CN111702761A - Control method and device of palletizing robot, processor and sorting system - Google Patents
Control method and device of palletizing robot, processor and sorting system Download PDFInfo
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- CN111702761A CN111702761A CN202010537564.4A CN202010537564A CN111702761A CN 111702761 A CN111702761 A CN 111702761A CN 202010537564 A CN202010537564 A CN 202010537564A CN 111702761 A CN111702761 A CN 111702761A
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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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- 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
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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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Abstract
The application provides a control method, a control device, a processor and a sorting system of a palletizing robot, wherein the control method comprises the following steps: acquiring an image of an article to be sorted; identifying the articles to be sorted according to the images to obtain an identification result; determining a sorting path of the objects to be sorted according to the recognition result, wherein the sorting path is a path for the palletizing robot to sort and stack the objects to be sorted; and controlling the palletizing robot to sort the articles to be sorted according to the sorting path. According to the method, the position and the category of the to-be-sorted article are determined through the image of the to-be-sorted article, so that the sorting path of the to-be-sorted article is determined, namely the to-be-sorted articles in different categories and different positions are matched with the corresponding sorting path, the different to-be-sorted articles are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
Description
Technical Field
The application relates to the technical field of sorting, in particular to a control method, a control device, a computer readable storage medium, a processor and a sorting system of a palletizing robot.
Background
The traditional palletizing robot teaches a series of point coordinates through a demonstrator to complete the setting of a path, and the palletizing robot can only stack objects according to the preset path. But the pile up neatly machine people is at the in-process of transport, letter sorting operation, probably has diversified product on the same production line, and the position that snatchs in the transmission course in addition also probably not fixed, and the diversified demand of user can't be satisfied to traditional pile up neatly machine people, can not embody intellectuality and automation, and the suitability is poor.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The present application mainly aims to provide a control method, a control device, a computer-readable storage medium, a processor and a sorting system for a palletizing robot, so as to solve the problem that the palletizing robot in the prior art cannot stack different objects.
According to an aspect of an embodiment of the present invention, there is provided a control method of a palletizing robot, including: acquiring an image of an article to be sorted; identifying the articles to be sorted according to the images to obtain an identification result; determining a sorting path of the articles to be sorted according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the articles to be sorted; and controlling the palletizing robot to sort the objects to be sorted according to the sorting path.
Optionally, identifying the article to be sorted according to the image to obtain an identification result, including: and determining the grabbing position and the category of the to-be-sorted articles according to the image.
Optionally, determining a sorting path of the to-be-sorted item according to the identification result includes: under the condition that the grabbing position is the same as the preset position, determining a preset sorting path as a sorting path of the articles to be sorted, wherein the preset sorting path corresponds to the category one by one; and under the condition that the grabbing position is different from the preset position, updating the preset sorting path, and determining the updated preset sorting path as the sorting path of the articles to be sorted.
Optionally, determining that the predetermined sorting path is the sorting path of the article to be sorted includes: determining a preset grabbing path as a grabbing path of the object to be sorted, wherein the preset grabbing path is a path between an initial position of the palletizing robot and the preset position; determining a preset stacking path as the stacking path of the articles to be sorted, wherein the preset stacking path is a path between the preset position and a preset stacking point, the preset stacking point is the stacking position of the articles to be sorted, and the preset grabbing path and the preset stacking path form the preset sorting path.
Optionally, updating the predetermined sorting path and determining the updated predetermined sorting path as the sorting path of the article to be sorted includes: updating the preset grabbing path, and determining the updated preset grabbing path as the grabbing path of the object to be sorted, wherein the updated preset grabbing path is a path between the position of the palletizing robot and the grabbing position; updating the preset stacking path, and determining that the updated preset stacking path is the stacking path of the articles to be sorted, the updated preset stacking path is the path between the grabbing position and the preset stacking point, and the updated preset grabbing path and the updated preset stacking path form the updated preset sorting path.
Optionally, controlling the palletizing robot to sort the to-be-sorted articles according to the sorting path includes: controlling the palletizing robot to grab the to-be-sorted articles along the grabbing path; and controlling the stacking robot to stack the objects to be sorted along the stacking path.
According to another aspect of the embodiments of the present invention, there is also provided a control device of a palletizing robot, including: an acquisition unit for acquiring an image of an article to be sorted; the identification unit is used for identifying the articles to be sorted according to the images to obtain an identification result; the determining unit is used for determining a sorting path of the to-be-sorted articles according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted articles; and the control unit is used for sorting the articles to be sorted according to the sorting path.
According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the control methods.
According to still another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes any one of the control methods when running.
According to a further aspect of an embodiment of the present invention, there is also provided a sorting system comprising a palletizing robot and a control device for executing any one of the control methods.
In an embodiment of the present invention, in the control method, first, an image of an object to be sorted is obtained, then, the object to be sorted is identified according to the image, an identification result is obtained, that is, the image is subjected to image analysis, a position and a category of the object to be sorted are determined, then, a sorting path of the object to be sorted is determined according to the identification result, that is, a sorting path is determined according to the position and the category of the object to be sorted, the sorting path is a path in which the palletizing robot sorts and stacks the object to be sorted, and finally, the palletizing robot is controlled to sort the object to be sorted according to the sorting path. According to the method, the position and the category of the to-be-sorted article are determined through the image of the to-be-sorted article, so that the sorting path of the to-be-sorted article is determined, namely the to-be-sorted articles in different categories and different positions are matched with the corresponding sorting path, the different to-be-sorted articles are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow diagram of a control arrangement of a palletizing robot according to an embodiment of the present application;
fig. 2 shows a schematic view of a control device of a palletizing robot according to an embodiment of the present application;
FIG. 3 shows a schematic diagram of a sorting system according to an embodiment of the present application;
FIG. 4 shows a schematic diagram of a portion sorting system according to another embodiment of the present application; and
fig. 5 shows a flow chart of a control method of a sorting system according to another embodiment of the present application.
Wherein the figures include the following reference numerals:
100. an industrial camera; 200. an image acquisition card; 300. a controller; 310. an image processing module; 320. a motion control module; 330. a human-machine interface; 400. a motion control card; 500. a four-axis stacking robot; 510. a servo motor driver; 511. an X-axis servo motor driver; 512. a Y-axis servo motor driver; 513. a Z-axis servo motor driver; 514. an A-axis servo motor driver; 520. a cylinder; 530. an X-axis motor; 540. a Y-axis motor; 550. a Z-axis motor; 560. an A-axis motor.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background, the palletizing robot in the prior art cannot stack different objects, and in order to solve the above problems, in an exemplary embodiment of the present application, a control method, a control device, a computer readable storage medium, a processor and a sorting system of the palletizing robot are provided.
According to an embodiment of the application, a control method of a palletizing robot is provided.
Fig. 1 is a flowchart of a control method of a palletizing robot according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring an image of an article to be sorted;
step S102, identifying the articles to be sorted according to the images to obtain identification results;
step S103, determining a sorting path of the to-be-sorted articles according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted articles;
and step S104, controlling the palletizing robot to sort the objects to be sorted according to the sorting path.
In the control method, firstly, an image of an article to be sorted is obtained, then, the article to be sorted is identified according to the image, an identification result is obtained, namely, the image is subjected to image analysis, the position and the category of the article to be sorted are determined, then, a sorting path of the article to be sorted is determined according to the identification result, namely, the sorting path is determined according to the position and the category of the article to be sorted, the sorting path is a path for the palletizing robot to sort and stack the article to be sorted, and finally, the palletizing robot is controlled to sort the article to be sorted according to the sorting path. According to the method, the position and the category of the to-be-sorted article are determined through the image of the to-be-sorted article, so that the sorting path of the to-be-sorted article is determined, namely, the to-be-sorted articles in different categories and different positions are matched with a proper sorting path, the different to-be-sorted articles are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the application, identifying the article to be sorted according to the image to obtain an identification result includes: and determining the grabbing position and the category of the articles to be sorted according to the image. Specifically, different categories of articles to be sorted are stacked at different positions, so that sorting paths are different, the grabbing positions are the actual spatial positions of the articles to be sorted, the grabbing positions are different, so that the sorting paths are different, the grabbing positions and the categories of the articles to be sorted are determined according to the images, and the sorting paths of the articles to be sorted are determined according to the grabbing positions and the categories.
It should be noted that the camera is installed on the pneumatic gripper of the palletizing robot, the camera is used for collecting images of sorted objects, the camera is calibrated before the images of the objects to be sorted are obtained, so that the relative position relationship between the center of the camera and the gravity center of the palletizing robot is determined, a camera coordinate system is established by taking the center of the camera as an origin, a base coordinate system is established by taking the gravity center of the palletizing robot as the origin, the coordinates of the objects to be sorted in the camera coordinate system can be obtained by performing image analysis on the images of the objects to be sorted, the coordinates of the objects to be sorted in the camera coordinate system can be converted according to the relative position relationship between the center of the camera and the gravity center of the palletizing robot, the coordinates of the objects to be sorted in the base coordinate system can be obtained, and therefore the grabbing position of the objects to be sorted can be determined according.
In an embodiment of the application, determining a sorting path of the to-be-sorted item according to the identification result includes: under the condition that the grabbing position is the same as the preset position, determining a preset sorting path as a sorting path of the articles to be sorted, wherein the preset sorting path corresponds to the category one by one; and under the condition that the grabbing position is different from the preset position, updating the preset sorting path, and determining the updated preset sorting path as the sorting path of the articles to be sorted. Specifically, the articles to be sorted are provided with corresponding predetermined sorting paths according to categories, the predetermined sorting paths are paths for conveying the articles to be sorted from predetermined positions to corresponding stacking positions, when the grabbing position is the same as the predetermined position, that is, the articles to be sorted are located at the predetermined position, the predetermined sorting paths can be determined to be the sorting paths for the articles to be sorted, that is, the articles to be sorted are sorted according to the predetermined sorting paths, and when the grabbing position is different from the predetermined position, that is, the articles to be sorted are not located at the predetermined position, the predetermined sorting paths need to be updated, so that the updated predetermined sorting paths are paths for conveying the articles to be sorted from the grabbing positions to the corresponding stacking positions.
In an embodiment of the present application, determining that the predetermined sorting path is a sorting path of the to-be-sorted item includes: determining a preset grabbing path as a grabbing path of the object to be sorted, wherein the preset grabbing path is a path between an initial position of the palletizing robot and the preset position; and determining a preset stacking path as a stacking path of the articles to be sorted, wherein the preset stacking path is a path between the preset position and a preset stacking point, the preset stacking point is a stacking position of the articles to be sorted, and the preset grabbing path and the preset stacking path form the preset sorting path. Specifically, the predetermined sorting path is composed of two fixed paths, the two fixed paths are respectively a predetermined grabbing path and a predetermined stacking path, the predetermined grabbing path is a path between an initial position and a predetermined position of the palletizing robot, the predetermined stacking path is a path between the predetermined position and a predetermined stacking point, and when the grabbing position is the same as the predetermined position, the predetermined grabbing path is determined to be a grabbing path of the articles to be sorted, i.e., the articles to be sorted can be grabbed according to the predetermined grabbing path, and the predetermined stacking path is determined to be a stacking path of the articles to be sorted, i.e., the articles to be sorted can be stacked according to the predetermined stacking path.
In an embodiment of the application, the updating the predetermined sorting path and determining that the updated predetermined sorting path is the sorting path of the to-be-sorted item includes: updating the preset grabbing path, and determining the updated preset grabbing path as the grabbing path of the objects to be sorted, wherein the updated preset grabbing path is a path between the position of the palletizing robot and the grabbing position; updating the preset stacking path, and determining that the updated preset stacking path is the stacking path of the articles to be sorted, the updated preset stacking path is the path between the grabbing position and the preset stacking point, and the updated preset grabbing path and the updated preset stacking path form the updated preset sorting path. Specifically, the updated preset stacking path is composed of two new paths, the two new paths are respectively an updated preset grabbing path and an updated preset stacking path, the preset grabbing path is updated, the updated preset grabbing path is a path between the position of the palletizing robot and the grabbing position, the object to be sorted can be grabbed according to the updated preset grabbing path, the preset stacking path is updated, the updated preset stacking path is a path between the grabbing position and the stacking point, and the object to be sorted can be stacked according to the updated preset stacking path.
In an embodiment of the application, control above-mentioned pile up neatly machine people and wait to sort the article and sort the aforesaid according to above-mentioned letter sorting route, include: controlling the palletizing robot to grab the objects to be sorted along the grabbing path; and controlling the stacking robot to stack the objects to be sorted along the stacking path. Specifically, the palletizing robot is controlled to move to a grabbing position of the object to be sorted along a grabbing path so as to grab the object to be sorted, and the palletizing robot is controlled to move to a stacking point corresponding to the object to be sorted along a stacking path so as to stack the object to be sorted, so that the object to be sorted is sorted, and the classified stacking of the object to be sorted is completed.
The embodiment of the application also provides a control device of the palletizing robot, and it should be noted that the control device of the palletizing robot in the embodiment of the application can be used for executing the control method for the palletizing robot provided in the embodiment of the application. The following describes a control device of a palletizing robot provided in an embodiment of the present application.
Fig. 2 is a schematic view of a control device of a palletizing robot according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
an acquisition unit 10 for acquiring an image of an article to be sorted;
the identification unit 20 is used for identifying the articles to be sorted according to the images to obtain an identification result;
a determining unit 30, configured to determine, according to the identification result, a sorting path of the to-be-sorted object, where the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted object;
and the control unit 40 is used for sorting the articles to be sorted according to the sorting path.
In the control device, an obtaining unit obtains an image of an object to be sorted, an identifying unit identifies the object to be sorted according to the image to obtain an identification result, namely, the image is subjected to image analysis to determine the position and the category of the object to be sorted, a determining unit determines a sorting path of the object to be sorted according to the identification result, namely, the sorting path is determined according to the position and the category of the object to be sorted, the sorting path is a path for a palletizing robot to sort and stack the object to be sorted, and a control unit controls the palletizing robot to sort the object to be sorted according to the sorting path. The position and the category of the to-be-sorted articles are determined through the image of the to-be-sorted articles, so that the sorting path of the to-be-sorted articles is determined, namely, the to-be-sorted articles in different categories and different positions are matched with the proper sorting path, and then the to-be-sorted articles in different categories are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
In an embodiment of the application, the identification unit includes a first determination module, and the first determination module is configured to determine a gripping position and a category of the to-be-sorted item according to the image. Specifically, different categories of articles to be sorted are stacked at different positions, so that sorting paths are different, the grabbing positions are the actual spatial positions of the articles to be sorted, the grabbing positions are different, so that the sorting paths are different, the grabbing positions and the categories of the articles to be sorted are determined according to the images, and the sorting paths of the articles to be sorted are determined according to the grabbing positions and the categories.
It should be noted that the camera is installed on the pneumatic gripper of the palletizing robot, the camera is used for collecting images of sorted objects, the camera is calibrated before the images of the objects to be sorted are obtained, so that the relative position relationship between the center of the camera and the gravity center of the palletizing robot is determined, a camera coordinate system is established by taking the center of the camera as an origin, a base coordinate system is established by taking the gravity center of the palletizing robot as the origin, the coordinates of the objects to be sorted in the camera coordinate system can be obtained by performing image analysis on the images of the objects to be sorted, the coordinates of the objects to be sorted in the camera coordinate system can be converted according to the relative position relationship between the center of the camera and the gravity center of the palletizing robot, the coordinates of the objects to be sorted in the base coordinate system can be obtained, and therefore the grabbing position of the objects to be sorted can be determined according.
In an embodiment of the application, the determining unit includes a second determining module and a third determining module, where the second determining module is configured to determine, when the grabbing position is the same as the predetermined position, a predetermined sorting path as the sorting path of the to-be-sorted item, where the predetermined sorting path corresponds to the category one to one; the third determining module is configured to update the predetermined sorting path and determine the updated predetermined sorting path as the sorting path of the to-be-sorted item when the grasping position is different from the predetermined position. Specifically, the articles to be sorted are provided with corresponding predetermined sorting paths according to categories, the predetermined sorting paths are paths for conveying the articles to be sorted from predetermined positions to corresponding stacking positions, when the grabbing position is the same as the predetermined position, that is, the articles to be sorted are located at the predetermined position, the predetermined sorting paths can be determined to be the sorting paths for the articles to be sorted, that is, the articles to be sorted are sorted according to the predetermined sorting paths, and when the grabbing position is different from the predetermined position, that is, the articles to be sorted are not located at the predetermined position, the predetermined sorting paths need to be updated, so that the updated predetermined sorting paths are paths for conveying the articles to be sorted from the grabbing positions to the corresponding stacking positions.
In an embodiment of the application, the second determining module includes a first determining submodule and a second determining submodule, wherein the first determining submodule is configured to determine that a predetermined grabbing path is a grabbing path of the object to be sorted, and the predetermined grabbing path is a path between an initial position of the palletizing robot and the predetermined position; the second determining submodule is used for determining that a preset stacking path is a stacking path of the articles to be sorted, the preset stacking path is a path between the preset position and a preset stacking point, the preset stacking point is a stacking position of the articles to be sorted, and the preset grabbing path and the preset stacking path form the preset sorting path. Specifically, the predetermined sorting path is composed of two fixed paths, the two fixed paths are respectively a predetermined grabbing path and a predetermined stacking path, the predetermined grabbing path is a path between an initial position and a predetermined position of the palletizing robot, the predetermined stacking path is a path between the predetermined position and a predetermined stacking point, and when the grabbing position is the same as the predetermined position, the predetermined grabbing path is determined to be a grabbing path of the articles to be sorted, i.e., the articles to be sorted can be grabbed according to the predetermined grabbing path, and the predetermined stacking path is determined to be a stacking path of the articles to be sorted, i.e., the articles to be sorted can be stacked according to the predetermined stacking path.
In an embodiment of the application, the third determining module includes a third determining submodule and a fourth determining submodule, where the third determining submodule is configured to update the predetermined grabbing path, and determine that the updated predetermined grabbing path is the grabbing path of the object to be sorted, and the updated predetermined grabbing path is a path between the position of the palletizing robot and the grabbing position; the fourth determining submodule is configured to update the predetermined stacking path, and determine that the updated predetermined stacking path is a stacking path of the articles to be sorted, the updated predetermined stacking path is a path between the gripping position and the predetermined stacking point, and the updated predetermined gripping path and the updated predetermined stacking path constitute the updated predetermined sorting path. Specifically, the updated preset stacking path is composed of two new paths, the two new paths are respectively an updated preset grabbing path and an updated preset stacking path, the preset grabbing path is updated, the updated preset grabbing path is a path between the position of the palletizing robot and the grabbing position, the object to be sorted can be grabbed according to the updated preset grabbing path, the preset stacking path is updated, the updated preset stacking path is a path between the grabbing position and the stacking point, and the object to be sorted can be stacked according to the updated preset stacking path.
In an embodiment of the present application, the control unit includes a first control module and a second control module, where the first control module is configured to control the palletizing robot to grab the object to be sorted along the grabbing path; the second control module is used for controlling the stacking robot to stack the objects to be sorted along the stacking path. Specifically, the palletizing robot is controlled to move to a grabbing position of the object to be sorted along a grabbing path so as to grab the object to be sorted, and the palletizing robot is controlled to move to a stacking point corresponding to the object to be sorted along a stacking path so as to stack the object to be sorted, so that the object to be sorted is sorted, and the classified stacking of the object to be sorted is completed.
The embodiment of the application also provides a sorting system, which comprises the palletizing robot and a control device, wherein the control device is used for executing any one of the control methods.
The sorting system comprises a palletizing robot and a control device, wherein the acquisition unit acquires an image of an object to be sorted, the recognition unit recognizes the object to be sorted according to the image to obtain a recognition result, namely, the image is subjected to image analysis to determine the position and the category of the object to be sorted, the determination unit determines a sorting path of the object to be sorted according to the recognition result, namely, the sorting path is determined according to the position and the category of the object to be sorted, the sorting path is a path for the palletizing robot to sort and stack the object to be sorted, and the control unit controls the palletizing robot to sort the object to be sorted according to the sorting path. The position and the category of the to-be-sorted articles are determined through the image of the to-be-sorted articles, so that the sorting path of the to-be-sorted articles is determined, namely, the to-be-sorted articles in different categories and different positions are matched with the proper sorting path, and then the to-be-sorted articles in different categories are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
It should be noted that, as shown in fig. 3, the sorting system includes an industrial camera 100, an image acquisition card 200, a controller 300, a motion control card 400, and a four-axis palletizing robot 500, which are sequentially connected in a communication manner, the image acquisition card and the controller are connected in a communication manner through a CAN bus, the controller may be a KEBA controller Cp088, the controller 300 includes an image processing module 310 and a motion control module 320, the image acquisition card 200 acquires an image of an object to be sorted, which is captured by the industrial camera 100, and transmits the image to the controller 300, the image processing module 310 of the controller 300 analyzes the image to determine a sorting path, the motion control module 320 of the controller 300 transmits a control signal to the motion controller according to the sorting path, the motion control card 400 controls a servo motor driver 510 and a cylinder 520 according to the control signal, so that the servo motor drives the four-axis palletizing robot to move along the sorting path, the pneumatic gripper moves to a gripping position to grip an article to be sorted, and moves to a stacking point to stack the article to be sorted. The controller 300 includes a human-machine interface 330, and an operator may input a control command through the human-machine interface 330 to control the four-axis palletizing robot 500 to work.
It should be further noted that, as shown in fig. 4, the four-axis palletizing robot 500 includes an X-axis motor 530, a Y-axis motor 540, a Z-axis motor 550 and an a-axis motor 560, the servo motor driver 510 includes an X-axis servo motor driver 511, a Y-axis servo motor driver 512, a Z-axis servo motor driver 513, and an a-axis servo motor driver 514, the four motors drive four axes of the four-axis palletizing robot to move, so that the four-axis palletizing robot can perform sorting operation, in the specific control process, the motion control module 320 of the controller sends a control signal to the motion control card 400 according to the sorting path, the motion control card 400 controls the four motors to operate through the four servo motor drivers so as to enable the four-axis palletizing robot to move along the sorting path, therefore, the pneumatic gripper can move to a gripping position and a stacking point, so that the articles to be sorted can be gripped and stacked.
It should be further noted that the motion control card is used for controlling the X-axis, Y-axis, Z-axis and a-axis synchronous motion of the palletizing robot, the control process includes multi-axis interpolation operation, servo drive, high-speed data acquisition and the like, and the servo driver is responsible for completing torque control, speed control and position control.
It should be noted that the control software of the sorting system is designed in a modular manner, and includes a user program loading module, a system initialization module, an interrupt service module, and an image processing module. As shown in fig. 5, the operation flow of the control method corresponding to the control software includes: after the control system is powered on, a user program starts to be loaded, the system firstly carries out initialization operation through external equipment, starts an image acquisition card, waits for an ending interrupt signal, sends the ending interrupt signal to the image acquisition card after the stacking of the objects to be sorted is finished, when the ending interrupt signal is detected, the program jumps to a subprogram, shields the external interrupt, stores the acquired and transmitted information into an SDRAM (synchronous dynamic random access memory), carries out image algorithm processing such as image denoising and image segmentation, then transmits identification and positioning information, namely the grabbing position and the category of the objects to be sorted to a palletizing robot control system, and finally finishes the task of sorting and stacking the objects according to the received signal by a palletizing robot.
The control device of the palletizing robot comprises a processor and a memory, the acquisition unit, the identification unit, the determination unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to one or more than one, and the problem that different objects cannot be stacked by the palletizing robot in the prior art is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium on which a program is stored, the program implementing the above-described control method when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring an image of an article to be sorted;
step S102, identifying the articles to be sorted according to the images to obtain identification results;
step S103, determining a sorting path of the to-be-sorted articles according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted articles;
and step S104, controlling the palletizing robot to sort the objects to be sorted according to the sorting path.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring an image of an article to be sorted;
step S102, identifying the articles to be sorted according to the images to obtain identification results;
step S103, determining a sorting path of the to-be-sorted articles according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted articles;
and step S104, controlling the palletizing robot to sort the objects to be sorted according to the sorting path.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage media comprise: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the control method comprises the steps of firstly obtaining an image of an object to be sorted, then identifying the object to be sorted according to the image to obtain an identification result, namely, carrying out image analysis on the image to determine the position and the category of the object to be sorted, then determining a sorting path of the object to be sorted according to the identification result, namely determining a sorting path according to the position and the category of the object to be sorted, wherein the sorting path is a path for a palletizing robot to sort and stack the object to be sorted, and finally, controlling the palletizing robot to sort the object to be sorted according to the sorting path. According to the method, the position and the category of the to-be-sorted article are determined through the image of the to-be-sorted article, so that the sorting path of the to-be-sorted article is determined, namely the to-be-sorted articles in different categories and different positions are matched with the corresponding sorting path, the different to-be-sorted articles are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
2) In the control device, the obtaining unit obtains an image of an object to be sorted, the identifying unit identifies the object to be sorted according to the image to obtain an identification result, namely, the image is subjected to image analysis to determine the position and the category of the object to be sorted, the determining unit determines a sorting path of the object to be sorted according to the identification result, namely, the sorting path is determined according to the position and the category of the object to be sorted, the sorting path is a path for the palletizing robot to sort and stack the object to be sorted, and the control unit controls the palletizing robot to sort the object to be sorted according to the sorting path. The position and the category of the to-be-sorted articles are determined through the image of the to-be-sorted articles, so that the sorting path of the to-be-sorted articles is determined, namely, the to-be-sorted articles in different categories and different positions are matched with the proper sorting path, and then the to-be-sorted articles in different categories are sorted and stacked, and the problem that a palletizing robot in the prior art cannot stack different articles is solved.
3) The sorting system comprises a palletizing robot and a control device, wherein the acquisition unit acquires images of objects to be sorted, the recognition unit recognizes the objects to be sorted according to the images to obtain recognition results, namely, the images are subjected to image analysis to determine the positions and the types of the objects to be sorted, the determination unit determines sorting paths of the objects to be sorted according to the recognition results, namely, sorting paths are determined according to the positions and the types of the objects to be sorted, the sorting paths are paths for the palletizing robot to sort and stack the objects to be sorted, and the control unit controls the palletizing robot to sort the objects to be sorted according to the sorting paths. The system determines the positions and the categories of the objects to be sorted through the images of the objects to be sorted, so that the sorting paths of the objects to be sorted are determined, namely, the objects to be sorted of different categories and different positions are matched with the proper sorting paths, and then the different objects to be sorted are classified and stacked, and the problem that a palletizing robot cannot stack different objects in the prior art is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of controlling a palletizing robot, comprising:
acquiring an image of an article to be sorted;
identifying the articles to be sorted according to the images to obtain an identification result;
determining a sorting path of the articles to be sorted according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the articles to be sorted;
and controlling the palletizing robot to sort the objects to be sorted according to the sorting path.
2. The method of claim 1, wherein identifying the item to be sorted based on the image, resulting in an identification result, comprises:
and determining the grabbing position and the category of the to-be-sorted articles according to the image.
3. The method of claim 2, wherein determining the sorting path of the item to be sorted based on the identification comprises:
under the condition that the grabbing position is the same as the preset position, determining a preset sorting path as a sorting path of the articles to be sorted, wherein the preset sorting path corresponds to the category one by one;
and under the condition that the grabbing position is different from the preset position, updating the preset sorting path, and determining the updated preset sorting path as the sorting path of the articles to be sorted.
4. The method of claim 3, wherein determining that the predetermined sort path is the sort path for the item to be sorted comprises:
determining a preset grabbing path as a grabbing path of the object to be sorted, wherein the preset grabbing path is a path between an initial position of the palletizing robot and the preset position;
determining a preset stacking path as the stacking path of the articles to be sorted, wherein the preset stacking path is a path between the preset position and a preset stacking point, the preset stacking point is the stacking position of the articles to be sorted, and the preset grabbing path and the preset stacking path form the preset sorting path.
5. The method of claim 4, wherein updating the predetermined sort path and determining the updated predetermined sort path as the sort path for the item to be sorted comprises:
updating the preset grabbing path, and determining the updated preset grabbing path as the grabbing path of the object to be sorted, wherein the updated preset grabbing path is a path between the position of the palletizing robot and the grabbing position;
updating the preset stacking path, and determining that the updated preset stacking path is the stacking path of the articles to be sorted, the updated preset stacking path is the path between the grabbing position and the preset stacking point, and the updated preset grabbing path and the updated preset stacking path form the updated preset sorting path.
6. The method of claim 5, wherein controlling the palletizing robot to sort the items to be sorted according to the sorting path comprises:
controlling the palletizing robot to grab the to-be-sorted articles along the grabbing path;
and controlling the stacking robot to stack the objects to be sorted along the stacking path.
7. A control device of a palletizing robot, comprising:
an acquisition unit for acquiring an image of an article to be sorted;
the identification unit is used for identifying the articles to be sorted according to the images to obtain an identification result;
the determining unit is used for determining a sorting path of the to-be-sorted articles according to the identification result, wherein the sorting path is a path for the palletizing robot to sort and stack the to-be-sorted articles;
and the control unit is used for sorting the articles to be sorted according to the sorting path.
8. A computer-readable storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 6.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 6 when running.
10. A sorting system comprising a palletizing robot and a control device, characterized in that the control device is adapted to perform the control method of any one of claims 1 to 6.
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