6, the robot gripper triggers the image acquisition device 3 to acquire a material picture passing through the position of the image acquisition device 3, the industrial personal computer 4 processes the material picture acquired by the image acquisition device 3 based on a deep learning model, and the initial position information and the grabbing information of each material in the material picture are acquired. Specifically, the image capturing device 3 in this embodiment is a camera, and first, the coordinate systems of the camera, the robot gripper 2, and the conveyor belt 1 are calibrated to obtain the transformation relationship among the coordinate systems of the camera, the robot gripper 2, and the conveyor belt 1. During operation, the robot gripper 2 sends a trigger signal to the industrial personal computer 4 according to a fixed time interval or a fixed distance interval of the movement of the conveyor belt 1 through the encoder 5 of the conveyor belt 1, the industrial personal computer 4 calls a camera photographing function to control the camera to photograph, the robot gripper 2 simultaneously records the state of the encoder 5 of the conveyor belt 1 at the current moment, and then the real-time position of the material in the picture obtained by photographing at the time on the conveyor belt 1 can be obtained according to the real-time change of the state of the encoder 5. After the industrial personal computer 4 obtains the picture shot by the camera, the picture is processed in a template matching or deep learning mode, material information including initial position information and grabbing information of each material on the picture in a camera coordinate system is obtained, and the material information is sent to the robot gripper 2. After the robot gripper 2 obtains the current material information, the initial position information of the material in the camera coordinate system is converted into the initial position information in the conveyor belt 1 coordinate system according to the conversion relation between the camera coordinate system and the conveyor belt 1 coordinate system, and then the converted initial position information and the corresponding gripping information are sequentially stored in a queue to be gripped of the robot gripper 2.
Because two adjacent pictures may have an overlapping area when taking a picture, the same material may appear in different pictures, resulting in repeated grabbing. Therefore, the control system in this embodiment further includes a comparison module, before storing the initial position information and the grasping information of any material in the queue to be grasped, the initial position information corresponding to the current material is compared with the initial position information corresponding to all the materials stored in the queue to be grasped through the comparison module, if the distance between the initial position information and the grasping information is smaller than a certain preset value, it is indicated that the current material is repeatedly photographed, the material information corresponding to the current material is discarded, and if the distance between the initial position information and the grasping information is larger than a certain preset value, the material information corresponding to the material is added to the queue to be grasped. For the materials in the queue to be grabbed, the robot gripper 2 updates the current positions of all the materials in the queue to be grabbed in real time according to the actual state of the encoder 5 of the current conveyor belt 1 and the state of the encoder 5 of the conveyor belt 1 acquired at the photographing moment in the queue to be grabbed, so that the materials to be grabbed are monitored in real time.
As shown in fig. 3 and 4, in the process of performing the gripping action, the robot gripper 2 will go through three motion stages, namely, a tracking region, a synchronization region and a material placing region, in the tracking region, the robot gripper 2 catches up the target material from the reverse direction or the same direction, when catching up the target material, the robot gripper keeps synchronous with the speed of the target material, enters the synchronization region, in the synchronization region, the robot gripper 2 probes down to grip the target material, then enters the material placing region, and in the material placing region, the robot gripper will go through three stages, namely, acceleration, uniform speed and deceleration. When the robot gripper 2 detects that the material information exists in the queue to be gripped at the waiting position or the placing position and is ready for next tracking and gripping movement, the robot gripper 2 can adjust the speed and the acceleration of the robot gripper 2 in the tracking area according to the difference between the current position of the target material and the distance between the current positions of the robot gripper 2, if the target material is now relatively far from the robot gripper 2, as shown in fig. 3, the robot gripper 2 starts to track back slowly at a relatively slow speed and acceleration, at this stage, the robot gripper 2 undergoes four processes of reverse acceleration, uniform speed and deceleration and then homodromous acceleration, when the robot gripper 2 accelerates homodromous acceleration, the speed is the same as that of the conveyor belt 1 at the set maximum acceleration, and at the moment, the robot gripper runs right above the target material, and keeping moving synchronously with the target material, and then the robot gripper 2 downwards probes to grab and place the material into the material frame. If the target material is relatively close to the robot gripper 2, as shown in fig. 4, the robot gripper 2 starts fast tracking backwards with a relatively fast speed and acceleration. Of course, the robotic gripper 2 may also track quickly in the same direction if the current target material is located downstream of the robotic gripper 2.
In addition, as shown in fig. 2, before the robot gripper 2 detects in the waiting position or the emptying position that a material to be gripped in the queue to be gripped is ready for the next follow-up gripping movement, if this material is located at position point Z4 on the conveyor belt 1, the current position of the robot gripper 2 has been exceeded, and if further de-gripping is selected, the robot gripper 2 may hit the downstream limit J2 of the gripping area during the synchronous follow-up, resulting in an alarm stop. In this regard, in the prior art, as shown in fig. 5, a pick-up limit J3 'is generally set before the position of the downstream limit J2', when the real-time position of the material in the queue to be grabbed is judged before the next tracking grabbing movement, the grabbing of the material is abandoned as long as the real-time position of the material exceeds the pick-up limit J3 ', and only the tracking grabbing of the material which does not exceed the pick-up limit J3' is carried out. However, the position of the pickup limit J3' is not easy to set. If the pick limit J3 ' is too close to the downstream limit, the robot gripper 2 ' is likely to hit the downstream limit Z2 ' causing the alarm to stop, and if the pick limit J3 ' is too far from the downstream limit, when there is more material to be gripped, much material will have passed the pick limit J3 ' causing the gripping to be abandoned, affecting the efficiency of the apparatus. Therefore, this method must be repeated to actually test to confirm the optimal pickup boundary J3' position. In addition, the optimum pick-up limit J3 ' of the method is influenced by the speed of the conveyor belt 1 ', the slower the speed of the conveyor belt 1 ', the closer the optimum pick-up limit J3 ' is to the downstream limit, the faster the speed of the conveyor belt 1, the further away the optimum pick-up limit J3 ' is from the downstream limit, so that the pick-up limit J3 ' needs to be manually readjusted when the speed of the conveyor belt 1 ' of the production line changes. To solve the technical problem, preferably, according to the control system in this embodiment, before the robot gripper 2 detects the material to be gripped in the queue to be gripped at the waiting position or the emptying position and prepare for the next tracking gripping movement, the movement paths of the tracking area and the synchronization area are directly calculated according to the current position of the robot gripper 2 and the current position of the material to be gripped, and the position of the robot gripper 2 at the end of the synchronization area is obtained, if the position does not exceed the downstream limit J2 of the gripping area, the gripping is performed this time, and if the position exceeds or approaches the downstream limit J2, if the material is located at the position point Z5, the gripping is abandoned this time. Since the velocity of the robot gripper 2 follows the velocity of the conveyor belt 1 in synchronism in the tracking area and the synchronization area, the calculated position of the robot gripper 2 at the end of the synchronization area is accurate and does not change due to changes in the velocity of the conveyor belt 1. As shown in the figure, the position 1 is the real-time position of the target material before the robot gripper 2 performs the current gripping motion, the position 2 is the predicted position of the material and the robot gripper 2 after the gripping is finished, and the gripping work is abandoned because the predicted position is close to the downstream limit. In addition, to ensure safety, the downstream limit may be advanced by a safe amount as appropriate. Therefore, when the speed of the conveyor belt 1 changes, the control system can automatically judge whether the robot gripper 2 should perform the tracking gripping at this time in advance without colliding with the downstream limit, and the operation flow of a user is simplified.
The invention also discloses a robot gripper tracking and gripping control system, which comprises one or more processors and a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the robotic gripper tracking gripper control method as described above.
In addition, the invention also discloses a computer readable storage medium which comprises a computer program for testing, wherein the computer program can be executed by a processor to complete the robot gripper tracking and gripping control method.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.
Claims (10)
1. A robot gripper tracking and grabbing control method is characterized in that the robot gripper is arranged at a downstream position of a conveyor belt and used for grabbing materials conveyed by the conveyor belt, and the tracking and grabbing control method comprises the following steps:
transmitting initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt to the robot gripper, and storing the initial position information and the grabbing information in a queue to be grabbed of the robot gripper;
the robot gripper reads a coding signal of a coder of the conveyor belt in real time and monitors the real-time position of the material according to the initial position information;
when the robot gripper is in an idle state, detecting whether the material information of the queue to be gripped is detected, if so, calculating a following path according to the current position of the material arranged at the forefront in the queue to be gripped and the current position of the robot gripper, and the robot gripper follows an encoder of the conveyor belt in real time in an electronic cam mode so as to grip the target material within the shortest distance of the target material entering a gripping area.
2. The robot gripper tracking and gripping control method according to claim 1, wherein an image acquisition device is arranged at an upstream position of the conveyor belt, the robot gripper triggers the image acquisition device to acquire a material picture at the position where the image acquisition device is located, and the initial position information and the gripping information of each material in the material picture are obtained through processing of the material picture.
3. The robot gripper tracking and grabbing control method of claim 1 wherein before storing initial position information and grabbing information for any current material in the queue to be grabbed, comparing the initial position information corresponding to the current material with the initial position information corresponding to all materials stored in the queue to be grabbed, and if the distance between the initial position information and the grabbing information is less than a preset value, discarding the initial position information and grabbing information corresponding to the current material.
4. The robot gripper tracking gripper control method according to claim 1, wherein when calculating a following path based on the current position of the foremost item in the queue to be gripped and the current position of the robot gripper, if the calculated following path crosses or approaches a downstream limit position of the gripping area, the gripping work for the current item is abandoned.
5. A robot gripper tracking and grabbing control system is characterized by comprising a robot gripper, a conveyor belt and an industrial personal computer;
the conveying belt is used for conveying materials to be grabbed;
the industrial personal computer is used for transmitting initial position information and grabbing information of the material to be grabbed on the upstream of the conveyor belt to the robot gripper;
the robot gripper is arranged at the downstream position of the conveyor belt, initial position information and gripping information of each material received from the industrial personal computer are sequentially stored in a queue to be gripped, and in the running process of the conveyor belt, the robot gripper can read a coding signal of a coder of the conveyor belt in real time and monitor the real-time position of the material on the conveyor belt according to the initial position information;
when the robot gripper is in an idle state, if the robot gripper detects that the information of the materials to be grabbed in the queue to be grabbed is obtained, the robot gripper calculates a following path according to the current position of the materials arranged at the forefront in the queue to be grabbed and the current position of the robot gripper, and follows an encoder of the conveyor belt in real time in an electronic cam mode so as to grab the target materials within the shortest distance of the target materials entering a grabbing area.
6. The robot gripper tracking and gripping control system according to claim 5, further comprising an image acquisition device disposed upstream of the conveyor belt, wherein the image acquisition device is configured to acquire material pictures on the conveyor belt according to the triggering of the robot gripper, and the industrial personal computer obtains the initial position information and the gripping information of each material in the material pictures by processing the material pictures.
7. The robot gripper tracking and gripping control system according to claim 5, wherein a comparison module is further provided in the robot gripper, and the comparison module is configured to compare initial position information corresponding to a current material with initial position information corresponding to all materials stored in the queue to be gripped before storing the initial position information and gripping information of any material in the queue to be gripped, and discard the initial position information corresponding to the current material and the gripping information if a distance between the initial position information and the gripping information is smaller than a preset value.
8. The robotic gripper tracking gripper control system according to claim 5, wherein when the robotic gripper calculates a follow path based on the current position of the front-most item in the queue to be gripped and the current position of the robotic gripper, if the calculated follow path crosses or is close to a downstream limit of the gripping area, the gripping of the current item is abandoned.
9. A robot gripper tracking and grabbing control system, comprising:
one or more processors;
a memory;
and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including instructions for performing the robotic gripper tracking gripper control method of any one of claims 1-4.
10. A computer-readable storage medium comprising a test computer program executable by a processor to perform the method of robot gripper tracking gripper control of any one of claims 1 to 4.
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| CN112775992A (en) * | 2021-01-22 | 2021-05-11 | 上海智殷自动化科技有限公司 | Conveyor belt tracking robot control system and control method thereof |
| CN113232022B (en) * | 2021-05-22 | 2022-05-13 | 深圳市华成工业控制股份有限公司 | Method, system and device for controlling carousel tracking and storage medium |
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| DE10300606B4 (en) * | 2003-01-10 | 2015-11-26 | Bosch Rexroth Ag | Method and control device for starting a gripping device to a moving piece goods |
| US9272421B2 (en) * | 2013-01-07 | 2016-03-01 | Milos Misha Subotincic | Visually controlled end effector |
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| CN106737664B (en) * | 2016-11-25 | 2020-02-14 | 中国科学院自动化研究所 | Delta robot control method and system for sorting multiple types of workpieces |
| CN106965180A (en) * | 2017-04-13 | 2017-07-21 | 北京理工大学 | The mechanical arm grabbing device and method of bottle on streamline |
| CN108638066B (en) * | 2018-05-16 | 2020-07-14 | 广州视源电子科技股份有限公司 | Device, method and system for synchronous tracking of conveyor belt of robot |
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