CN111890361A - Conveyor belt visual tracking robot grabbing system and using method thereof - Google Patents
Conveyor belt visual tracking robot grabbing system and using method thereof Download PDFInfo
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- CN111890361A CN111890361A CN202010663376.6A CN202010663376A CN111890361A CN 111890361 A CN111890361 A CN 111890361A CN 202010663376 A CN202010663376 A CN 202010663376A CN 111890361 A CN111890361 A CN 111890361A
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—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 invention discloses a conveyor belt visual tracking robot grabbing system and a use method thereof. Meanwhile, the real physical distance between the goods and the manipulator can be directly obtained by utilizing the identification of the conveying block and the distance measurement of the reference point. Various uncertain factors introduced by calculation and equipment are avoided. The grabbing process is more accurate.
Description
Technical Field
The invention relates to a visual tracking system of a conveyor belt, in particular to a gripping system of a visual following and conveying robot of the conveyor belt.
Background
The basic principle of the robot for grabbing the articles moving on the conveying belt based on the visual image information is to acquire the photo information of the articles on the belt, establish a corresponding position relation according to the distance between a camera and a manipulator and determine the working time of the manipulator according to the moving speed of the belt. And determining the working pose of the manipulator according to the image processing result.
In this process, the most central process is to predict the time and position when the article moves to the operation area after acquiring the article position information.
In the prior art, chinese patent (CN 104108579 a) adopted a method of transportation after still photography to perhaps predict results with relatively accurate location and time. The problem of the mode is obvious, firstly, the working efficiency is low, discontinuous work is performed, and the practical effect is poor; secondly, the belt needs time from starting to running stably, and the time is relatively unstable and is easy to generate more errors. Finally, high-frequency starting and stopping causes great equipment loss, improves maintenance cost, and easily causes more uncertain errors to appear, so that positioning accuracy is reduced.
Of course, there are many ways to photograph the moving object, then predict the trajectory, and calculate it by using various algorithms. But the actual situation is more complex than the formula. The length of the conveyor belt changes after long-term use, the difference between the unstable rotating speed of the rotating motor and the preset value and the like can cause the reduction of the grabbing precision.
Disclosure of Invention
The embodiment of the application provides a conveyor belt visual tracking robot grabbing system and a using method thereof, and solves the problem that in the prior art, dynamic photographing and track compensation calculation cannot eliminate the system or the grabbing precision is reduced due to physical errors caused by long-term use of equipment.
The embodiment of the application provides a conveyor belt visual tracking robot grabbing system which comprises a main conveyor belt, a second laser ranging module, a camera shooting assembly, a manipulator and an upper computer;
the main transmission belt is used for bearing and linearly transmitting goods to an operation area of the manipulator;
the camera shooting assembly is used for positively shooting images of goods on the conveying belt from top to bottom and transmitting image information to the upper computer;
the upper computer is used for processing the received image information, timing, receiving the running speed information of the conveying equipment, forming an operation instruction and sending the operation instruction to the manipulator;
the manipulator is used for receiving an operation instruction sent by the upper computer to grab the goods on the main conveyor belt;
it is characterized in that the preparation method is characterized in that,
the main conveying belt consists of a plurality of conveying blocks with the same size;
the conveying block comprises a transparent top film, a side wall, a roller shutter, an arc-shaped plate, a wide-angle camera and a radio frequency tag;
the top film, the side wall, the roller shutter and the arc-shaped plate form six faces of the conveying block to form a closed rectangular box body; wherein the inner side surfaces of the side walls, the roller shutters and the arc-shaped plates are black or have a color obviously different from that of goods;
the top film is made of a transparent film, the width of the transparent film in the conveying direction is larger than the maximum end point distance of the goods, so that the bottom surface of the goods can horizontally rotate at any angle when contacting the top film, and the bottom surface of the goods can be always positioned in the range of the top film;
the side wall is made of soft materials;
the two sides of the arc-shaped plate are connected with the roller shutters, so that the arc-shaped plate is positioned in the middle position to form a plate for closing the bottom edge of the side wall;
the roller shutter has the effects that the conveying block can smoothly bypass the belt roller, the width of the arc-shaped plate is larger, and the diameter of the arc line of the longitudinal section of the arc-shaped plate is the same as that of the belt roller;
a wide-angle camera is fixed at the center of the arc-shaped plate, and is provided with a light source for projecting light rays vertically upwards, and the wide-angle camera is used for shooting a full-range image of the top film; the shooting angle alpha is not less than 130 degrees;
the conveying block is fixedly provided with a radio frequency tag, and the conveying block further comprises a radio frequency scanning assembly which is fixed with the manipulator, wherein the radio frequency scanning assembly is used for scanning the radio frequency tag on the conveying block, identifying the conveying block and sending information to an upper computer;
adjacent conveying blocks share one side wall;
the device also comprises a cassette, wherein the cassette is fixed on the upper side of the main conveying belt and is used for forming a space which is not interfered by external light between the upper side of the main conveying belt and the upper surface of the main conveying belt; the inner surface of the cassette is black or a color which is greatly different from the color of goods;
the auxiliary plate is parallel to the top point connecting line of the belt rollers of the main conveying belt and is abutted against the bottom surface of the upper layer of the main conveying belt, so that the main conveying belt is always in a horizontal state from a shooting area to an operation area of the manipulator;
the main conveying belt also comprises a datum point reflecting plate and a third laser ranging module, and the datum point reflecting plate and the third laser ranging module are used for calibrating the distance between the datum point and the manipulator;
the third laser ranging module can be set to horizontal ranging, and when the main conveying belt drives the datum point reflecting plate to move to a horizontal state and is located on a laser path of the third laser ranging module, the horizontal distance between the datum point and the third laser ranging module can be detected.
Further, a reflector is fixed on the conveying block; the laser ranging device also comprises a second laser ranging module, wherein the second laser ranging module is fixed at the determined position of the manipulator, and the longitudinal laser is transmitted to be matched with the reflector so as to detect the longitudinal distance between the reflector and the second laser ranging module.
The device further comprises a feeding conveyer belt, a conveying plate, a positioning box and a laser ranging module in the box;
the feeding conveyer belt is used for bearing the conveying plate and providing transmission power;
the conveying plate consists of a plurality of groups of rollers which are arranged in parallel, flanges are arranged at two ends of each roller and abut against the feeding conveying belt, and adjacent rollers are connected and driven through chains or belts;
the conveying plate part extends out of the feeding conveying belt and extends to the upper part of the feeding end of the main conveying belt;
the positioning box is fixedly arranged on the upper side of the feeding conveyer belt, covers the upper side and the side edge of one section of the middle part of the feeding conveyer belt, and can contain two goods and be positioned in the coating space of the positioning box;
the laser ranging module is fixed in the positioning box and used for detecting the distance between the goods and the longitudinal inner wall of the positioning box; the laser ranging module in the box is horizontally arranged, and the light direction is vertical to the conveying direction.
Furthermore, the device also comprises a first laser ranging module which is used for calibrating the distance between the conveying block and the discharging end of the conveying plate.
A method for using a conveyor belt vision tracking robot gripping system, comprising the following steps:
s1, acquiring a position diagram of goods on the conveying block through the wide-angle camera;
s2, acquiring a state diagram of goods on the main conveyor belt from top to bottom through the camera assembly;
s3, marking the obtained position diagram and state diagram through the radio frequency scanning assembly and the radio frequency label;
s4, calibrating the position of the reference point through a third laser ranging module, so as to calibrate the distance between each conveying block and the manipulator;
s5, obtaining the distance information of the goods relative to the conveying block by processing the position diagram image, and adding the distance between the conveying block obtained in the step four and the manipulator to obtain the physical distance of the goods relative to the manipulator;
and S6, controlling the mechanical arm to grab the goods by processing the state diagram information and combining the goods position information obtained in the step five.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. goods are firstly conveyed to the conveying blocks without crossing the two conveying blocks, then when passing through the cassette, the wide-angle camera and the light source are started by using a photoelectric switch or a radio frequency scanning mode and the like, images of the goods on the conveying blocks from bottom to top are shot, and the images are transmitted to the upper computer. When goods pass through the camera shooting assembly, the camera shooting assembly shoots the photos of the goods from top to bottom and sends image information to the upper computer.
At this time, by recognizing the transport block, the physical distance between the transport block and the reference point can be known, and further the physical distance between the transport block and the robot can be obtained. Such distances receive less systematic error in motion speed and image recognition, or even substantially no distance error.
2. The position relation of goods shot from bottom to top on the conveying block through the wide-angle camera. In the process of acquiring the image information, the camera and the goods are relatively static, the accuracy of the acquired image information is higher, and errors are basically avoided. Through image processing, the positional relationship between the article and the conveying block and both sides in the conveying direction can be obtained. The data processing does not need to consider the influence factor of belt movement, is static image processing, and has smaller error and higher precision.
3. By accumulating the position information of the goods on the conveying block and the distance information between the conveying block and the reference point, the distance and the position information between the goods and the manipulator can be quickly and accurately obtained. Meanwhile, the movement speed of the main conveying belt can be calibrated through the position information and time of the reference point, and the system error can be reduced. Thereby obtaining very accurate goods position information. The prediction difficulty is reduced, and the manipulator can grab the goods more quickly.
4. The main conveyer belt of the system runs all the time, and for the position information, factors such as unclear images, belt shift errors, unstable rotating speed and the like caused by the excessively high speed of the belt are basically not needed to be considered, the position information of goods from bottom to top is acquired by utilizing the synchronous camera, and the position information of the goods can be obtained very quickly and accurately or the position information of the goods can be obtained by combining the position information of the reference points. So, can design longer conveyer belt, and more manipulators, and the precision does not reduce because the belt is longer to improve by a wide margin and snatch efficiency.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic view of the structure of the conveying plate.
Fig. 3 is a schematic diagram of the internal structure of the conveying block.
Fig. 4 is a control schematic.
In the figure, the feeding conveyer belt 10, the conveying plate 20, the positioning box 30, the laser ranging module 31 in the box, the photoelectric switch 32, the goods 40, the first laser ranging module 50, the main conveyer belt 60, the conveying block 61, the transparent top film 611, the side wall 612, the roller shutter 613, the arc plate 614, the wide-angle camera 615, the reflector 616, the radio frequency tag 617, the box 62, the auxiliary plate 63, the radio frequency scanning assembly 64, the datum point reflector 65, the third laser ranging module 66, the second laser ranging module 70, the camera assembly 80, the manipulator 90 and the upper computer 100.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
What divides main conveyer belt 60 into unitization is transport block 61, and every transport block 61 is equipped with wide-angle camera 615, utilizes wide-angle camera to carry out from bottom to top shooting to goods 40, and the camera is static for the goods, and image information is more accurate. With both the identification of the transport block 61 and the ranging of the reference point, the true physical distance between the article 40 with respect to the robot 90 can be directly obtained. Various uncertain factors introduced by calculation and equipment are avoided. The grabbing process is more accurate.
Example one
As shown in fig. 1 to 4, a conveyor belt vision tracking robot gripping system includes a main conveyor belt 60, a second laser ranging module 70, a camera assembly 80, a manipulator 90, and an upper computer 100;
the main belt 60 is used for carrying and linearly conveying the goods 40 to an operation area of the robot 90;
the camera assembly 80 is used for positively shooting images of goods 40 on the conveyer belt from top to bottom and transmitting image information to the upper computer 100;
the manipulator 90 is used for receiving an operation instruction sent by the upper computer to grab the goods 40 on the main conveyor belt 60;
the main conveyor belt 60 is composed of a plurality of conveying blocks 61 of the same size;
the conveying block 61 comprises a transparent top film 611, a side wall 612, a roller shutter 613, an arc-shaped plate 614, a wide-angle camera 615, a reflector 616 and a radio frequency tag 617;
the top film 611, the side wall 612, the roller shutter 613 and the arc-shaped plate 614 form six surfaces of the conveying block 611 to form a closed rectangular box body; the inner sides of the side wall 612, the rolling curtain 613 and the arc-shaped plate 614 are black or the color which is obviously different from that of goods;
the top film 611 is made of a transparent film, the width of the transparent film 611 in the conveying direction is larger than the maximum end point distance of the goods, so that the bottom surface of the goods can horizontally rotate at any angle when contacting the top film, and the bottom surface of the goods can be always positioned in the range of the top film 611;
the side walls 612 are made of soft materials, such as rubber, silica gel and the like, but two side walls 612 in the length direction (as shown by the coordinates of fig. 3) of the conveying block are thinner, so that the side walls do not influence the rotating of the conveying block 61 around the belt roller;
the rolling curtain is connected to two sides of the arc plate 614, so that the arc plate 614 is positioned in the middle position to form a plate for closing the bottom edge of the side wall; the roller shutter 613 is used for enabling the conveying block 61 to smoothly pass by the belt roller, the width of the arc-shaped plate 614 is larger, and the arc diameter of the longitudinal section of the arc-shaped plate is the same as that of the belt roller;
a wide-angle camera 615 is fixed at the center of the arc plate 614, the wide-angle camera 615 is provided with a light source which projects light rays vertically upwards, and the wide-angle camera 615 is used for shooting a full-range image of the top film; the shooting angle α is not less than 130 degrees to reduce the height of the conveying block 61; designing the width of the top film according to the maximum distance between the end points of the goods, and calculating the minimum distance between the wide-angle camera 615 and the top film according to the size of alpha; the wide-angle camera 615 is fixed on the arc plate 614, so that the problem that when the belt roller is bypassed, the wide-angle camera and a ground fixing point of the conveying block 61 receive excessive pulling force, and the camera falls off or is displaced is avoided. After the arc-shaped plate is used, the wide-angle camera 614 is fixed with the arc-shaped plate 614, the arc-shaped plate 614 can not deform when the belt roller is wound by the arc-shaped plate 614, and the fixed point between the camera 615 and the arc-shaped plate 614 can not receive extra pulling force. The wide angle camera 615 is powered by a lithium battery, which is charged in a wireless charging manner, and the charging device is fixed inside the ring of the main conveyor belt 60. The wide-angle camera 615 transmits and receives information with the upper computer 100 through a wireless transmission module.
The conveying block 61 is fixedly provided with a radio frequency tag, and the conveying block further comprises a radio frequency scanning assembly 64 fixed with the manipulator 90, wherein the radio frequency scanning assembly 64 is used for scanning the radio frequency tag on the conveying block 61, identifying the conveying block and sending information to the upper computer 100;
the adjacent conveying blocks 61 share a side wall 612;
the device also comprises a cassette 62, wherein the cassette 62 is fixed on the upper side of the main conveyer belt 60 and is used for forming a space which is not interfered by external light between the upper side of the main conveyer belt 60 and the upper surface of the main conveyer belt 60; the inner surface of the cassette 62 is black or a color that is greatly different from the color of the goods;
the auxiliary plate 63 is parallel to the connecting line of the top points of the belt rollers of the main conveying belt 60 and is abutted against the bottom surface of the upper layer of the main conveying belt 60, so that the main conveying belt 60 is always in a horizontal state from a shooting area to an operation area of a manipulator; the auxiliary plate 63 may have a friction reducing structure such as a ball or roller fixed to the surface thereof.
The main conveying belt further comprises a reference point reflecting plate 65 and a third laser ranging module 66, and the reference point reflecting plate 65 and the third laser ranging module 66 are used for calibrating the distance between the reference point and the manipulator 90; the third laser ranging module 66 may be configured to perform horizontal ranging, and when the main conveyor belt 60 drives the reference point reflecting plate 65 to move to a horizontal state and is located on a laser path of the third laser ranging module 66, the horizontal distance between the reference point and the third laser ranging module 66 can be detected;
regarding the upper computer 100, the upper computer 100 may be a Processor (PLC) or a computer, etc. capable of receiving and processing information, and forming an operation instruction to be sent to other modules and execution components, where the modules are mainly the camera component 80, the wide-angle camera 615, the laser ranging module, a transmission motor of a belt, etc.
Thus, the goods 40 are firstly conveyed to the conveying blocks 61 without crossing the two conveying blocks 61, and then when passing through the cassette 62, the wide-angle camera and the light source are started by using a photoelectric switch or a radio frequency scanning mode and the like, images of the goods 40 on the conveying blocks 61 from bottom to top are shot, and the images are transmitted to the upper computer 100. When the article 40 passes through the camera assembly 80, the camera assembly 80 takes pictures of the article from above and below and transmits the image information to the upper computer 100.
At this time, by recognizing the transport block 61, the physical distance between the transport block 61 and the reference point can be known, and further, the physical distance between the transport block 61 and the robot 90 can be obtained. Such distances receive less systematic error in motion speed and image recognition, or even substantially no distance error.
Meanwhile, the positional relationship of the goods 40 on the conveying block 61 is photographed from bottom to top by the wide-angle camera 615. In the process of acquiring the image information, the camera and the goods are relatively static, the accuracy of the acquired image information is higher, and errors are basically avoided. Through the image processing, the positional relationship between the article 40 and the conveying block 61 and both sides in the conveying direction can be obtained. The data processing does not need to consider the influence factor of belt movement, is static image processing, and has smaller error and higher precision.
By accumulating the position information of the article 40 on the transport block 61 and the distance information between the transport block and the reference point, the distance and the position information between the article 40 and the robot 90 can be obtained quickly and accurately. Meanwhile, the moving speed of the main conveyor belt 60 can be calibrated by the position information and time of the reference point, and the system error can be reduced. Thereby obtaining very accurate goods position information. The prediction difficulty is reduced, and the manipulator can grab the goods more quickly.
In addition, the main conveying belt 60 of the system runs all the time, for the position information, the factors of unclear images, belt shift errors, unstable rotating speed and the like caused by the excessively high speed of the belt are basically not needed to be considered, the position information of the goods from bottom to top is obtained by utilizing the synchronous cameras, and the position information of the goods 40 can be obtained very quickly and accurately or by combining the position information of the reference points. So, can design longer conveyer belt, and more manipulators, and the precision does not reduce because the belt is longer to improve by a wide margin and snatch efficiency.
Example two
In practical operation, as shown in fig. 1-3, the distance measurement of the reference point can only be intermittent, because it is horizontal distance measurement, and the movement track of the reference point is circular, so if there is only one third distance measurement module 66, the distance measurement can be performed on the upper side or the lower side of the main conveyor belt 60, and real-time distance monitoring cannot be performed.
Therefore, the reflecting plate 616 is fixed to the conveying block 61. The laser ranging system also comprises a second laser ranging module 70, wherein the second laser ranging module 70 is fixed at the determined position of the manipulator 90, and longitudinally emits laser to be matched with the reflector 616 so as to detect the longitudinal distance between the reflector 616 and the second laser ranging module 70;
after the conveying block 61 is identified by the radio frequency tag 617 and the radio frequency scanning component 64, the second laser ranging module 70 detects the longitudinal distance between the end of the reflector 616 on the conveying block 61 and the second laser ranging module 70, and sends the distance information to the upper computer 100, and when the distance between the second laser ranging module 70 and the reflector 616 on the main conveying belt 60 is detected to be within a certain basically determined range, the horizontal distance between any point of the conveying block 61 and the manipulator can be known by matching the sequence of the conveying block 61 identified by scanning, the distance between the second laser ranging module 70 and the manipulator, and the physical position of the reflector 616 on the conveying block 61.
This is actually a second calibration and correction immediately after the transport block 61 enters the operating area.
If the difference between the distance between the conveying block 61 acquired twice and the manipulator and the distance between the conveying block and the manipulator calibrated by the reference point exceeds the preset value, an alarm can be given, and the reason of the problem can be checked in time.
EXAMPLE III
As shown in fig. 1-4, in practice, it is also easy to control errors in order to accurately drop the article 40 into the top film of the transport block 61, without crossing over the two transport blocks 61.
Therefore, a feeding conveyer belt 10, a conveying plate 20, a positioning box 30 and a laser ranging module 31 in the box are additionally arranged;
the feeding conveyer belt 10 is used for bearing the conveying plate 20 and providing transmission power;
the conveying plate 20 is composed of a plurality of groups of rollers which are arranged in parallel, flanges are arranged at two ends of each roller and abut against the feeding conveying belt 10, and adjacent rollers are connected and driven through chains or belts;
the part of the conveying plate 20 extends out of the feeding conveying belt 10 and extends to the upper part of the feeding end of the main conveying belt 60;
the positioning box 30 is fixedly arranged on the upper side of the feeding conveyer belt 10, the positioning box 30 covers the upper side and the side edge of one section of the middle part of the feeding conveyer belt 10, and the positioning box 30 can contain two goods and is positioned in the coating space of the positioning box 30;
the laser ranging module 31 in the positioning box is fixed in the positioning box and is used for detecting the distance between the goods 40 and the longitudinal inner wall of the positioning box 30; the laser ranging module 31 in the box is horizontally arranged as shown in fig. 1.
When the distance is detected to be reduced by the laser ranging module 31 in the box, the goods pass, the advancing distance of the feeding conveyer belt 10 is the length of the goods 40 in the conveying direction when the distance is reduced to recover to the basic value (the distance between the laser ranging module 31 in the box and the inner wall of the positioning box), and when the distance is detected to be reduced again, the advancing distance of the belt is the distance between two adjacent goods 40. The distance information detected by the in-box laser ranging module 31 is sent to the upper computer 100. The upper computer 10 can acquire the length of the goods 40 and the distance between the two goods by detecting the running speed and the timing time of the feeding conveyer belt 10. The distance between the leading end of the article 40 and the blanking end of the transfer plate 20 can be obtained.
By the scanning recognition and the position calibration of the conveying block 61, the distance between the conveying block 61 and the blanking end of the conveying plate 20 can be acquired. Since the running speed of the main conveyor belt 60 is determined, the time for the conveying block 61 to reach the blanking end of the conveying plate 20 is determined. This time is also the time that the goods 40 travel from the loading conveyor 10 to the discharge end.
Thus, by controlling the running speed of the feeding conveyor belt 10, the goods 40 can be accurately conveyed to the conveying blocks 61, and the goods are prevented from crossing over the two conveying blocks 61.
At this time, the distance between the conveying block 61 and the discharging end of the conveying plate 20 may be calibrated by providing the first laser ranging module 50. First laser rangefinder module 50, can vertical setting, also can the level setting, detect the distance between transport block 61 and the laser rangefinder module 50 that becomes horizontal state after bypassing the belt roller during the level setting. Since the position of the blanking end and the position of the laser ranging module 50 are fixed, the distance between the conveying block and the blanking end is obtained. Avoiding possible systematic errors.
A practical method for the working process and apparatus of fig. 1-4, comprising the steps of:
s1, acquiring a position diagram of the goods 40 on the conveying block 61 through the wide-angle camera 615;
s2, acquiring a state diagram of goods on the main conveyor belt 60 from top to bottom through the camera assembly 80;
s3, marking the obtained location diagram and state diagram by the rf scanning component 64 and the rf tag 617;
s4, calibrating the position of the reference point through the third laser ranging module 66, so as to calibrate the distance between each conveying block 61 and the manipulator;
s5, obtaining the distance information of the goods relative to the conveying block 61 by processing the position diagram image, and adding the distance between the conveying block obtained in the step 4 and the manipulator to obtain the physical distance of the goods relative to the manipulator;
and S6, acquiring the position information of the goods by processing the state diagram information and combining the step five, and controlling the mechanical arm to grab the goods 40.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A conveyor belt vision tracking robot grabbing system comprises a main conveyor belt, a second laser ranging module, a camera shooting assembly, a manipulator and an upper computer;
the main transmission belt is used for bearing and linearly transmitting goods to an operation area of the manipulator;
the camera shooting assembly is used for positively shooting images of goods on the conveying belt from top to bottom and transmitting image information to the upper computer;
the upper computer is used for processing the received image information, timing, receiving the running speed information of the conveying equipment, forming an operation instruction and sending the operation instruction to the manipulator;
the manipulator is used for receiving an operation instruction sent by the upper computer to grab the goods on the main conveyor belt;
it is characterized in that the preparation method is characterized in that,
the main conveying belt consists of a plurality of conveying blocks with the same size;
the conveying block comprises a transparent top film, a side wall, a roller shutter, an arc-shaped plate, a wide-angle camera and a radio frequency tag;
the top film, the side wall, the roller shutter and the arc-shaped plate form six faces of the conveying block to form a closed rectangular box body; wherein the inner side surfaces of the side walls, the roller shutters and the arc-shaped plates are black or have a color obviously different from that of goods;
the top film is made of a transparent film, the width of the transparent film in the conveying direction is larger than the maximum end point distance of the goods, so that the bottom surface of the goods can horizontally rotate at any angle when contacting the top film, and the bottom surface of the goods can be always positioned in the range of the top film;
the side wall is made of soft materials;
the two sides of the arc-shaped plate are connected with the roller shutters, so that the arc-shaped plate is positioned in the middle position to form a plate for closing the bottom edge of the side wall;
the roller shutter has the effects that the conveying block can smoothly bypass the belt roller, the width of the arc-shaped plate is larger, and the diameter of the arc line of the longitudinal section of the arc-shaped plate is the same as that of the belt roller;
a wide-angle camera is fixed at the center of the arc-shaped plate, and is provided with a light source for projecting light rays vertically upwards, and the wide-angle camera is used for shooting a full-range image of the top film; the shooting angle alpha is not less than 130 degrees;
the conveying block is fixedly provided with a radio frequency tag, and the conveying block further comprises a radio frequency scanning assembly which is fixed with the manipulator, wherein the radio frequency scanning assembly is used for scanning the radio frequency tag on the conveying block, identifying the conveying block and sending information to an upper computer;
adjacent conveying blocks share one side wall;
the device also comprises a cassette, wherein the cassette is fixed on the upper side of the main conveying belt and is used for forming a space which is not interfered by external light between the upper side of the main conveying belt and the upper surface of the main conveying belt; the inner surface of the cassette is black or a color which is greatly different from the color of goods;
the auxiliary plate is parallel to the top point connecting line of the belt rollers of the main conveying belt and is abutted against the bottom surface of the upper layer of the main conveying belt, so that the main conveying belt is always in a horizontal state from a shooting area to an operation area of the manipulator;
the main conveying belt also comprises a datum point reflecting plate and a third laser ranging module, and the datum point reflecting plate and the third laser ranging module are used for calibrating the distance between the datum point and the manipulator;
the third laser ranging module can be set to horizontal ranging, and when the main conveying belt drives the datum point reflecting plate to move to a horizontal state and is located on a laser path of the third laser ranging module, the horizontal distance between the datum point and the third laser ranging module can be detected.
2. The conveyor belt vision tracking robot gripping system according to claim 1, wherein a light reflecting plate is fixed on the conveying block; the laser ranging device also comprises a second laser ranging module, wherein the second laser ranging module is fixed at the determined position of the manipulator, and the longitudinal laser is transmitted to be matched with the reflector so as to detect the longitudinal distance between the reflector and the second laser ranging module.
3. The conveyor belt vision tracking robotic gripper system of claim 1,
the device also comprises a feeding conveyer belt, a conveying plate, a positioning box and a laser ranging module in the box;
the feeding conveyer belt is used for bearing the conveying plate and providing transmission power;
the conveying plate consists of a plurality of groups of rollers which are arranged in parallel, flanges are arranged at two ends of each roller and abut against the feeding conveying belt, and adjacent rollers are connected and driven through chains or belts;
the conveying plate part extends out of the feeding conveying belt and extends to the upper part of the feeding end of the main conveying belt;
the fixed setting of location case is in material loading conveyer belt upside, and location case and bag covers one section upside and side department in middle part of the material loading conveyer belt, and the location case can hold two goods and be located the cladding space of location case simultaneously.
4. The conveyor belt vision tracking robot gripping system of claim 1, further comprising a first laser ranging module for calibrating a distance between the conveyor block and the discharge end of the conveyor plate.
5. Use of a conveyor belt vision tracking robotic gripper system according to claims 1-4, comprising the steps of:
s1, acquiring a position diagram of goods on the conveying block through the wide-angle camera;
s2, acquiring a state diagram of goods on the main conveyor belt from top to bottom through the camera assembly;
s3, marking the obtained position diagram and state diagram through the radio frequency scanning assembly and the radio frequency label;
s4, calibrating the position of the reference point through a third laser ranging module, so as to calibrate the distance between each conveying block and the manipulator;
s5, obtaining the distance information of the goods relative to the conveying block by processing the position diagram image, and adding the distance between the conveying block obtained in the step four and the manipulator to obtain the physical distance of the goods relative to the manipulator;
and S6, controlling the mechanical arm to grab the goods by processing the state diagram information and combining the goods position information obtained in the step five.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619429A (en) * | 2022-04-24 | 2022-06-14 | 广东天太机器人有限公司 | Mechanical arm control method based on recognition template |
| CN114800484A (en) * | 2021-01-28 | 2022-07-29 | 精工爱普生株式会社 | Robot system control method and robot system |
| CN117532644A (en) * | 2023-12-26 | 2024-02-09 | 广东亚数智能科技股份有限公司 | Three-dimensional vision guiding manipulator grabbing device and control method thereof |
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2020
- 2020-07-10 CN CN202010663376.6A patent/CN111890361A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800484A (en) * | 2021-01-28 | 2022-07-29 | 精工爱普生株式会社 | Robot system control method and robot system |
| CN114800484B (en) * | 2021-01-28 | 2023-06-02 | 精工爱普生株式会社 | Control method of robot system and robot system |
| CN114619429A (en) * | 2022-04-24 | 2022-06-14 | 广东天太机器人有限公司 | Mechanical arm control method based on recognition template |
| CN117532644A (en) * | 2023-12-26 | 2024-02-09 | 广东亚数智能科技股份有限公司 | Three-dimensional vision guiding manipulator grabbing device and control method thereof |
| CN117532644B (en) * | 2023-12-26 | 2024-04-12 | 广东亚数智能科技股份有限公司 | Three-dimensional vision guiding manipulator grabbing device and control method thereof |
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