CN112684728B - Robot stacking control method based on laser SLAM - Google Patents
Robot stacking control method based on laser SLAM Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
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Abstract
The invention discloses a robot stacking control method based on laser SLAM, which comprises a master control processor, an industrial personal computer, an object flow line, an industrial robot and a truss robot, wherein the master control processor is connected with the industrial personal computer; the industrial personal computer, the logistics line and the industrial robot are all in communication connection with the master control processor, the industrial robot is in communication connection with the truss robot, and the truss robot is arranged above the logistics line and the industrial robot; the truss robot is provided with an SLAM laser radar and a control unit, and the SLAM laser radar is electrically connected with the control unit; a sensor and a visual camera are arranged on the logistics line, and the sensor is electrically connected with the visual camera; through the setting, adopt SLAM three-dimensional map to establish the technique, can acquire the three-dimensional profile characteristic of storage cage and industrial robot and the relative position between the storage cage accurately to realize the accurate positioning to pile up neatly point position, solve industrial robot in the storage cage shape and differ, the specification is great etc. under the complex environment the recognition problem.
Description
The application is a divisional application of patent applications with the name of 'robot palletizing control method based on laser SLAM and control system thereof' and with the patent application number of '201910986609.3' and the application date of '10 and 17 months in 2019'.
Technical Field
The invention relates to the field of stacking systems, in particular to a robot stacking control method based on laser SLAM.
Background
Slam (simultaneous localization and mapping) is a synchronous positioning and mapping technology, or a concurrent mapping and positioning technology, and refers to: the robot starts from an unknown place of an unknown environment, positions and postures of the robot through continuously observed surrounding environment features in the motion process, and then constructs an incremental map of the surrounding environment according to the positions of the robot, so that the purposes of simultaneously positioning and constructing the map are achieved, and the moving problem of the robot in the unknown environment is solved.
In the field of automation, industrial robots are often used to perform operations such as handling, assembly, machining, etc. In some practical robot stacking systems, the requirement for robot brake recognition is higher; and under the traditional condition, industrial robot generally places the work piece to the material frame that the shape and size is fixed, place industrial robot one by one the teaching fixed can. However, if the shape and size of a material frame for placing a workpiece by a robot are not fixed, the traditional teaching palletizing point is difficult to meet the requirement; in addition, under the condition that the specification of the storage cage is large, the traditional 3D industrial camera cannot meet the requirement; therefore, it can be seen that some conventional processing methods are difficult to complete the palletizing task in a complex environment.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a robot palletizing control method based on laser SLAM, and aims to solve the problem that an industrial robot is difficult to identify in the complex storage cage environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot stacking control method based on laser SLAM comprises the following steps:
a. the truss robot acquires three-dimensional data information in the moving process through an SLAM laser radar and constructs a three-dimensional map;
b. the logistics line detects whether a product is conveyed or not through a sensor and sends a detection signal to the industrial robot;
c. if the products are conveyed, the industrial robot receives the detection signals, identifies the products through the vision camera and grabs the products; when the industrial robot identifies a product through the visual camera, acquiring a product picture, comparing the product picture with a preset product library, and searching a product model which is consistent with the product in the product library; when the industrial robot grabs a product, acquiring a picture of the current product, comparing the picture with a preset grabbing position picture, calculating a grabbing point deviation value, and quantitatively deviating and grabbing the product; when the product type which is consistent with the product cannot be searched in the product library, the industrial robot sends an alarm signal and skips over the current product to identify the next product;
d. the truss robot reads the three-dimensional map, acquires the three-dimensional profile characteristics and the position of the storage cage, calculates the position of a stacking point and sends the calculation result to the industrial robot; the step d further comprises the following steps: when the truss robot calculates the position of a stacking point, calculating a maximum cube in the current storage cage; reading specification information of a current product from a preset product library, and equally dividing a maximum cube into a plurality of position squares; calculating to obtain a position square block corresponding to the current product according to a preset stacking rule; setting a user coordinate system of the industrial robot as a coordinate system of a three-dimensional map to calculate the stacking point position of the current product;
e. and the industrial robot receives the calculation result and places the grabbed product to the stacking point position in the storage cage.
The robot stacking control method based on the laser SLAM is characterized in that the steps b-e are repeatedly executed until the storage cage is fully placed or stacking of all products is completed.
The robot stacking control method based on the laser SLAM comprises the steps that when a truss robot reads a three-dimensional map and obtains three-dimensional contour characteristics and positions of a storage cage, current three-dimensional data information is obtained and compared with the three-dimensional data information in the three-dimensional map; and if the two have deviation, the truss robot acquires the three-dimensional data information in the moving process again through the SLAM laser radar and updates the three-dimensional map.
According to the robot stacking control method based on the laser SLAM, when the truss robot calculates the position of a stacking point, the largest cube in the current storage cage is calculated; reading specification information of a current product from a preset product library, and equally dividing a maximum cube into a plurality of position squares; calculating to obtain a position square block corresponding to the current product according to a preset stacking rule; and setting a user coordinate system of the industrial robot as a coordinate system of the three-dimensional map to calculate the stacking point position of the current product.
Has the advantages that:
the invention provides a robot stacking control method based on laser SLAM, which can accurately acquire three-dimensional profile characteristics of a storage cage and a relative position between an industrial robot and the storage cage by setting a truss robot and an SLAM laser radar and adopting an SLAM three-dimensional map construction technology, thereby realizing accurate positioning of a stacking point position, realizing a method for teaching stacking points with relatively large limitation and a method for determining stacking points by a 3D industrial camera, and solving the problem of identification of the industrial robot in complex environments with different storage cage shapes, large specifications and the like.
Drawings
Fig. 1 is a schematic flow diagram of a robot palletizing control method based on a laser SLAM.
Fig. 2 is a schematic structural diagram of a robot palletizing control system based on a laser SLAM.
Description of the main element symbols: a master control processor 10, an industrial personal computer 20, a logistics line 30, a sensor 31, a vision camera 32, an industrial robot 40, a truss robot 50, and a SLAM laser radar 51.
Detailed Description
The invention provides a robot palletizing control method based on laser SLAM, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the present invention provides a robot palletizing control method based on a laser SLAM, including the following steps:
a, a truss robot 50 acquires three-dimensional data information in a moving process through an SLAM laser radar 51 and constructs a three-dimensional map; in practical application, the size of the construction area of the three-dimensional map is the movement range area of the truss robot.
B, detecting whether a product is conveyed or not through a sensor 31 by the logistics line 30 and sending a detection signal to the industrial robot 40; if no product is detected, the industrial robot 40, the vision camera 32 and other equipment are in a standby state, so that the power consumption is saved, the workload is reduced, and the service life of the equipment is prolonged.
And c, if the product is conveyed, the industrial robot 40 receives the detection signal, identifies the product through the vision camera 32 and grabs the product.
Specifically, in some embodiments, when the industrial robot 40 recognizes a product through the vision camera 32, a product picture is acquired and compared with a preset product library, and a product model corresponding to the product is searched in the product library; whether the current product is a captured object is distinguished, and identification is carried out among target products, non-target products and non-products; the industrial robot can correctly identify the target product, the wrong non-target product or other non-products are prevented from being grabbed, and errors in stacking work are avoided.
It should be noted that the product library may be created according to actual products or pre-input corresponding products, and the product library stores product information, where the product information includes product types, product models, product pictures, specification information, and the like.
Further, when the product model that matches the product is not searched in the product library, the industrial robot 40 sends an alarm signal and skips the current product to identify the next product; therefore, the monitoring personnel is informed to process the non-target products or other non-products mixed into the target products, the production order is maintained, and the orderly proceeding of the palletizing work is ensured.
Specifically, in some embodiments, when the industrial robot 40 grasps a product, a picture of the current product is acquired and compared with a preset grasping position picture, a grasping point offset value is calculated, and quantitative offset grasping of the product is performed. Wherein, industrial robot's grabbing position picture is as industrial robot's the reference of grabbing the position, and in practical application, actual conditions such as model, performance that can be according to industrial robot set up in advance.
And d, reading the three-dimensional map by the truss robot 50, acquiring the three-dimensional contour characteristics and the position of the storage cage, calculating the position of the stacking point and sending the calculation result to the industrial robot 40.
Specifically, in some embodiments, when the truss robot 50 reads the three-dimensional map and obtains the three-dimensional profile characteristics and the position of the storage cage, the current three-dimensional data information is obtained and compared with the three-dimensional data information in the three-dimensional map; and if the two have deviation, the truss robot acquires the three-dimensional data information in the moving process again through the SLAM laser radar and updates the three-dimensional map. According to the method, the three-dimensional map is updated and corrected in a loop detection mode, so that the error of the three-dimensional map is reduced, and the stacking accuracy is improved; meanwhile, when the storage cage is replaced or the position of the storage cage is moved, the three-dimensional map can be updated quickly, and errors in stacking work are avoided.
Specifically, in some embodiments, when truss robot 50 calculates the palletize point location, the largest cube currently within the storage cage is calculated; reading specification information of a current product from a preset product library, and equally dividing a maximum cube into a plurality of position squares; calculating to obtain a position square block corresponding to the current product according to a preset stacking rule; and setting a user coordinate system of the industrial robot 40 as a coordinate system of the three-dimensional map to calculate the stacking point position of the current product.
It should be noted that, if the storage cage is in a regular geometric shape such as a triangular prism shape or a cylindrical shape, the equal division calculation can be performed by adopting a corresponding calculation method. In addition, the maca rule refers to the shape of stacking, and the stacking and placing sequence of products one by one is described; the stacking rule is preset according to actual needs.
And e, receiving the calculation result by the industrial robot 40 and placing the grabbed product to the stacking point position in the storage cage.
In this embodiment, the method preferably repeats steps b-e until the storage cage is full or palletizing of all products is complete.
Referring to fig. 2, the invention further provides a robot palletizing control system based on laser SLAM, which comprises a master control processor 10, an industrial personal computer 20, a material flow line 30, an industrial robot 40 and a truss robot 50; the industrial personal computer, the logistics line and the industrial robot are all in communication connection with the master control processor, the industrial robot is in communication connection with the truss robot, and the truss robot is arranged above the logistics line and the industrial robot; the truss robot is provided with an SLAM laser radar 51; the logistics line is provided with a sensor 31 and a vision camera 32, and the sensor is electrically connected with the vision camera; the control system may perform the stack control method as described above; since the control method is described in detail above, it is not described herein again.
Specifically, the main control processor 10 and the industrial personal computer 20, the truss robot 50 and the industrial robot 40 are communicated in an EtherNET mode, and the logistics line 30, the industrial robot and the main control processor are communicated in a CC-LINK mode.
Preferably, the master control processor 10 is a mitsubishi PLC, the industrial personal computer 20 is a mah-jongg industrial personal computer, the industrial robot 40 is a jack claw or a FANUC robot, and the sensor 31 is a photoelectric sensor.
Preferably, the visual camera may be a 2D industrial camera or a 3D industrial camera, the 3D industrial camera has higher accuracy and image processing capability, the 2D industrial camera with high cost performance is preferred in the embodiment, and the brand selection may be yangshi, conraday, and the like.
The present invention also provides a computer storage medium storing computer-executable instructions that, when run on a computer, cause the computer to perform the control method as described above to control the control system as described above; since the control method and the control system are described in detail above, they are not described again here.
The present invention also provides a computer program product comprising computer-executable instructions stored on a computer storage medium as described above which, when run on a computer, cause the computer to perform a control method as described above to control a control system as described above; since the computer storage medium, the control method, and the control system are described in detail above, they are not described herein again.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the protective scope of the present invention.
Claims (4)
1. A robot stacking control method based on laser SLAM is characterized by comprising the following steps:
a. the truss robot acquires three-dimensional data information in the moving process through an SLAM laser radar and constructs a three-dimensional map;
b. the logistics line detects whether a product is conveyed or not through a sensor and sends a detection signal to the industrial robot;
c. if the products are conveyed, the industrial robot receives the detection signals, identifies the products through the vision camera and grabs the products; when the industrial robot identifies a product through the visual camera, acquiring a product picture, comparing the product picture with a preset product library, and searching a product model which is consistent with the product in the product library; when the industrial robot grabs a product, acquiring a picture of the current product, comparing the picture with a preset grabbing position picture, calculating a grabbing point deviation value, and quantitatively deviating and grabbing the product; when the product type which is consistent with the product cannot be searched in the product library, the industrial robot sends an alarm signal and skips over the current product to identify the next product;
d. the truss robot reads the three-dimensional map, acquires the three-dimensional profile characteristics and the position of the storage cage, calculates the position of a stacking point and sends the calculation result to the industrial robot; the step d further comprises the following steps: when the truss robot calculates the position of a stacking point, calculating a maximum cube in the current storage cage; reading specification information of a current product from a preset product library, and equally dividing a maximum cube into a plurality of position squares; calculating to obtain a position square block corresponding to the current product according to a preset stacking rule; setting a user coordinate system of the industrial robot as a coordinate system of a three-dimensional map to calculate the stacking point position of the current product;
e. and the industrial robot receives the calculation result and places the grabbed product to the stacking point position in the storage cage.
2. The laser SLAM-based robot palletizing control method according to claim 1, wherein the steps b to e are repeatedly executed until a storage cage is fully placed or palletizing of all products is completed.
3. The laser SLAM-based robot palletizing control method according to claim 1, wherein the step d further comprises: when the truss robot reads the three-dimensional map and acquires the three-dimensional contour characteristics and the position of the storage cage, acquiring current three-dimensional data information and comparing the current three-dimensional data information with the three-dimensional data information in the three-dimensional map; and if the two have deviation, the truss robot acquires the three-dimensional data information in the moving process again through the SLAM laser radar and updates the three-dimensional map.
4. The laser SLAM-based robot palletizing control method according to claim 1, wherein the step d further comprises: when the truss robot calculates the position of a stacking point, calculating a maximum cube in the current storage cage; reading specification information of a current product from a preset product library, and equally dividing a maximum cube into a plurality of position squares; calculating to obtain a position square block corresponding to the current product according to a preset stacking rule; and setting a user coordinate system of the industrial robot as a coordinate system of the three-dimensional map to calculate the stacking point position of the current product.
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| CN113657841A (en) * | 2021-09-10 | 2021-11-16 | 无锡唯因特数据技术有限公司 | Intelligent stacking method and device and storage medium |
| CN114751153B (en) * | 2022-04-24 | 2023-03-10 | 广东天太机器人有限公司 | Full-angle multi-template stacking system |
| CN115026010B (en) * | 2022-05-23 | 2024-01-12 | 中联钢信电子商务有限公司 | Automatic scrap steel identification and classification system |
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| CN112684727A (en) | 2021-04-20 |
| CN110888348B (en) | 2020-11-17 |
| CN112684728A (en) | 2021-04-20 |
| CN112684727B (en) | 2022-03-18 |
| CN110888348A (en) | 2020-03-17 |
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