CN112276908A - Industrial robot equipment and workpiece position acquisition method, system and device thereof - Google Patents
Industrial robot equipment and workpiece position acquisition method, system and device thereof Download PDFInfo
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- CN112276908A CN112276908A CN202011147342.8A CN202011147342A CN112276908A CN 112276908 A CN112276908 A CN 112276908A CN 202011147342 A CN202011147342 A CN 202011147342A CN 112276908 A CN112276908 A CN 112276908A
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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
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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
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Abstract
The invention discloses an industrial robot device and a workpiece position acquisition method, a workpiece position acquisition system and a workpiece position acquisition device thereof, wherein the workpiece position acquisition method comprises the following steps: at T1Acquiring a first position of a conveyor belt and preset information of a workpiece on the conveyor belt at any moment; at T2Acquiring a second position of the conveyor belt at any moment and acquiring a preset information processing result according to preset information; calculating to obtain a first coordinate of the workpiece according to a preset information processing result; and calculating to obtain a second coordinate of the workpiece according to the first position, the second position and the first coordinate. The workpiece position acquisition method can ensure that the tracking precision of the workpiece is irrelevant to the processing time of the workpiece information, so that the problem that the tracking precision of the workpiece is influenced due to the processing time of the workpiece information can be solved; meanwhile, the workpiece position acquisition method is suitable for any workpiece and does not have the tracking effect on the workpiece due to different sizes and shapes of the workpieceThe fruit has an influence.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to an industrial robot device, a workpiece position acquisition method, a workpiece position acquisition system and a workpiece position acquisition device.
Background
The industrial robot conveyor belt tracking function means: the robot needs to perform operations such as processing each workpiece on the conveyor belt, for example, during a gluing process of a workpiece with a fixed track, the workpiece moves along with the conveyor belt, and at the moment, the robot needs to move along with the workpiece and perform the gluing process on the workpiece with the fixed track.
In the tracking of the conveyor belt, a very important question is how to inform the robot of the arrival of a new workpiece and the position of the workpiece. If the size, shape and posture of all the workpieces are fixed, a photoelectric switch can be usually installed at a certain fixed position of the conveyor belt, when a new workpiece passes through the position, the photoelectric switch is triggered, a DI signal connected through the robot is sent to the robot, so that the robot knows that the new workpiece arrives, and the position of the photoelectric switch is fixed, so that the robot knows the position of the workpiece on the conveyor belt.
However, the above method needs to satisfy the precondition that the size, shape and posture of all the workpieces are the same, the robot does not need to be concerned with the specific shape of each workpiece, and once the size, shape and posture of the workpieces on the conveyor belt are not fixed, the robot needs to detect the specific size, shape and posture of the workpieces using a vision system and inform the robot of the information. Under the condition, at present, a general method still uses a photoelectric switch to inform the robot and the vision system when the photoelectric switch is triggered, so that the vision system can photograph specific information of a detected workpiece and inform the robot after processing. However, the existing method using the photoelectric switch is not suitable for all working conditions, for example, when the workpiece on the conveyor belt is very thin and cannot trigger photoelectric development, the method cannot be used; in addition, since the vision system needs a certain time to process the workpiece information, the tracking accuracy of the robot for the workpiece cannot be guaranteed.
Therefore, how to avoid the influence on the tracking accuracy of the robot on the workpiece caused by the fact that the vision system needs a certain time to process the workpiece information is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide an industrial robot device, a workpiece position acquiring method, a workpiece position acquiring system and a workpiece position acquiring device, which can ensure that the time required by a vision system for processing workpiece information cannot influence the tracking precision of a workpiece.
In order to achieve the above object, the present invention provides a workpiece position acquisition method, including:
at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v;
according to the first position P1The second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
Optionally, said is at T1Constantly acquiring a first position P of the conveyor belt1And a step of conveying preset information of the workpiece on the belt, including:
at the T1Acquiring a first system variable and a trigger signal at any moment;
synchronously executing the acquisition of said first position P of the conveyor belt by said first system variable1And acquiring the preset information of the workpiece on the conveyor belt through the trigger signal.
Optionally, said is at T2Momentarily taking a second position P of the conveyor belt2And a step of obtaining a preset information processing result P _ v according to the preset information, comprising:
at the T2Acquiring a second system variable at any moment;
obtaining said second position P of the conveyor belt by said second system variable2；
And acquiring the preset information processing result P _ v through the second system variable.
Optionally, the step of calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v includes:
acquiring a preset coordinate transformation matrix T;
and calculating the first coordinate P _ wobj according to P _ wobj-P _ v _ T.
The present invention also provides a workpiece position acquiring system, including:
a conveyor belt first position and workpiece information acquisition module for acquiring at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
the conveyor belt second position and workpiece information processing result acquisition module: for at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
the workpiece first coordinate calculation module is used for calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v;
a second coordinate calculation module for calculating a second coordinate of the workpiece according to the first position P1The second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
Optionally, the conveyor belt first position and workpiece information obtaining module includes:
a first acquisition unit for acquiring the signal at T1Acquiring a first system variable and a trigger signal at any moment;
a second acquisition unit for synchronously executing the acquisition of the first position P of the conveyor belt by the first system variable1And acquiring the preset information of the workpiece on the conveyor belt through the trigger signal.
Optionally, the conveyor belt second position and workpiece information processing result obtaining module includes:
a second system variable acquisition unit for acquiring the system variable at T2Acquiring a second system variable at any moment;
a conveyor belt second position acquisition unit for acquiring the second position P of the conveyor belt by the second system variable2；
And the workpiece preset information processing result acquisition unit is used for acquiring the preset information processing result P _ v through the second system variable.
Optionally, the workpiece first coordinate calculation module comprises:
a coordinate transformation matrix obtaining unit, configured to obtain a preset coordinate transformation matrix T;
and the workpiece first coordinate calculation unit is used for calculating the first coordinate P _ wobj according to P _ wobj and P _ v _ T.
The present invention also provides a workpiece position acquiring apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the above-mentioned workpiece position acquisition method when executing the computer program.
The invention also provides industrial robot equipment comprising the workpiece position acquisition device.
Compared with the background technology, the workpiece position acquisition method provided by the invention is at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt, at T2Momentarily taking a second position P of the conveyor belt2And obtaining a preset information processing result P _ v according to the preset information, calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v, and obtaining a first position P according to the first position1A second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj. It can be seen that due to T1Acquiring and T of preset information of workpieces at any moment2The acquisition of the preset information processing result of the workpiece at the moment requires a certain time difference, so that the preset information processing result is obtained at T1And T2The method comprises the steps of capturing first position information and second position information of a transmission belt at two moments respectively, calculating to obtain a first coordinate of a workpiece according to an obtained preset information processing result of the workpiece, and finally calculating to obtain a second coordinate of the workpiece according to the first position information, the second position information and the first coordinate of the workpiece of the transmission belt, so that the tracking precision of the workpiece can be guaranteed to be irrelevant to the processing time of the workpiece information, and the problem that the tracking precision of the workpiece is influenced due to the processing time of the workpiece information can be solved; obviously, since the preset information of the workpiece is at T1Obtained at the moment, and therefore the first coordinate of the workpiece obtained should be T1Coordinates of time of day, and for obtaining T2The second coordinate of the workpiece at the moment should be subtracted from the first coordinate by the distance traveled by the belts at both moments in time to obtain the coordinates of the workpiece at the current moment. In addition, the workpiece position acquisition method is suitable for any workpiece, and cannot influence the tracking effect of the workpiece due to different sizes and shapes of the workpiece.
The invention further provides a workpiece position acquiring system, a workpiece position acquiring device and an industrial robot device, and the beneficial effects are as above, and will not be described again here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for acquiring a position of a workpiece according to an embodiment of the present invention;
fig. 2 is a block diagram of a workpiece position acquiring system according to an embodiment of the present invention.
Wherein:
101-a conveyor belt first position and workpiece information acquisition module,
102-a second position of the conveyor belt and a workpiece information processing result acquisition module,
103-a workpiece first coordinate calculation module,
104-workpiece second coordinate calculation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
The core of the invention is to provide an industrial robot device, a workpiece position acquisition method, a workpiece position acquisition system and a workpiece position acquisition device, which can ensure that the time required by a vision system to process workpiece information cannot influence the tracking precision of a workpiece.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and fig. 2, fig. 1 is a flowchart illustrating a method for acquiring a position of a workpiece according to an embodiment of the present invention; fig. 2 is a block diagram of a workpiece position acquiring system according to an embodiment of the present invention.
The workpiece position obtaining method provided by the invention is shown in the attached figure 1 of the specification, and comprises the following steps:
s1: at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
s2: at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
s3: calculating a first coordinate P _ wobj of the workpiece according to a preset information processing result P _ v;
s4: according to the first position P1A second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
The workpiece position acquisition method is suitable for any workpiece, and cannot influence the tracking effect of the workpiece due to different sizes and shapes of the workpiece.
For step S1, the first position P of the conveyor belt can be obtained according to the conveying speed of the conveyor belt and the spacing between any two adjacent workpieces on the conveyor belt1And preset information of the workpiece on the conveyor belt. The preset information of the workpiece means a specific size, shape, posture, position, or the like of the workpiece.
For step S2, since processing the preset information of the workpiece requires a certain time, when the processing is finished and the preset information is not processed, the processing is performedSending the data to a second position of the conveyor belt of the workpiece position acquisition system and the workpiece information processing result acquisition module 102, wherein when the second position of the conveyor belt and the workpiece information processing result acquisition module 102 receives the data, the conveyor belt has run for a certain distance, and the time interval is T2-T1Wherein T is2Greater than T1(ii) a System capture T1First position P of the conveyor belt at the moment1And T2Second position P of the timing belt2To prevent at T2-T1The tracking accuracy of the workpiece is affected due to the running distance of the belt.
Meanwhile, by processing the preset information of the workpiece, the preset information of the workpiece can be obtained by photographing through a visual system (such as a camera or a camera), and the process of processing the preset information of the workpiece can be understood as a preprocessing process of the image information of the workpiece, namely: and carrying out operations such as denoising, smoothing and conversion on the acquired image information of the workpiece, so as to enhance the characteristics of the image and obtain information for acquiring the robot identification of the position of the conveyor belt. A preset information processing result P _ v of the workpiece may be obtained, which includes a processing result of the size, shape, posture or position of the workpiece, and the description is made only with respect to the position information processing result P _ v of the workpiece.
In step S3, a first coordinate P _ wobj of the workpiece is calculated according to the preset information processing result P _ v. It should be noted that, the preset information of the workpiece is at T1Obtained at the moment, and therefore the first coordinate of the workpiece obtained should be T1The coordinates of the time of day.
The step S3 includes:
acquiring a preset coordinate transformation matrix T;
and calculating the first coordinate P _ wobj according to P _ wobj-P _ v _ T.
The preset coordinate transformation matrix T is the first position P of the conveyor belt for recording the current moment in the system1And a module for acquiring preset information of the workpiece, wherein the coordinate conversion relationship is a known quantity.
For step S4, to obtain T2The second coordinate of the workpiece at a time should be subtracted by the distance (P) traveled by the belt at two times from the first coordinate of the workpiece P _ wobj2-P1) To obtain the coordinates of the workpiece at the current time, i.e. according to the formula P _ cur ═ P _ wobj- (P)2-P1) Thereby obtaining a second coordinate P _ cur of the workpiece.
That is, due to T1Acquiring and T of preset information of workpieces at any moment2The acquisition of the preset information processing result of the workpiece at the moment requires a certain time difference, so that the preset information processing result is obtained at T1And T2The method comprises the steps of capturing first position information and second position information of a transmission belt at two moments respectively, calculating to obtain a first coordinate of a workpiece according to an obtained preset workpiece information processing result, and finally calculating to obtain a second coordinate of the workpiece according to the first position information, the second position information and the first coordinate of the workpiece of the transmission belt, so that the tracking precision of the workpiece can be guaranteed to be irrelevant to the processing time of the workpiece information, and the problem that the tracking precision of the workpiece is influenced due to the processing time of the workpiece information can be solved.
Specifically, the step S1 includes:
at T1Acquiring a first system variable and a trigger signal at any moment;
simultaneous execution of the acquisition of a first position P of the conveyor belt by means of a first system variable1And acquiring preset information of the workpieces on the conveyor belt through the trigger signal.
That is, the first position P of the conveyor belt1The acquisition process comprises the following steps: at T1Acquiring a first system variable ($ SYNC _ TRIGGER ═ true) at a moment, and triggering a conveyor belt first position and workpiece information acquisition module 101 of the workpiece position acquisition system through the first system variable ($ SYNC _ TRIGGER ═ true) so as to record a first position P of the conveyor belt at the current moment1(ii) a The process of acquiring the preset information of the workpiece on the conveyor belt comprises the following steps: at T1A timing acquisition trigger signal (DO signal) by which a conveyor belt first position and workpiece information acquisition module 101 of the workpiece position acquisition system is triggered to alignAnd detecting and acquiring preset information of the workpiece. Of course, the preset information of the workpiece can be acquired by photographing through the vision system.
The first position P of the conveyor belt is described above1The acquisition process of the preset information of the workpieces on the conveyor belt is synchronously carried out, so that the system is triggered at regular time through corresponding system variables and trigger signals to replace a system which is informed through a photoelectric switch in the prior art, and the situation that photoelectric development cannot be triggered due to the fact that the workpieces on the conveyor belt are very thin can be avoided.
The step S2 includes:
at T2Acquiring a second system variable at any moment;
acquiring a second position P of the conveyor belt by a second system variable2；
And acquiring a preset information processing result P _ v through the second system variable.
Similarly, on the basis of the triggering of the first system variable, at T2Triggering a second position of the conveyor belt of the workpiece position acquisition system and a workpiece information processing result acquisition module 102 through a second system variable ($ WOBJ _ TRIGGER ═ true) at any time so as to record the current T2Second position P of the timing belt2。
After the first trigger, the preset information of the workpiece can be processed, corresponding data can be obtained, and the first position P of the conveyor belt at the moment can be obtained1Since information processing requires a certain time, when the information processing is completed and data is received, the conveyor belt has moved a distance, a corresponding module of the system is triggered again by a second system variable ($ WOBJ _ TRIGGER ═ true), and a preset information processing result P _ v obtained after preset information processing of the workpiece is transmitted by the second system variable ($ WOBJ _ TRIGGER ═ true), and at the same time, a second position P _ v of the conveyor belt is captured2。
An embodiment of the present invention further provides a system for acquiring a position of a workpiece, including:
a conveyor first position and workpiece information acquisition module 101 for acquiring at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
a conveyor second position and workpiece information processing result acquisition module 102 for obtaining the result of processing at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
the workpiece first coordinate calculation module 103 is configured to calculate a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v;
a second coordinate calculation module 104 for calculating a second coordinate of the workpiece according to the first position P1A second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
Further, the conveyor first position and workpiece information acquiring module 101 includes:
a first acquisition unit for acquiring at T1Acquiring a first system variable and a trigger signal at any moment;
a second acquisition unit for synchronously executing acquisition of the first position P of the conveyor belt by the first system variable1And acquiring preset information of the workpieces on the conveyor belt through the trigger signal.
In addition, the conveyor second position and workpiece information processing result acquisition module 102 includes:
a second system variable acquiring unit for acquiring the system variable at T2Acquiring a second system variable at any moment;
a conveyor belt second position acquisition unit for acquiring a second position P of the conveyor belt by a second system variable2；
And the workpiece preset information processing result acquisition unit is used for acquiring a preset information processing result P _ v through the second system variable.
Further, the workpiece first coordinate calculation module 103 includes:
a coordinate transformation matrix obtaining unit, configured to obtain a preset coordinate transformation matrix T;
and the workpiece first coordinate calculation unit is used for calculating a first coordinate P _ wobj according to P _ wobj and P _ v T.
An embodiment of the present invention further provides a device for acquiring a position of a workpiece, including:
a memory for storing a computer program;
a processor for implementing the steps of the above-mentioned workpiece position acquisition method when executing the computer program.
Specifically, the memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions, and the internal memory provides an environment for the operating system and the computer-readable instructions in the non-volatile storage medium to run. The processor, which in some embodiments may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip, provides computing and control capabilities for the workpiece position capture device.
On the basis of the above embodiment, as a preferred embodiment, the workpiece position acquiring apparatus further includes:
and the input interface is connected with the processor and used for acquiring computer programs, parameters and instructions imported from the outside and storing the computer programs, the parameters and the instructions into the memory under the control of the processor. The input interface may be coupled to an input device for receiving parameters or instructions manually input by a user. The input device may be a touch layer covered on a display screen, or a button, a track ball or a touch pad arranged on a terminal shell, or a keyboard, a touch pad or a mouse, etc.
And the display unit is connected with the processor and is used for displaying the data processed by the processor and displaying the visual user interface. The display unit may be an LED display, a liquid crystal display, a touch-controlled liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, and the like.
And the network port is connected with the processor and is used for carrying out communication connection with each external terminal device. The communication technology adopted by the communication connection can be a wired communication technology or a wireless communication technology, such as a mobile high definition link (MHL) technology, a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a wireless fidelity (WiFi), a bluetooth communication technology, a low power consumption bluetooth communication technology, an ieee802.11 s-based communication technology, and the like.
It will be appreciated by those skilled in the art that the workpiece position acquisition arrangement may include fewer or more components than those described above, or some components may be combined, or a different arrangement of components.
The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. The storage medium has a computer program stored thereon, and the computer program realizes the steps of the workpiece position acquisition method provided by the above-mentioned embodiments when executed by a processor.
Of course, the present invention provides an industrial robot apparatus including the workpiece position acquiring device described in the above embodiment; other parts of the industrial robot device can be referred to the prior art and are not expanded here.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The workpiece position acquiring method, the workpiece position acquiring system, the workpiece position acquiring device and the industrial robot apparatus provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A workpiece position acquisition method, characterized by comprising:
at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v;
according to the first position P1The second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
2. The workpiece position acquisition method as set forth in claim 1, wherein said at T1Constantly acquiring a first position P of the conveyor belt1And a step of conveying preset information of the workpiece on the belt, including:
at the T1Acquiring a first system variable and a trigger signal at any moment;
synchronously executing the acquisition of said first position P of the conveyor belt by said first system variable1And acquiring the preset information of the workpiece on the conveyor belt through the trigger signal.
3. The workpiece position acquisition method as set forth in claim 1, wherein said at T2Momentarily taking a second position P of the conveyor belt2And a step of obtaining a preset information processing result P _ v according to the preset information, comprising:
at the T2Acquiring a second system variable at any moment;
obtaining said second position P of the conveyor belt by said second system variable2；
And acquiring the preset information processing result P _ v through the second system variable.
4. The workpiece position acquisition method according to any one of claims 1 to 3, wherein the step of calculating a first coordinate P _ wobj of the workpiece from the preset information processing result P _ v includes:
acquiring a preset coordinate transformation matrix T;
and calculating the first coordinate P _ wobj according to P _ wobj-P _ v _ T.
5. A workpiece position acquisition system, comprising:
a conveyor belt first position and workpiece information acquisition module for acquiring at T1Constantly acquiring a first position P of the conveyor belt1And preset information of the workpiece on the conveyor belt;
the conveyor belt second position and workpiece information processing result acquisition module: for at T2Momentarily taking a second position P of the conveyor belt2And a preset information processing result P _ v obtained according to the preset information;
the workpiece first coordinate calculation module is used for calculating a first coordinate P _ wobj of the workpiece according to the preset information processing result P _ v;
a second coordinate calculation module for calculating a second coordinate of the workpiece according to the first position P1The second position P2And calculating a second coordinate P _ cur of the workpiece by the first coordinate P _ wobj.
6. The workpiece position acquisition system according to claim 5, wherein the conveyor belt first position and workpiece information acquisition module comprises:
a first acquisition unit for acquiring the signal at T1Acquiring a first system variable and a trigger signal at any moment;
a second acquisition unit for synchronously executing the acquisition of the first position P of the conveyor belt by the first system variable1And acquiring the preset information of the workpiece on the conveyor belt through the trigger signal.
7. The workpiece position acquisition system according to claim 5, wherein the conveyor belt second position and workpiece information processing result acquisition module comprises:
a second system variable acquisition unit for acquiring the system variable at T2Acquiring a second system variable at any moment;
second position of the conveyor beltA taking unit for obtaining the second position P of the conveyor belt through the second system variable2；
And the workpiece preset information processing result acquisition unit is used for acquiring the preset information processing result P _ v through the second system variable.
8. The workpiece position acquisition system of claim 5, wherein the workpiece first coordinate calculation module comprises:
a coordinate transformation matrix obtaining unit, configured to obtain a preset coordinate transformation matrix T;
and the workpiece first coordinate calculation unit is used for calculating the first coordinate P _ wobj according to P _ wobj and P _ v _ T.
9. A workpiece position acquisition apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the workpiece position acquisition method according to any one of claims 1 to 4 when executing said computer program.
10. An industrial robot apparatus characterized by comprising the work position acquiring device according to claim 9.
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