CN113232022A - Method, system and device for controlling carousel tracking and storage medium - Google Patents
Method, system and device for controlling carousel tracking and storage medium Download PDFInfo
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- CN113232022A CN113232022A CN202110561389.7A CN202110561389A CN113232022A CN 113232022 A CN113232022 A CN 113232022A CN 202110561389 A CN202110561389 A CN 202110561389A CN 113232022 A CN113232022 A CN 113232022A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The application relates to a carousel tracking control method, system, device and storage medium, the method includes detecting step and executing step; the detection step comprises: establishing a task queue; shooting the disc, and identifying and acquiring the target position of each object; acquiring disc motion information output by an encoder, newly building each identified object as a preset task, and taking the target position of the object and the current disc motion information as characteristic information corresponding to the preset task; traversing the task queue, and judging whether each preset task is repeated with a following task in the task queue to discard the preset task or insert the preset task into the task queue; the execution steps comprise: establishing a working area on the disc; taking out the following task from the task queue in sequence and judging whether the following task can be completed or not, if so, executing the following task, otherwise, giving up the task; an ending step is performed based on the contents of the task queue. The method and the device have the effect of realizing accurate matching of the materials and the tasks.
Description
Technical Field
The present application relates to the field of industrial automation, and in particular, to a method, a system, an apparatus, and a storage medium for controlling carousel tracking.
Background
In many automated production environments, use the arm to replace the manual work to carry out the operation, be used for practicing thrift the cost and raise the efficiency. In general working conditions, the motion trail of the mechanical arm is designed in advance, and the mechanical arm repeats the same action according to the fixed trail. In some cases, the material is fed or sprayed in a similar manner, and the material is placed on the disk and moves along with the disk. Under this kind of circumstances, it is exactly required that the arm can follow the material according to certain feedback information, self position of automatic adjustment, can carry out the operation that expects again to the material.
In the prior art, it is generally necessary to fix the materials on the disc and to establish a corresponding task at the instant each material enters the work area, performing the task during the movement of the disc. However, the operation of fixing the materials before entering the working area and releasing the fixation after the working area is tedious, if the materials are not fixed, the materials in the working area can be displaced accidentally due to the fact that some materials are irregular in shape, and the positions of the materials are changed to cause the task not to correspond to the positions of the materials, so that the task is executed in an empty mode.
Disclosure of Invention
In order to realize accurate matching of materials and tasks on the premise that the materials are freely placed on a disc, the application provides a disc transfer tracking control method, a system, a device and a storage medium.
In a first aspect, the present application provides a carousel tracking control method, which adopts the following technical solution:
a carousel tracking control method includes a detection step and an execution step which are performed synchronously;
the detecting step comprises:
s11, establishing a task queue, wherein the task queue is used for orderly containing following tasks with characteristic information;
s12, sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system;
s13, establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point, and determining a space transformation relation between the movable workbench coordinate system and a world coordinate system; wherein the movable worktable coordinate system can be static relative to the disc;
s14, establishing a working area between a calibration standby point and an end point of the disc;
s15, acquiring images of materials in the working area based on preset frequency, and acquiring target positions corresponding to the materials in the images;
s16, acquiring disc motion information output by an encoder on a disc, newly building each identified object as a preset task, and taking the target position of the object and the current disc motion information as characteristic information corresponding to the preset task;
s17, traversing the task queue, judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, if so, discarding the preset task, and if not, inserting the preset task into the task queue and updating the task queue;
the executing step includes:
s21, taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, if yes, executing the following task, and if not, giving up the task;
and S22, detecting whether the task queue is empty, if so, executing a final step, and if not, returning to S21.
Through adopting above-mentioned technical scheme, the disc is used for conveying the material, and in the data send process, equipment such as arm operates the material in step. The vision system shoots the disc within a certain range, and the shooting has a fixed time interval. When the materials on the disc enter the shooting area along with the disc, the system shoots the materials. The system is pre-recorded with image information of the material on the disc in advance, so that corresponding identification can be carried out, and the block corresponding to the object on the shot image is judged, so that the target position is obtained, and the target position is the position corresponding to the characteristic point on the material. When the materials are identified, a preset task is created, disc motion information output by the encoder is acquired at the same time, and the disc motion information are used as characteristic information of the preset task correspondingly. The disc motion information output by the encoder is the encoding information of the encoder, and any encoding can determine the current position of each point on the disc. Since the shots have a fixed time interval, the same object identified by any two adjacent shots should have the same displacement without moving. Therefore, whether the object is repeated or not is judged, and the preset task corresponding to the non-repeated object is inserted into the task queue based on the judgment result. Therefore, the moving object can be identified based on the fixed vision system, the calculated amount and the misjudgment rate of image identification are reduced, the requirement on the calculation capacity of the system is low, and the production cost of equipment is reduced.
When the execution step is carried out, due to the fact that the distances between objects entering the working area and the end point are different, equipment such as a mechanical arm needs a certain working time when the equipment is used for operating materials, when the positions of a plurality of objects are compact, part of the objects are easy to leave the working area when the processing is not finished, and therefore tasks corresponding to the objects in the working area need to be judged, the tasks which can be finished are executed, and the tasks which can be only partially finished or cannot be started are abandoned. By the method, the working efficiency of the device can be improved, and the generation of waste products when the material is not uniformly distributed is reduced.
In addition, a movable worktable coordinate system is calibrated by teaching three points, namely a standby point, a middle point and an end point, and when a motion track of the mechanical arm is taught on the movable worktable coordinate system, the track is unchanged relative to materials in motion. The position of the material can be calculated by tracking the encoder value as the material is pushed by the disc to move on the disc. Therefore, only one time of coordinate transformation is needed during calculation, which is convenient. Meanwhile, the coordinate system of the movable workbench has no requirement on the movement direction of the workbench, the three teaching points can be set randomly, and the polar coordinate system is set by the circle center of the disc only in a feasible setting mode. In addition, the moving table coordinate system of the present embodiment is based on the standby point, the middle point and the end point, and has no strong correlation with the disk in practice, and it is only convenient to set the moving table coordinate system to be stationary with respect to the disk, and does not mean to be necessarily set on the disk to be stationary with respect to the disk. Therefore, the degree of freedom of the scheme is larger, and people can conveniently adjust the scheme based on actual working conditions.
Preferably, the S15 includes the following steps:
s151, acquiring an image of the material in the working area based on a preset frequency;
s152, acquiring outline information of an identification template of the object, and generating and recording a target position arranged at a specified pixel position in the outline information based on the outline information;
s153, identifying the shot image information, and acquiring the contour information, which is the same as the identification template, in the image information;
and S154, obtaining the target position at the specified pixel position of the contour information through calculation.
Through adopting above-mentioned technical scheme, shoot the disc according to fixed frequency to match with the image of acquireing based on the discernment template that prestores, thereby obtain the target position, because the disc has certain width in footpath, accurate target position not only can be used for the position of characterization object in disc footpath, can also provide reference base point for equipment such as arms.
Preferably, the S16 includes the following steps:
s161, acquiring disc motion information output by an encoder;
s162, taking an object corresponding to the contour information, which is identical to the identification template, in the image information as a preset task;
and S163, taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task.
By adopting the technical scheme, as the disc has a certain width in the radial direction, the material has a certain distance in the rotating direction of the disc, and also has a certain distance in the radial direction of the disc, and the real-time position of the material can be determined by matching the target position with the disc motion information.
Preferably, the S17 includes the following steps:
s171, extracting disc motion information in preset task characteristic information, and calculating estimated disc motion information, wherein the estimated disc motion information = disc motion information in the characteristic information-disc rotation angular speed multiplied by preset duration;
s172, sequentially reading the characteristic information of each following task in the task queue to obtain historical disc motion information, comparing the historical disc motion information with the estimated disc motion information,
if the absolute value of historical disc motion information-estimated disc motion information is less than the preset error upper limit, judging that the preset task exists in a task queue, discarding the preset task, and updating the current disc motion information into the feature information in the follow-up task;
if the absolute value of the historical disk motion information-estimated disk motion information is larger than the preset error upper limit, inserting the preset task into a task queue;
s173, discarding the following task in the task queue, wherein the characteristic information is not updated in the step S172;
and S174, arranging corresponding following tasks according to the sequence of the objects on the disc.
By adopting the technical scheme, the disc is shot according to the fixed frequency, so that the system does not detect a continuous track but discrete points for each material. When the material is fixed relative to the disc, the distance of the material between adjacent points is fixed. According to the scheme, the distances between the historical positions and the estimated positions of the adjacent points are measured through the fixed distance, whether the distances are within an error range or not is judged, if the distances are within the error range, the materials corresponding to the materials at the corresponding positions at the last photographing moment are judged to be used as the same following task, and the characteristic information is updated. And if the error range is out of the error range, judging the material to be a new material or a moving material, and performing a new task. Tasks that are not updated, such tasks corresponding to material whose position is moving, are discarded to avoid a dry operation of the robotic arm. Follow tasks in the task queue are arranged, so that the mechanical arm can preferentially process materials close to the end point of a working area, and the duty ratio of the working period of the mechanical arm is improved.
Preferably, the first and second liquid crystal materials are,
the first policy includes:
the method comprises the following steps: reading the following task, and acquiring a current encoder value at the position of a standby point and a current encoder value at the position of an end point;
step two: and (4) executing judgment:
if the disc motion information in the follow-up task characteristic information is less than the current encoder value at the standby point position, judging that the disc motion information can be completed and performing standby;
if the current encoder value at the position of the end point is larger than the disc motion information in the follow-up task characteristic information and is larger than the current encoder value at the position of the standby point, judging that the follow-up task can be completed and executed;
if the disc motion information in the follow-up task characteristic information is larger than the current encoder value at the standby point position, the judgment cannot be completed, and the follow-up task is abandoned.
By adopting the technical scheme, the mechanical arm has a certain time length for the operation of the material, and the material and the mechanical arm can synchronously move for a distance along the rotation direction of the disc in the time length, so that when the distance between the material and the end point position of the working area is shorter than the required time for operating the mechanical arm on the material, if the continuous operation causes the mechanical arm to have no task, the material corresponding to the task is separated from the working area. Therefore, the completeness of the task is judged according to the related information of the encoder value, and the work efficiency of the mechanical arm is improved.
Preferably, the following task includes the following steps:
the method comprises the following steps: acquiring coordinates of the mechanical arm reference points in a world coordinate system, and converting the coordinates into dynamic coordinates in a movable workbench coordinate system according to a space transformation relation; converting the target position into a target position in a movable workbench coordinate system according to the space transformation relation;
step two: performing path planning based on the dynamic coordinates and the target position, and performing speed planning based on the path planning;
step three: and converting the planned path and speed into a world coordinate system according to the space transformation relation.
By adopting the technical scheme, the movable worktable coordinate system is set based on three teaching points and is usually static relative to the disc. The mechanical arm reference point in the world coordinate system is converted into the coordinate in the movable workbench coordinate system, path planning and speed planning can be conveniently carried out on the dynamic coordinate and the target position, and then the dynamic coordinate and the target position are converted into the world coordinate system.
Preferably, the ending step is to control the mechanical arm to move to a standby position.
By adopting the technical scheme, the mechanical arm moves to the standby position to wait for the start of the next task queue.
In a second aspect, the present application provides a system, which adopts the following technical solutions:
a system, comprising:
the task queue memory is used for orderly containing following tasks with characteristic information;
an encoder for outputting disc motion information;
the calibration module is used for sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system;
the coordinate system establishing module is used for establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point and determining the space transformation relation between the movable workbench coordinate system and the world coordinate system; wherein the movable worktable coordinate system can be static relative to the disc;
the working area establishing module is used for establishing a working area between the calibration standby point and the end point of the disc;
the vision module is used for acquiring images of materials in the working area based on preset frequency and acquiring target positions corresponding to the materials in the images;
the task establishing module is used for acquiring the disc motion information output by the encoder, newly establishing each identified object as a preset task, and taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task;
the task updating module is used for judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, discarding the preset task if the preset task is repeated, and inserting the preset task into the task queue and updating the task queue if the preset task is not repeated;
the judging and executing module is used for taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, executing the following task if the following task can be completed, and giving up the task if the following task cannot be completed;
and the ending module is used for detecting the residual tasks of the queue and executing ending work based on the detection result.
Through adopting above-mentioned technical scheme, the disc is used for conveying the material, and in the data send process, equipment such as arm operates the material in step. The vision system shoots the disc within a certain range, and the shooting has a fixed time interval. When the materials on the disc enter the shooting area along with the disc, the system shoots the materials. The system is pre-recorded with image information of the material on the disc in advance, so that corresponding identification can be carried out, and the block corresponding to the object on the shot image is judged, so that the target position is obtained, and the target position is the position corresponding to the characteristic point on the material. When the materials are identified, a preset task is created, disc motion information output by the encoder is acquired at the same time, and the disc motion information are used as characteristic information of the preset task correspondingly. The disc motion information output by the encoder is the encoding information of the encoder, and any encoding can determine the current position of each point on the disc. Since the shots have a fixed time interval, the same object identified by any two adjacent shots should have the same displacement without moving. Therefore, whether the object is repeated or not is judged, and the preset task corresponding to the non-repeated object is inserted into the task queue based on the judgment result. Therefore, the moving object can be identified based on the fixed vision system, the calculated amount and the misjudgment rate of image identification are reduced, the requirement on the calculation capacity of the system is low, and the production cost of equipment is reduced.
When the execution step is carried out, due to the fact that the distances between objects entering the working area and the end point are different, equipment such as a mechanical arm needs a certain working time when the equipment is used for operating materials, when the positions of a plurality of objects are compact, part of the objects are easy to leave the working area when the processing is not finished, and therefore tasks corresponding to the objects in the working area need to be judged, the tasks which can be finished are executed, and the tasks which can be only partially finished or cannot be started are abandoned. By the method, the working efficiency of the device can be improved, and the generation of waste products when the material is not uniformly distributed is reduced.
In addition, a movable worktable coordinate system is calibrated by teaching three points, namely a standby point, a middle point and an end point, and when a motion track of the mechanical arm is taught on the movable worktable coordinate system, the track is unchanged relative to materials in motion. The position of the material can be calculated by tracking the encoder value as the material is pushed by the disc to move on the disc. Therefore, only one time of coordinate transformation is needed during calculation, which is convenient. Meanwhile, the coordinate system of the movable workbench has no requirement on the movement direction of the workbench, the three teaching points can be set randomly, and the polar coordinate system is set by the circle center of the disc only in a feasible setting mode. In addition, the moving table coordinate system of the present embodiment is based on the standby point, the middle point and the end point, and has no strong correlation with the disk in practice, and it is only convenient to set the moving table coordinate system to be stationary with respect to the disk, and does not mean to be necessarily set on the disk to be stationary with respect to the disk. Therefore, the degree of freedom of the scheme is larger, and people can conveniently adjust the scheme based on actual working conditions.
In a third aspect, the present application provides an apparatus, which adopts the following technical solution:
an apparatus comprising a memory and a processor, the memory having stored thereon a computer program that is loadable by the processor and adapted to perform any of the methods described above.
In a fourth aspect, the present application provides a readable storage medium, which adopts the following technical solutions:
a readable storage medium storing a computer program capable of being loaded by a processor and performing any of the methods described above.
Drawings
FIG. 1 is a block flow diagram of the inspection step in an embodiment of the present application;
FIG. 2 is a block flow diagram of a follow task in an embodiment of the present application;
FIG. 3 is a block diagram of the flow of S15 in the embodiment of the present application;
FIG. 4 is a block diagram of the flow of S16 in the embodiment of the present application;
FIG. 5 is a block diagram of the flow of S17 in the embodiment of the present application;
FIG. 6 is a block flow diagram of steps performed in an embodiment of the present application;
fig. 7 is a block flow diagram of a first policy in an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-7.
The embodiment of the application discloses a carousel tracking control method, which comprises a detection step and an execution step which are performed synchronously, wherein the detection step and the execution step are performed synchronously, a proper task queue is obtained through data obtained in the detection step, and follow-up tasks in the task queue are selectively executed in the execution step so as to perform efficient tracking.
Referring to fig. 1, the detecting step includes the steps of:
s11, establishing a task queue, wherein the task queue is used for orderly containing following tasks, and the following tasks have characteristic information.
The following task corresponds to the material on the disc, and the material can be operated after the following task is executed to follow. For example, when the material is a square object, the following task is performed, that is, the tail end of the mechanical arm is moved to a base point corresponding to the material, and then the tail end of the mechanical arm is allowed to glue along each edge of the material.
More specifically, for example, the follow-up task includes a movement trajectory of the robot arm, which is actually a series of operations performed by the robot arm on the object and can be obtained from previously taught points. After the motion track is obtained, the speed plan is used to realize the interpolation of the track. It should be noted that the positions of the points on the motion trajectory are relative to the disk, and the disk is continuously rotating, so that the positions need to be converted into coordinates in a world coordinate system, which is fixed and invariant for the mechanical arm.
S12, sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system.
S13, establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point, and determining a space transformation relation between the movable workbench coordinate system and a world coordinate system; wherein the movable table coordinate system can be stationary relative to the disc.
The standby point, the middle point and the end point are three different points of the same circumference on the disc, and the three points determine the circle center, the radius and the steering direction of a circle, so that the workbench based on the movable workbench coordinate system is automatically generated. In some embodiments, since the shapes of the areas on the surface of the disk are approximate to the hard-to-grasp characteristics, in order to avoid that the coordinate system of the actuating table is generated to be not corresponding to the disk, for example, the center of the disk is determined incorrectly, the standby point, the middle point and the end point are calibrated in sequence along the rotation direction of the disk at the edge of the disk.
In this step, a recording point may also be calibrated on the disk, and the recording point may be fixed on the movable table, may be located before the standby point, or may coincide with the standby point, as long as it is located on the same circumference as the standby point, the midpoint, and the end point. In some embodiments, when the disk is changed, recalibration may be performed, and the recalibration method may include the following steps: firstly, the original recording point is moved to a new recording point, the new recording point is obtained by moving the original recording point, at the moment, the radius of a calibrated circle is changed, and the center of the circle is unchanged. And solving new values of the standby point, the middle point and the end point according to the change of the circle radius. Because the included angle between each point is not changed, and the ratio of the radian of the included angle to the difference value of the encoder is used by the disk in the coordinate system of the movable worktable, the encoder difference between each point is not changed.
Specifically, at each point of calibration, the puck needs to be stopped and the current encoder value recorded. The recording sequence of the four points is strictly along the rotation direction of the disc. After the teaching is completed, when one of the points needs to be modified, the four points need to be modified again. These four points in fact mark a rotating table in the position of the centre of the circle. In other words, a table is provided at the recording point, which table can be moved with the disk. The position of the table can be calculated from the change value of the encoder (the current value of the encoder minus the value of the encoder at the recording point) to calculate the current position on the disk.
S14, establishing a working area in the part of the disc between the calibration standby point and the end point.
The four points are static relative to a world coordinate system, namely a working area is static relative to the world coordinate system, the material on the disc rotates along with the disc and sequentially passes through the recording point, the standby point, the middle point and the end point, and the material is static relative to the moving workbench coordinate system. In other words, the recording point, the standby point, the middle point, and the end point are moving points on the moving table coordinate system.
Based on this, in some embodiments, referring to fig. 2, the follow up task includes the following steps:
the method comprises the following steps: acquiring coordinates of the mechanical arm reference points in a world coordinate system, and converting the coordinates into dynamic coordinates in a movable workbench coordinate system according to a space transformation relation; converting the target position into a target position in a movable workbench coordinate system according to the space transformation relation;
step two: performing path planning based on the dynamic coordinates and the target position, and performing speed planning based on the path planning;
step three: and converting the planned path and speed into a world coordinate system according to the space transformation relation.
The movable table coordinate system is arranged on the basis of the disc, and can be static relative to the disc and also can move relative to the disc. The mechanical arm reference point in the world coordinate system is converted into the coordinate in the movable workbench coordinate system, path planning and speed planning can be conveniently carried out on the dynamic coordinate and the target position, and then the dynamic coordinate and the target position are converted into the world coordinate system.
And S15, acquiring images of the materials in the working area based on the preset frequency, and acquiring target positions corresponding to the materials in the images.
The vision module shoots a certain range of the disc with a fixed time interval. When the materials on the disc enter the working area along with the disc, the system shoots the materials. The system is pre-recorded with image information of the material on the disc in advance, so that corresponding identification can be carried out, and the block corresponding to the object on the shot image is judged, so that the target position is obtained, and the target position is the position corresponding to the characteristic point on the material.
Specifically, in some embodiments, referring to fig. 3, S15 includes the following steps:
s151, acquiring an image of the material in the working area based on a preset frequency;
s152, acquiring outline information of an identification template of the object, and generating and recording a target position arranged at a specified pixel position in the outline information based on the outline information;
s153, identifying the shot image information, and acquiring the contour information, which is the same as the identification template, in the image information;
and S154, obtaining the target position at the specified pixel position of the contour information through calculation.
When the disc moves for a certain time, the control system outputs an IO signal to the vision system, the vision system starts photographing identification after receiving the IO signal, and meanwhile, the control system records the current position of the disc, namely the code of the encoder, and the current position is used as the reference position of the object identified by the current camera. The vision system, upon recognizing the object, sends the position data of the object to the control system, and if multiple objects are recognized, then multiple data are sent. The method for matching the images is characterized in that the control system matches the acquired images based on the pre-stored identification template to obtain the target position, and the accurate target position not only can be used for representing the position of an object in the radial width direction of the disc but also can provide a reference base point for equipment such as a mechanical arm and the like because the disc has a certain width in the radial direction.
Because the positions of all points on the disc can be obtained through the change of the encoder, in some embodiments, after the encoding of the encoder changes for a certain value, rather than the disc rotates for a certain time, the control system outputs an IO signal to the vision system, and the vision system starts to photograph and recognize after receiving the IO signal.
And S16, acquiring disc motion information output by an encoder on the disc, newly building each identified object as a preset task, and taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task.
In some embodiments, referring to fig. 4, S16 includes the steps of:
s161, acquiring disc motion information output by an encoder;
s162, taking an object corresponding to the contour information, which is identical to the identification template, in the image information as a preset task;
and S163, taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task.
Because the disc has certain width in the radial direction, the material has certain distance in the radial direction of the disc except for the rotating direction of the disc, and the real-time position of the material can be determined by the matching of the target position and the disc motion information. The preset task generated by the part is not directly used for following, and the part with failure of the original task caused by the deviation of the position of the material needs to be screened out because the material is not fixed on the disc.
S17, traversing the task queue, judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, if so, discarding the preset task, and if not, inserting the preset task into the task queue and updating the task queue.
In some embodiments, referring to fig. 5, S17 includes the steps of:
s171, extracting disc motion information in preset task characteristic information, and calculating estimated disc motion information, wherein the estimated disc motion information = disc motion information in the characteristic information-disc rotation angular speed multiplied by preset duration;
s172, sequentially reading the characteristic information of each following task in the task queue to obtain historical disc motion information, comparing the historical disc motion information with the estimated disc motion information,
if the absolute value of historical disc motion information-estimated disc motion information is less than the preset error upper limit, judging that the preset task exists in a task queue, discarding the preset task, and updating the current disc motion information into the feature information in the follow-up task;
if the absolute value of the historical disk motion information-estimated disk motion information is larger than the preset error upper limit, inserting the preset task into a task queue;
s173, discarding the following task in the task queue, wherein the characteristic information is not updated in the step S172;
and S174, arranging corresponding following tasks according to the sequence of the objects on the disc.
After each photographing, the code of the current encoder and the recognized object position are recorded again, if the position of the object recognized last time plus the rotation distance of the object on the disc is the same as the newly recognized object position (within a set threshold), the recognized object is judged to be the same object, the manipulator does not grab the same object again, and otherwise the recognized object is considered to be a different object. The instruction is equivalent to being in a single thread, is executed all the time, and when an object is detected, a task is generated and pushed into a queue to be executed. Tasks for which the characteristic information is not updated, i.e. the material that moves in correspondence with the position, need to be cleaned to avoid idle operation of the robot arm. And finally, arranging the following tasks in the task queue so that the mechanical arm can preferentially process the materials close to the end point of the working area, and the duty ratio of the working period of the mechanical arm is improved.
Referring to fig. 6, the performing step includes the steps of:
s21, taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, if yes, executing the following task, and if not, giving up the task.
The calibration is the preparation work before the robot works, and is equivalent to telling the robot how to act after the target object moves along with the disc. In addition, the installation position of the encoder can be all over the disk, but the movement of the disk can be reflected. In addition, the speed of the motor is constant, and may not be constant, and when the disk is loaded, the speed may be constant or may not be constant, but the encoder can prepare to record the moving distance of the disk.
Specifically, referring to fig. 7, the first policy includes:
the method comprises the following steps: reading the following task, and acquiring a current encoder value at the position of a standby point and a current encoder value at the position of an end point;
step two: and (4) executing judgment:
if the disc motion information in the follow-up task characteristic information is less than the current encoder value at the standby point position, judging that the disc motion information can be completed and performing standby;
if the current encoder value at the position of the end point is larger than the disc motion information in the follow-up task characteristic information and is larger than the current encoder value at the position of the standby point, judging that the follow-up task can be completed and executed;
if the disc motion information in the follow-up task characteristic information is larger than the current encoder value at the standby point position, the judgment cannot be completed, and the follow-up task is abandoned.
Because the mechanical arm has certain duration to the operation of material, material and arm will be along the direction of rotation synchronous movement one section distance of disc during this duration, consequently when the distance of material and workspace ending point position is nearer, is less than the required time of arm operation on the material, if continue the operation will lead to the arm not to finish the task, the material that the task corresponds breaks away from the workspace promptly. Therefore, the completeness of the task is judged according to the related information of the encoder value, and the work efficiency of the mechanical arm is improved.
And S22, detecting whether the task queue is empty, if so, executing a final step, and if not, returning to S21.
In some embodiments, the ending step is controlling the robot arm to move to the standby position to wait for the start of the next task queue.
The present embodiment also discloses a system, including:
the task queue memory is used for orderly containing following tasks with characteristic information;
an encoder for outputting disc motion information;
the calibration module is used for sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system;
the coordinate system establishing module is used for establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point and determining the space transformation relation between the movable workbench coordinate system and the world coordinate system; wherein the movable worktable coordinate system can be static relative to the disc;
the working area establishing module is used for establishing a working area between the calibration standby point and the end point of the disc;
the vision module is used for acquiring images of materials in the working area based on preset frequency and acquiring target positions corresponding to the materials in the images;
the task establishing module is used for acquiring the disc motion information output by the encoder, newly establishing each identified object as a preset task, and taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task;
the task updating module is used for judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, discarding the preset task if the preset task is repeated, and inserting the preset task into the task queue and updating the task queue if the preset task is not repeated;
the judging and executing module is used for taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, executing the following task if the following task can be completed, and giving up the task if the following task cannot be completed;
and the ending module is used for detecting the residual tasks of the queue and executing ending work based on the detection result.
The embodiment also discloses a device which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the method.
The embodiment also discloses a readable storage medium which stores a computer program capable of being loaded by a processor and executing the method.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A carousel tracking control method is characterized by comprising a detection step and an execution step which are synchronously performed;
the detecting step comprises:
s11, establishing a task queue, wherein the task queue is used for orderly containing following tasks with characteristic information;
s12, sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system;
s13, establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point, and determining a space transformation relation between the movable workbench coordinate system and a world coordinate system; wherein the movable worktable coordinate system can be static relative to the disc;
s14, establishing a working area between a calibration standby point and an end point of the disc;
s15, acquiring images of materials in the working area based on preset frequency, and acquiring target positions corresponding to the materials in the images;
s16, acquiring disc motion information output by an encoder on a disc, newly building each identified object as a preset task, and taking the target position of the object and the current disc motion information as characteristic information corresponding to the preset task;
s17, traversing the task queue, judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, if so, discarding the preset task, and if not, inserting the preset task into the task queue and updating the task queue;
the executing step includes:
s21, taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, if yes, executing the following task, and if not, giving up the task;
and S22, detecting whether the task queue is empty, if so, executing a final step, and if not, returning to S21.
2. The carousel tracking control method according to claim 1, wherein the S15 comprises the steps of:
s151, acquiring an image of the material in the working area based on a preset frequency;
s152, acquiring outline information of an identification template of the object, and generating and recording a target position arranged at a specified pixel position in the outline information based on the outline information;
s153, identifying the shot image information, and acquiring the contour information, which is the same as the identification template, in the image information;
and S154, obtaining the target position at the specified pixel position of the contour information through calculation.
3. The carousel tracking control method according to claim 2, wherein the S16 comprises the steps of:
s161, acquiring disc motion information output by an encoder;
s162, taking an object corresponding to the contour information, which is identical to the identification template, in the image information as a preset task;
and S163, taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task.
4. The carousel tracking control method according to claim 3, wherein the S17 comprises the steps of:
s171, extracting disc motion information in preset task characteristic information, and calculating estimated disc motion information, wherein the estimated disc motion information = disc motion information in the characteristic information-disc rotation angular speed multiplied by preset duration;
s172, sequentially reading the characteristic information of each following task in the task queue to obtain historical disc motion information, comparing the historical disc motion information with the estimated disc motion information,
if the absolute value of historical disc motion information-estimated disc motion information is less than the preset error upper limit, judging that the preset task exists in a task queue, discarding the preset task, and updating the current disc motion information into the feature information in the follow-up task;
if the absolute value of the historical disk motion information-estimated disk motion information is larger than the preset error upper limit, inserting the preset task into a task queue;
s173, discarding the following task in the task queue, wherein the characteristic information is not updated in the step S172;
and S174, arranging corresponding following tasks according to the sequence of the objects on the disc.
5. The carousel tracking control method of claim 4,
the first policy includes:
the method comprises the following steps: reading the following task, and acquiring a current encoder value at the position of a standby point and a current encoder value at the position of an end point;
step two: and (4) executing judgment:
if the disc motion information in the follow-up task characteristic information is less than the current encoder value at the standby point position, judging that the disc motion information can be completed and performing standby;
if the current encoder value at the position of the end point is larger than the disc motion information in the follow-up task characteristic information and is larger than the current encoder value at the position of the standby point, judging that the follow-up task can be completed and executed;
if the disc motion information in the follow-up task characteristic information is larger than the current encoder value at the standby point position, the judgment cannot be completed, and the follow-up task is abandoned.
6. The carousel tracking control method according to claim 5, wherein the following task comprises the steps of:
the method comprises the following steps: acquiring coordinates of the mechanical arm reference points in a world coordinate system, and converting the coordinates into dynamic coordinates in a movable workbench coordinate system according to a space transformation relation; converting the target position into a target position in a movable workbench coordinate system according to the space transformation relation;
step two: performing path planning based on the dynamic coordinates and the target position, and performing speed planning based on the path planning;
step three: and converting the planned path and speed into a world coordinate system according to the space transformation relation.
7. The carousel tracking control method of claim 6, wherein the ending step is controlling the robot arm to move to a standby position.
8. A system, comprising:
the task queue memory is used for orderly containing following tasks with characteristic information;
an encoder for outputting disc motion information;
the calibration module is used for sequentially calibrating a standby point, a middle point and an end point on the same circumference of the disc, wherein the standby point, the middle point and the end point are all fixed in a world coordinate system;
the coordinate system establishing module is used for establishing a movable workbench coordinate system on the disc based on the standby point, the middle point and the end point and determining the space transformation relation between the movable workbench coordinate system and the world coordinate system; wherein the movable worktable coordinate system can be static relative to the disc;
the working area establishing module is used for establishing a working area between the calibration standby point and the end point of the disc;
the vision module is used for acquiring images of materials in the working area based on preset frequency and acquiring target positions corresponding to the materials in the images;
the task establishing module is used for acquiring the disc motion information output by the encoder, newly establishing each identified object as a preset task, and taking the target position of the object and the current disc motion information as the characteristic information corresponding to the preset task;
the task updating module is used for judging whether each preset task is repeated with the following task in the task queue or not based on the characteristic information of the preset task and the following task, discarding the preset task if the preset task is repeated, and inserting the preset task into the task queue and updating the task queue if the preset task is not repeated;
the judging and executing module is used for taking out a following task from the task queue in sequence, judging whether the following task can be completed or not based on a first strategy, executing the following task if the following task can be completed, and giving up the task if the following task cannot be completed;
and the ending module is used for detecting the residual tasks of the queue and executing ending work based on the detection result.
9. An apparatus comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and executed to perform the method of any of claims 1 to 7.
10. A readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method according to any one of claims 1 to 7.
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