CN113547520A - Manipulator movement alignment method, device and system and storage medium - Google Patents

Manipulator movement alignment method, device and system and storage medium Download PDF

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Publication number
CN113547520A
CN113547520A CN202110825239.2A CN202110825239A CN113547520A CN 113547520 A CN113547520 A CN 113547520A CN 202110825239 A CN202110825239 A CN 202110825239A CN 113547520 A CN113547520 A CN 113547520A
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CN
China
Prior art keywords
electric eye
scanning
coordinate
point
wrapping paper
Prior art date
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Pending
Application number
CN202110825239.2A
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Chinese (zh)
Inventor
谢正莹
赵磊
吴丰礼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Tuosida Technology Co ltd
Guangdong Topstar Technology Co Ltd
Original Assignee
Dongguan Tuosida Technology Co ltd
Guangdong Topstar Technology Co Ltd
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Publication date
Application filed by Dongguan Tuosida Technology Co ltd, Guangdong Topstar Technology Co Ltd filed Critical Dongguan Tuosida Technology Co ltd
Priority to CN202110825239.2A priority Critical patent/CN113547520A/en
Publication of CN113547520A publication Critical patent/CN113547520A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10Feeding, e.g. conveying, single articles
    • B65B35/16Feeding, e.g. conveying, single articles by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices
    • B65B57/10Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Abstract

The invention discloses a manipulator movement alignment method, a manipulator movement alignment device, a manipulator movement alignment system and a storage medium. The method comprises the following steps: controlling the conveyor belt to drive the packaging paper placed above to run; when the edge of the packaging paper firstly touches the light spot of the movable electric eye, the movable electric eye is controlled to move back and forth on the corresponding scanning sliding table according to preset movement data; acquiring scanning points corresponding to the moving electric eye and first coordinates of the scanning points in a conveyor belt coordinate system; determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point; and determining the target position of the packaging paper according to the coordinate of the first central point and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper. According to the technical scheme, when the precision requirement is low, the manipulator can move and align through one movable electric eye so as to reduce the cost, and when the precision requirement is high, the alignment precision is ensured through two movable electric eyes.

Description

Manipulator movement alignment method, device and system and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to a manipulator movement alignment method, a manipulator movement alignment device, a manipulator movement alignment system and a storage medium.
Background
The packaging paper is required to be used for packaging before the goods leave a factory, and in the goods packaging process, the pose of the packaging paper needs to be accurately positioned, so that the manipulator can accurately place the goods to be packaged on the specified position of the packaging paper.
Currently, commonly used wrapper positioning techniques include: visual static positioning and mobile positioning. The moving positioning is to scan the outline of the wrapping paper by using a moving electric eye under the state that the conveying line continuously runs.
In the moving positioning scheme in the prior art, the manipulator moves and aligns by installing three electric eyes, so that the cost is high and the calculation process is complex; or the manipulator moves and aligns through the movable electric eye and the fixed electric eye so as to reduce the cost, but the positioning precision is low when the fixed electric eye is adopted for positioning.
Disclosure of Invention
The embodiment of the invention provides a manipulator movement alignment method, a manipulator movement alignment device, a manipulator movement alignment system and a storage medium, so that when the precision requirement is low, the manipulator movement alignment can be realized through one movable electric eye to reduce the cost, and when the precision requirement is high, the alignment precision can be ensured through two movable electric eyes.
In a first aspect, an embodiment of the present invention provides a method for moving and aligning a manipulator, including:
controlling the conveyor belt to drive the packaging paper placed above to run;
when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data;
acquiring scanning points corresponding to the movable electric eye and first coordinates of the scanning points in a conveyor belt coordinate system, wherein the scanning points are formed by irradiating light beams of the movable electric eye on the edge of the wrapping paper;
determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point;
and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper.
In a second aspect, an embodiment of the present invention further provides a manipulator movement alignment apparatus, including:
the first control module is used for controlling the conveyor belt to drive the packaging paper placed above the conveyor belt to run;
the second control module is used for controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data when the edge of the packaging paper touches the light spot of the movable electric eye;
the acquisition module is used for acquiring scanning points corresponding to the movable electric eye and first coordinates of the scanning points in a conveyor belt coordinate system, wherein the scanning points are formed by irradiating light beams of the movable electric eye on the edge of the wrapping paper;
the first determining module is used for determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point;
and the second determining module is used for determining the target position of the packaging paper according to the first central point coordinate and the attitude angle and controlling the mechanical arm to place the object to be packaged on the target position of the packaging paper.
In a third aspect, an embodiment of the present invention further provides a manipulator movement alignment system, including: conveyer belt, one or two scanning slip tables, conveyer belt encoder, manipulator, memory, treater, the computer program that stores on the memory and can run on the treater, the scanning slip table perpendicular to the conveyer belt installation, its characterized in that: each scanning sliding table is provided with a servo motor encoder and a movable electric eye, and the manipulator movement alignment method in any embodiment of the invention is realized when the processor executes the program.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot movement alignment method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, one or two movable electric eyes are adopted to obtain each scanning point on the edge of the packing paper on the conveyor belt, the central point coordinate and the attitude angle of the packing paper are determined according to each scanned coordinate, and the target position of the packing paper is determined according to the central point coordinate and the attitude angle, so that a manipulator can place an object to be packed on the target position of the packing paper, and the problems that the manipulator is adopted to carry out manipulator movement alignment, the cost is high, and the calculation process is complex are solved; or carry out the manipulator through removing electric eye and fixed electric eye and remove the counterpoint to reduce cost, but the problem that positioning accuracy is low when adopting fixed electric eye to fix a position realizes that the manipulator removes the counterpoint with reduce cost through a removal electric eye when the accuracy requirement is low, when the accuracy requirement is high, through two removal electric eyes in order to guarantee to aim at the precision effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for aligning positions of a robot in a moving process according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robotic movement alignment system having a moving electric eye;
FIG. 3 is a schematic diagram of a robot motion alignment system with two moving electric eyes;
fig. 4 is a flowchart of a method for aligning by moving a manipulator according to a second embodiment of the present invention;
fig. 5 is a flowchart of another robot movement alignment method according to the second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot movement alignment device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a robot movement aligning method according to an embodiment of the present invention, which is applicable to a case where the robot is controlled to move to a target position of a wrapping paper on a conveyor belt, and the method can be performed by a robot movement aligning device according to an embodiment of the present invention, and the device can be implemented in software and/or hardware.
In an embodiment of the present invention, the robot moving and aligning method is applied to a robot moving and aligning system, and the system may include: the device comprises a conveying belt, one or two scanning sliding tables and a mechanical arm; each scanning sliding table is provided with a movable electric eye. The conveyor belt is used for placing wrapping paper and can bear the movement of the wrapping paper after the conveyor belt runs.
The robot movement alignment system may further include: and each scanning sliding table is provided with a servo motor encoder. The conveyor belt encoder is used for recording the conveying position of the conveyor belt, and the servo motor encoder is used for recording the moving position of the corresponding moving electric eye. The manipulator movement alignment system is adopted to execute the manipulator movement alignment method provided by the embodiment of the invention.
Illustratively, fig. 2 is a schematic diagram of a robotic movement alignment system having a moving electric eye. Fig. 3 is a schematic diagram of a robotic mobile alignment system with two mobile electric eyes. Wherein, a conveyor belt coordinate system and a packing paper coordinate system can be established in the manipulator movement alignment system. Conveyor belt coordinate system OcvXcvYcvCan be any position O near the scanning sliding tablecvThe coordinate system is established by taking the running direction of the conveyor belt as the positive direction of the X axis as an origin, and the positive direction of the Y axis is not limited. In order to facilitate subsequent calculation, the ordinate of more points on the wrapping paper can be made to be a positive value when the positive direction of the Y axis is established. Preferably, the conveyor belt coordinate system is selected to be the same coordinate system as the robot. Coordinate system O of packing paperlXlYlCan be any point O on the packing paperlAnd taking the edge of the packaging paper with the smallest included angle with the running direction of the conveyor belt as an original point, and keeping the positive direction of the X axis approximately consistent with the positive direction of the X axis of the conveyor belt coordinate system. The manipulator moving alignment system is suitable for rectangular packing paper with any size.
As shown in fig. 1, the method specifically includes the following steps:
and S110, controlling the conveyor belt to drive the packaging paper placed above to run.
In particular, in the process flow of packaging articles, the wrapping paper is usually placed on a conveyor belt, so that the corresponding process flow, such as cutting, gluing, packaging and the like, is conveniently executed when the wrapping paper reaches different production and processing apparatuses. When the manipulator moves to align the target position of the wrapping paper, the conveyor belt is controlled to operate, so that the wrapping paper placed above the conveyor belt is driven by the conveyor belt to move towards the scanning sliding table under the conveying of the conveyor belt.
And S120, when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset moving data.
The preset moving data comprise the moving direction, the moving speed, the moving distance and the like of the moving electric eye on the scanning sliding table, and the preset moving data are used for controlling the moving electric eye on the scanning sliding table to move. The preset movement data can be set according to the requirements of users, for example, the preset movement data can be set according to the length and/or the width of the wrapping paper.
Illustratively, in the process that the packaging paper on the conveying belt moves towards the scanning sliding table, when the edge of the packaging paper reaches the position below the scanning sliding table and the front edge of the packaging paper touches the light spot of the moving electric eye, the moving electric eye on the moving sliding table is controlled to move back and forth according to preset moving data, so that when the packaging paper on the conveying belt completely passes through the scanning sliding table, the light beam emitted by the moving electric eye can form a plurality of scanning points on the edge of the packaging paper. When the edge of the packaging paper touches the light spot of the movable electric eye, the movable electric eye is controlled to move back and forth on the movable sliding table, so that the movable electric eye can enter a dormant state when the packaging paper does not need to be scanned and enter a starting state when the packaging paper needs to be scanned, and the aim of saving energy is fulfilled.
S130, obtaining scanning points corresponding to the movable electric eye and first coordinates of the scanning points in the conveyor belt coordinate system, wherein the scanning points are formed by irradiating light spots of the movable electric eye on the edge of the wrapping paper.
Specifically, in the process that the wrapping paper on the conveying belt passes through the scanning sliding table, light spots emitted by the movable electric eye form a plurality of scanning points on the longitudinal edge and the transverse edge of the wrapping paper, and the scanning points are obtained in the conveying belt coordinate system OcvXcvYcvFirst coordinates of the lower. The longitudinal edge can be the edge of the packaging paper in the Y-axis direction, and the transverse edge can be the edge of the packaging paper in the X-axis direction.
Illustratively, each scanning point is in the conveyor belt coordinate system OcvXcvYcvThe first coordinate of the lower position can be determined according to the value latched by the belt encoder or the servo motor encoder when the light spot of the moving electric eye touches the edge of the wrapping paper. Each scanning point on the longitudinal edge is determined by the latched value of the servo motor encoder and each scanning point on the transverse edge is determined by the latched value of the conveyor belt encoder.
S140, determining the attitude angle and the first center point coordinate of the wrapping paper under the conveyor belt coordinate system according to the first coordinate of each scanning point.
Specifically, according to the first coordinate of each longitudinal scanning point on the longitudinal edge, the coordinate system O of the wrapping paper on the conveyor belt is determinedcvXcvYcvA lower attitude angle; determining the coordinate system O of the wrapper on the conveyor belt according to the attitude angle, the first coordinates of the longitudinal scanning points on the longitudinal edge and the first coordinates of the transverse scanning points on the transverse edgecvXcvYcvFirst center point coordinates of bottom.
In a specific example, determining the attitude angle under a conveyor belt coordinate system according to first coordinates of scanning points of a transverse edge on the wrapping paper, and determining the average value of the first abscissas of each scanning point as the abscissa of the first central point; and determining the mean value of the first vertical coordinates of the scanning points as the vertical coordinate of the first central point.
In another specific example, the second coordinate of the first coordinate of each scanning point in the middle coordinate system is determined, the second center point coordinate of the wrapping paper is determined according to the second coordinate of each scanning point, and the second center point coordinate is converted into the first center point coordinate in the conveyor belt coordinate.
S150, determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper.
The target position can be the center position of the wrapping paper, and also can be the upper left corner position or other set positions of the wrapping paper. The target position can be set according to the actual requirements of users, for example, the target position can be determined according to the packaging steps of the packaging paper.
Illustratively, the placement position of the wrapping paper on the conveyor belt is determined according to the coordinate of the first central point and the attitude angle, the target position is determined according to the position of the wrapping paper, and the manipulator is controlled to place the object to be packaged on the target position of the wrapping paper.
In the prior art, the method for determining the position of the packing paper by scanning through a plurality of electric eyes is high in cost, while the method for determining the position of the packing paper by scanning through one fixed electric eye and one movable electric eye is adopted, although the cost is reduced, the fixed electric eye can only obtain two scanning points on the longitudinal edge of the packing paper when the edge of the packing paper is scanned, and the requirement of high precision cannot be met; according to the scheme, the two movable electric eyes are adopted to scan the packaging paper, so that two longitudinal scanning points can be obtained on the longitudinal edge, and a plurality of transverse scanning points can be obtained on two transverse edges, therefore, the position of the packaging paper can be determined based on the coordinates of the scanning points, and the requirement of high precision can be met.
According to the technical scheme of the embodiment, the conveyor belt is controlled to drive the packaging paper placed above the conveyor belt to run; when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data; acquiring scanning points corresponding to the moving electric eye and first coordinates of the scanning points in a conveyor belt coordinate system; determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point; and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, controlling the manipulator to place the object to be packaged on the target position of the packaging paper, realizing the movement alignment of the manipulator through one movable electric eye to reduce the cost when the precision requirement is low, and ensuring the alignment precision through two movable electric eyes when the precision requirement is high.
Optionally, the acquiring the scanning point corresponding to the moving electric eye includes:
acquiring a longitudinal scanning point corresponding to the movable electric eye;
and acquiring a plurality of transverse scanning points corresponding to the moving electric eye.
In an embodiment of the present invention, the transverse edges of the wrapper may be the edges of the wrapper in the X-axis direction, and the longitudinal edges of the wrapper may be the edges of the wrapper in the Y-axis direction. The first longitudinal edge may be a longitudinal edge of the wrapping paper which firstly passes through the scanning sliding table, and the first longitudinal edge may be a longitudinal edge of the wrapping paper which secondly passes through the scanning sliding table. The longitudinal scanning point corresponding to the moving electric eye comprises the following steps: the device comprises a first longitudinal scanning point and a second longitudinal scanning point, wherein the first longitudinal scanning point corresponding to a moving electric eye is positioned on the first longitudinal edge of the wrapping paper, and the second longitudinal scanning point corresponding to the moving electric eye is positioned on the second longitudinal edge of the wrapping paper.
The first transverse edge can be a packaging paper transverse edge corresponding to one side of the first movable electric eye, and the second transverse edge can be a packaging paper transverse edge corresponding to one side of the second movable electric eye; each transverse scanning point corresponding to the first movable electric eye is positioned on a first transverse edge of the wrapping paper, and each transverse scanning point corresponding to the second movable electric eye is positioned on a second transverse edge of the wrapping paper.
Specifically, when the wrapping paper on the conveyor belt passes through the lower part of a movable electric eye arranged on the scanning table, and the movable electric eye moves back and forth in a small range above the transverse edge of the corresponding wrapping paper, the intersection point formed by the light spot of the movable electric eye and the transverse edge is used as a transverse scanning point, and the intersection point formed by the longitudinal edge is used as a longitudinal scanning point. The light spots of the movable electric eye form a longitudinal scanning point on two longitudinal edges of the packaging paper in sequence, and the scanning points determined on the longitudinal edges passing through the scanning table twice are a first longitudinal scanning point and a second longitudinal scanning point respectively; the number of the transverse scanning points formed on the corresponding transverse edge by the movable electric eye is determined by the preset movement data of the movable electric eye.
In a particular example, as shown in figure 2, when only one moving eye is provided, for example only the first moving eye, the light spot of the first moving eye forms a first longitudinal scanning spot a on each of the two longitudinal edges of the wrapper1And a second longitudinal scanning point A2(ii) a In the process that the first movable electric eye moves back and forth on the first scanning sliding table, light spots of the first movable electric eye form a plurality of transverse scanning points B on the first transverse edge of the packaging paperi(i-1, 2, …, m-8). For example, when only the second moving electric eye is arranged, the light spot of the second moving electric eye forms a first longitudinal scanning point A on two longitudinal edges of the wrapping paper respectively3And a second longitudinal scanning point A4(ii) a In the process that the second movable electric eye moves back and forth on the second scanning sliding table, light spots form a plurality of transverse scanning points C on the second transverse edge of the packaging paperj,(j=1,2,…,n;n=8)。
In another specific example, as shown in fig. 3, when the first scanning slide table is provided with the first moving electric eye and the second scanning slide table is provided with the second moving electric eye, the light spot of the first moving electric eye forms the first longitudinal scanning point a on the two longitudinal edges of the wrapping paper1And a second longitudinal scanning point A2(ii) a The light spot of the second movable electric eye forms a first longitudinal scanning point A on the second longitudinal edge of the wrapping paper3And a second longitudinal scanning point A4(ii) a The light spot of the first moving electric eye forms a plurality of transverse scanning points B on the first transverse edge of the wrapping paperi(i-1, 2, …, m; m-8); the light spot of the second moving electric eye forms a plurality of transverse scanning points C on the second transverse edge of the wrapping paperj,(j=1,2,…,n;n=8)。
Optionally, obtaining a first coordinate of each scanning point in the conveyor belt coordinate system includes:
acquiring a longitudinal latching value of the servo motor encoder and a transverse latching value of the conveyor belt encoder, wherein the servo motor encoder latches and obtains the longitudinal latching value when the light spot of the corresponding moving electric eye touches the longitudinal edge of the packaging paper; the conveyor belt encoder latches and obtains a transverse latch value when the light spot of the moving electric eye touches the transverse edge of the wrapping paper;
respectively determining first vertical coordinates of each scanning point corresponding to the movable electric eye according to each vertical latch value corresponding to the movable electric eye;
respectively determining a first abscissa of each scanning point corresponding to the movable electric eye according to each transverse latch value corresponding to the movable electric eye;
and for each scanning point, respectively determining a first coordinate of the scanning point according to a first ordinate of the scanning point and a first abscissa of the scanning point.
Specifically, when the conveyor belt drives the packaging paper to penetrate through the position below a movable electric eye arranged on the scanning sliding table, and a light spot of the movable electric eye touches the longitudinal edge of the packaging paper, a servo motor encoder corresponding to the movable electric eye is latched to obtain a longitudinal latching value, and when the light spot of the movable electric eye touches the transverse edge of the packaging paper, a conveyor belt encoder corresponding to the movable electric eye is latched to obtain a transverse latching value. When the light spot of the movable electric eye touches the edge of the wrapping paper, the longitudinal latch value latched by the corresponding servo motor encoder is determined as a first longitudinal coordinate of each scanning point acquired by the corresponding movable electric eye; the latched transverse latch value is determined as a first abscissa of each scanning point corresponding to the movable electric eye, and the first coordinate of each scanning point can be determined according to the first ordinate and the first abscissa. Wherein, the scanning point that the removal electric eye corresponds all includes: the scanning device comprises a first longitudinal scanning point, a second longitudinal scanning point and a plurality of transverse scanning points.
In a specific example, as shown in fig. 2, when only one moving electric eye is provided, for example, only the first moving electric eye is provided on the first scanning slide table, the first servo encoder latches a longitudinal latch value when the light spot of the first moving electric eye touches the longitudinal edge of the wrapping paper, and latches a transverse latch value when the light spot of the moving electric eye touches the transverse edge of the wrapping paper. The situation that the mobile electric eye only comprises the second mobile electric eye is similar to the situation that the mobile electric eye only comprises the first mobile electric eye, and the embodiment of the invention is not repeated.
In another specific example, as shown in fig. 3, when the first scanning slide table is provided with the first movable electric eye and the second scanning slide table is provided with the second movable electric eye, correspondingly, the first scanning slide table is further provided with the first servo encoder, and the second scanning slide table is further provided with the second servo encoder and the conveyor belt encoder. When the light spot of the first moving electric eye touches the first longitudinal edge of the wrapping paper, the first servo encoder performs latching to obtain a longitudinal latching value of a scanning point formed on the wrapping paper by the first moving electric eye, when the light spot of the second moving electric eye touches the second longitudinal edge of the wrapping paper, the second servo encoder performs latching to obtain a longitudinal latching value of a scanning point formed on the wrapping paper by the second moving electric eye, and the conveyor belt encoder performs latching to obtain a transverse latching value of each scanning shop at the transverse edge of the wrapping paper touched by the light spot of the second moving electric eye.
Example two
Fig. 4 is a flowchart of a robot movement aligning method according to a second embodiment of the present invention, which is optimized based on the above embodiments, in this embodiment, determining an attitude angle and a first center point coordinate of a wrapping paper under a conveyor belt coordinate system according to a first coordinate of each scanning point includes: determining the slope of each transverse edge of the wrapping paper under the conveyor belt coordinate system according to the first coordinate of the longitudinal scanning point corresponding to the mobile electric eye, and determining the attitude angle of the wrapping paper under the conveyor belt coordinate system according to each slope; selecting an intermediate coordinate system, wherein the origin of the intermediate coordinate system is the same as that of the conveyor belt coordinate system, and the coordinate axis direction of the intermediate coordinate system is consistent with that of the packaging paper coordinate system; determining a second coordinate of the first coordinate of each scanning point in the intermediate coordinate system based on the first matrix; the first matrix is determined by the attitude angle; according to each second coordinate, determining a second central point coordinate of the wrapping paper under the middle coordinate system; and determining the coordinate of a second central point of the wrapping paper on the basis of a second matrix, wherein the second matrix is determined by the attitude angle, and the coordinate of the first central point of the wrapping paper is under the coordinate system of the conveyor belt.
As shown in fig. 4, the method of this embodiment specifically includes the following steps:
and S210, controlling the conveyor belt to drive the packaging paper placed above to run.
And S220, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset moving data when the edge of the packaging paper touches the light spot of the movable electric eye for the first time.
And S230, acquiring scanning points corresponding to the movable electric eye and first coordinates of the scanning points in a conveyor belt coordinate system, wherein the scanning points are formed by irradiating light spots of the movable electric eye on the edge of the wrapping paper.
S240, determining the slope of the wrapping paper in the conveyor belt coordinate system according to the first coordinates of the transverse scanning points corresponding to the movable electric eye based on a least square method; and determining the attitude angle of the wrapping paper according to the slopes.
Specifically, based on the least square method, according to the first coordinates of each transverse scanning point corresponding to each moving electric eye, determining each transverse edge of the wrapping paper in the conveyor belt coordinate system OcvXcvYcvThe slope of the wrapping paper is determined according to the slope of the wrapping paper in the conveyor belt coordinate system OcvXcvYcvAttitude angle of down.
It will be appreciated that the attitude angle of the wrapper in said conveyor coordinate system corresponds to the wrapper coordinate system OlXlYlRelative to the conveyor belt coordinate system OcvXcvYcvAttitude angle of, i.e. the coordinate system O of the wrapperlXlYlX-axis and conveyor belt coordinate system OcvXcvYcvIs included angle between the X-direction axes.
In a specific example, as shown in fig. 2, when only one moving electric eye is provided, for example, only the first moving electric eye is provided on the first scanning stage, the first moving electric eye forms each transverse scanning point B on the first transverse edge of the wrapping paperi(i-1, 2, …, m-8) in the conveyor belt coordinate system OcvXcvYcvThe first coordinate ofThe slope of the first lateral edge isDetermining the coordinate system O of the wrapping paper on the conveyor belt according to the slope of the first transverse edgecvXcvYcvThe lower attitude angle θ is atan2 (k)B,1). The situation that the mobile electric eye only comprises the second mobile electric eye is similar to the situation that the mobile electric eye only comprises the first mobile electric eye, and the embodiment of the invention is not repeated.
In another specific example, as shown in fig. 3, when the first scanning slide table is onIs provided with a first movable electric eye, a second movable electric eye is arranged on the second scanning sliding table, and each transverse scanning point B formed by the light spot of the first movable electric eye on the first transverse edge of the packaging paperi(i-1, 2, …, m; m-8) has a first coordinate in the conveyor belt coordinate system ofEach transverse scanning point C formed by the light spot of the second movable electric eye on the first transverse edge of the wrapping paperj(j-1, 2, …, n-8) in the conveyor belt coordinate system OcvXcvYcvThe first coordinate ofThe slope of the first lateral edge isThe slope of the second transverse edge isAccording to the slope k of the first transverse edge of the wrapperBAnd the slope k of the second transverse edgeCDetermining the coordinate system O of the wrapping paper on the conveyor beltcvXcvYcvThe following attitude angles are:
and S250, selecting the middle coordinate system.
Wherein, as shown in FIG. 2 or FIG. 3, the intermediate coordinate system OtXtYtOrigin O oftAnd the conveyor belt coordinate system OcvXcvYcvOrigin O ofcvThe same is true. Said intermediate coordinate system OtXtYtAnd the coordinate axis direction of the wrapping paper and the coordinate system O of the wrapping paperlXlYlThe directions of the coordinate axes are consistent.
The attitude angle of the wrapping paper under the conveyor belt coordinate system is equivalent to a wrapping paper coordinate system OlXlYlRelative to the conveyor belt coordinate system OcvXcvYcvThe wrapping paper is seated on the conveyor belt
The attitude angle under the coordinate system is also equivalent to the intermediate coordinate system OtXtYtRelative to the conveyor belt coordinate system OcvXcvYcvThe attitude angle of (1).
And S260, determining second coordinates of the first coordinates of the scanning points in the middle coordinate system based on the first matrix.
Specifically, a first matrix is determined based on the attitude angle of the intermediate coordinate system relative to the conveyor belt coordinate system, and a second coordinate of each scanning point formed on the package under the intermediate coordinate system is determined according to the first coordinate and the first matrix of each scanning point under the conveyor belt coordinate system.
Illustratively, each longitudinal scanning point AkIn the conveyor belt coordinate system OcvXcvYcvThe first coordinate ofAnd the attitude angle is theta, and each scanning point A is determined based on the first matrixkIn said intermediate coordinate system OtXtYtSecond coordinate ofThe first matrix is determined by the attitude angle θ, and may be, for example:
the second coordinateCan be as follows:
for the first movementEach transverse scanning point B of the electric eye on the first transverse edge of the packing paperiAccording to each transverse scanning point BiIn the conveyor belt coordinate system OcvXcvYcvFirst coordinate ofAnd an attitude angle theta, determining each of the scanning points BiIn the intermediate coordinate system OtXtYtSecond coordinate ofComprises the following steps:
for each transverse scanning point C of the second moving electric eye on the second transverse edge of the wrapperj BiAccording to each transverse scanning point CjIn the conveyor belt coordinate system OcvXcvYcvFirst coordinate ofAnd an attitude angle theta, determining each of the scanning points CjIn the intermediate coordinate system OtXtYtSecond coordinate ofComprises the following steps:
and S270, determining a second central point coordinate of the wrapping paper under the middle coordinate system according to the second coordinate of each scanning point.
Specifically, each transverse scanning point B corresponding to the moving electric eyeiAnd/or the second coordinate in the middle coordinate system and the second coordinate in the middle coordinate system of each longitudinal scanning point corresponding to the movable electric eye, and determining the position of the movable electric eyeAnd the second central point coordinate of the wrapping paper under the intermediate coordinate system.
In a specific example, if the mobile electric eye only comprises: the first movable electric eye determines a second center point abscissa of the wrapping paper in the middle coordinate system according to a second abscissa of each transverse scanning point of the first movable electric eye on the first transverse edge in the middle coordinate system; and determining a second central point ordinate of the wrapping paper in the middle coordinate system according to a second ordinate of the two longitudinal scanning points corresponding to the first movable electric eye in the middle coordinate system. The situation that the mobile electric eye only comprises the second mobile electric eye is similar to the situation that the mobile electric eye only comprises the first mobile electric eye, and the embodiment of the invention is not repeated.
In a specific example, if the moving electric eye includes two moving electric eyes, namely a first moving electric eye and a second moving electric eye, the abscissa of the second center point of the wrapping paper in the middle coordinate system is determined according to the second abscissa of each transverse scanning point of the first moving electric eye on the first transverse edge in the middle coordinate system and the second abscissa of each transverse scanning point of the second moving electric eye on the second transverse edge in the middle coordinate system.
And S280, determining the first central point coordinate of the second central point coordinate of the wrapping paper in the conveyor belt coordinate system based on the second matrix.
In particular, according to an intermediate coordinate system OtXtYtRelative to the conveyor belt coordinate system OcvXcvYcvThe second matrix is determined, the coordinate of the second central point of the packing paper in the middle coordinate system is converted based on the second matrix, and the coordinate of the first central point of the packing paper in the conveyor belt coordinate system is determined. Wherein the second matrix is determined by the attitude angle.
Illustratively, if the second center point of the wrapper is located at the coordinateDetermining the coordinate (x) of the first center point of the second center point of the wrapping paper in the coordinate system of the conveyor belt based on the second matrixc,yc) The second matrix is determined by the attitude angle θ, and may be, for example:
the first center point coordinate (x)c,yc) Can be as follows:
s290, determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper.
According to the technical scheme of the embodiment, the conveyor belt is controlled to drive the packaging paper placed above the conveyor belt to run; when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data; acquiring scanning points corresponding to the moving electric eye and first coordinates of the scanning points in a conveyor belt coordinate system; determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point; and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, controlling the manipulator to place the object to be packaged on the target position of the packaging paper, realizing the movement alignment of the manipulator through one movable electric eye to reduce the cost when the precision requirement is low, and ensuring the alignment precision through two movable electric eyes when the precision requirement is high. Meanwhile, the attitude angle of the packing paper under the conveyor belt coordinate system is determined by adopting a least square method, so that the accuracy of determining the position of the central point of the packing paper is improved.
Optionally, the determining, according to each second coordinate, a second central point coordinate of the wrapping paper in the intermediate coordinate system includes:
determining the second abscissa mean value of each longitudinal scanning point as the second central point abscissa of the wrapping paper;
determining a second central point ordinate of the wrapping paper according to a second ordinate mean value of each transverse scanning point;
determining a second central point coordinate of the wrapping paper under the middle coordinate system according to the second central point abscissa and the second central point ordinate;
wherein, vertical scanning point includes: a first longitudinal scanning spot and a second longitudinal scanning spot. The first longitudinal scanning point comprises: the first moving electric eye and/or the second electric eye form a scanning point on the first longitudinal edge of the wrapping paper; the second longitudinal scanning point comprises: the first moving eye and/or the second moving eye form a scanning spot on the second longitudinal edge of the wrapper. The second coordinates of each longitudinal scanning point include: a second abscissa and a second ordinate.
Specifically, the average value of the abscissa of each longitudinal scanning point formed on the wrapping paper by the moving electric eye is calculated, and the average value is determined as the second central point abscissa of the wrapping paper. And calculating the average value of the second vertical coordinates of the transverse scanning points formed on the wrapping paper by the movable electric eye, and determining the vertical coordinate of the second center point of the wrapping paper according to the average value of the second vertical coordinates of the transverse scanning points corresponding to the movable electric eye. And determining the second central point coordinate of the wrapping paper under the middle coordinate system according to the second central point abscissa and the second central point ordinate.
In a specific example, as shown in fig. 2, when only one moving electric eye is provided, for example, only the first moving electric eye is provided on the first scanning stage, the light spot of the first moving electric eye forms first longitudinal scanning points a on both longitudinal edges of the wrapping paper, respectively1And a second longitudinal scanning point A2(ii) a (ii) a The abscissa of the second central point of the wrapping paperComprises the following steps:
wherein the content of the first and second substances,andthe light spots of the first moving electric eye form a first longitudinal scanning point A on a first longitudinal edge of the wrapping paper1And forming a second longitudinal scanning spot A on a second longitudinal edge of the wrapper2A second abscissa in the intermediate coordinate system.
Similarly, when only the second scanning sliding table is provided with the second movable electric eye, the abscissa of the second central point of the packaging paper isComprises the following steps:
wherein the content of the first and second substances,anda first longitudinal scanning point A formed by the light spot of the second moving electric eye on the first longitudinal edge of the wrapping paper3And a second longitudinal scanning spot A formed on a second longitudinal edge of the wrapper4A second abscissa in the intermediate coordinate system.
In another specific example, as shown in fig. 3, when the first scanning slide table is provided with the first moving electric eye and the second scanning slide table is provided with the second moving electric eye, the light spot of the first moving electric eye forms the first longitudinal scanning point a on the two longitudinal edges of the wrapping paper1And a second longitudinal scanning point A2(ii) a The light spot of the second movable electric eye forms a first longitudinal scanning point A on the second longitudinal edge of the wrapping paper3And a second longitudinal scanning point A4(ii) a Second center point abscissa of wrapping paperComprises the following steps:
wherein the content of the first and second substances,andrespectively, a first longitudinal scanning point A1And A3Is measured with respect to the second central abscissa of the bar,andrespectively, the second longitudinal scanning point A2And A4Second central abscissa of (a).
Optionally, the determining a second central point ordinate of the wrapping paper according to a second ordinate mean value of each of the transverse scanning points includes:
if the mobile electric eye comprises: determining the sum of the second ordinate mean value of each transverse scanning point corresponding to the movable electric eye and one half length of the first longitudinal edge of the wrapping paper as the second central point ordinate of the wrapping paper by using the first movable electric eye or the second movable electric eye;
if the mobile electric eye comprises: and the sum of the second ordinate mean value of each transverse scanning point corresponding to the first movable electric eye and the second ordinate mean value of each transverse scanning point corresponding to the second movable electric eye is determined as the second central point ordinate of the wrapping paper by the first movable electric eye and the second movable electric eye.
In a particular example, when only one moving electric eye is provided, for example only the first moving electric eye, the second centre point of the wrapper has, on the ordinate:
wherein, W1Being the length of the first longitudinal edge of the wrapper,and m is a second ordinate of a first transverse scanning point formed on the first transverse edge of the wrapping paper by the first movable electric eye and the number of the first transverse scanning points respectively.
Similarly, when only one moving electric eye is provided, for example only a second moving electric eye, the second centre point ordinate of the wrapper is:
wherein, W2Being the length of the second longitudinal edge of the wrapper,and n is a second ordinate of a second transverse scanning point formed on the second transverse edge of the wrapping paper by the second moving electric eye and the number of the second transverse scanning points, respectively. It will be appreciated that for a rectangular wrapper, W1=W2
In another specific example, when the first scanning slide table is provided with the first movable electric eye and the second scanning slide table is provided with the second movable electric eye, the ordinate of the second center point of the wrapping paper is:
as shown in fig. 5, the specific steps of the embodiment of the present invention are: the installation scans the slip table, removes electric eye, servo motor encoder, transfer chain encoder and manipulator, builds the manipulator and removes alignment system to set for the wrapping paper size in the manipulator removes alignment system. When the wrapping paper on the conveyor belt is conveyed to the front edge of the wrapping paper to trigger the moving electric eye, values of a servo motor encoder and a conveyor line encoder corresponding to the moving electric eye are latched, coordinates of scanning points generated by light spots of the moving electric eye on the edge of the wrapping paper are determined according to the values of the latched servo motor encoder and the conveyor line encoder, coordinates of a central point and an attitude angle of the wrapping paper are determined according to the coordinates of the scanning points, so that a target position of the wrapping paper is determined, and a manipulator is controlled to place an article to be packaged on the target position of the wrapping paper. If the size of the packing paper needs to be changed, the size of the packing paper is set in the manipulator moving alignment system again, and the set parameters of the movable electric eye are correspondingly modified.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a robot movement alignment apparatus according to a third embodiment of the present invention. The embodiment can be applied to the case of controlling the robot to move to the target position of the wrapping paper on the conveyor belt, the device can be implemented in a software and/or hardware manner, and the device can be integrated into any equipment which provides the function of robot moving alignment, as shown in fig. 6, and the device for robot moving alignment specifically comprises: a first control module 310, a second control module 320, an acquisition module 330, a first determination module 340, and a second determination module 350.
The first control module 310 is used for controlling the conveyor belt to drive the packaging paper placed above the conveyor belt to run;
the second control module 320 is used for controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data when the edge of the packaging paper touches the light spot of the movable electric eye;
the obtaining module 330 is configured to obtain scanning points corresponding to the moving electric eye and first coordinates of each scanning point in a conveyor belt coordinate system, where the scanning points are formed by light spots of the moving electric eye irradiating on the edge of the wrapping paper;
the first determining module 340 is used for determining the attitude angle and the first central point coordinate of the wrapping paper under the conveyor belt coordinate system according to the first coordinate of each scanning point;
and a second determining module 350, configured to determine a target position of the wrapping paper according to the first central point coordinate and the attitude angle, and control the manipulator to place the object to be wrapped on the target position of the wrapping paper.
Optionally, the obtaining module 330 is specifically configured to:
acquiring a longitudinal scanning point corresponding to the moving electric eye, wherein the longitudinal scanning point comprises: a first longitudinal scan point and a second longitudinal scan point, said first longitudinal scan point being located on a first longitudinal edge of said wrapper and said second longitudinal scan point being located on a second longitudinal edge of said wrapper;
acquiring a plurality of transverse scanning points corresponding to the movable electric eye; each transverse scanning point corresponding to the first movable electric eye is positioned on a first transverse edge of the wrapping paper, and each transverse scanning point corresponding to the second movable electric eye is positioned on a second transverse edge of the wrapping paper.
Optionally, the obtaining module 330 is further configured to:
acquiring a longitudinal latching value of the servo motor encoder and a transverse latching value of the conveyor belt encoder, wherein the servo motor encoder latches and obtains the longitudinal latching value when the light spot of the corresponding moving electric eye touches the longitudinal edge of the packaging paper; the conveyor belt encoder latches and obtains a transverse latch value when the light spot of the moving electric eye touches the transverse edge of the wrapping paper;
respectively determining first vertical coordinates of each scanning point corresponding to the movable electric eye according to each vertical latch value corresponding to the movable electric eye;
respectively determining a first abscissa of each scanning point corresponding to the movable electric eye according to each transverse latch value corresponding to the movable electric eye;
for each scanning point, respectively determining a first coordinate of the scanning point according to a first ordinate of the scanning point and a first abscissa of the scanning point;
the scanning point comprises: the scanning device comprises a first longitudinal scanning point, a second longitudinal scanning point and a plurality of transverse scanning points.
Optionally, the first determining module 340 includes:
the attitude angle determining unit is used for determining the attitude angle of the wrapping paper under the conveyor belt coordinate system according to the first coordinates of the transverse scanning points corresponding to the mobile electric eye based on a least square method;
the coordinate system selecting unit is used for selecting a middle coordinate system, the origin of the middle coordinate system is the same as that of the conveyor belt coordinate system, and the coordinate axis direction of the middle coordinate system is consistent with that of the wrapping paper coordinate system;
a first determining unit, configured to determine, based on the first matrix, a second coordinate of the first coordinate of each scanning point in the intermediate coordinate system; the first matrix is determined by the attitude angle;
the second determining unit is used for determining a second central point coordinate of the wrapping paper under the middle coordinate system according to a second coordinate of each scanning point;
and the third determining unit is used for determining the first center point coordinate of the second center point coordinate of the wrapping paper in the conveyor belt coordinate system based on a second matrix, and the second matrix is determined by the attitude angle.
Optionally, the second determining unit includes:
the abscissa determining subunit is used for determining a second abscissa mean value of each longitudinal scanning point corresponding to the mobile electric eye as a second central-point abscissa of the wrapping paper;
the ordinate determining subunit is configured to determine a second central ordinate of the wrapping paper according to a second ordinate mean value of each of the transverse scanning points corresponding to the moving electric eye;
and the central coordinate determining subunit is used for determining a second central point coordinate of the wrapping paper under the middle coordinate system according to the second central point abscissa and the second central point ordinate.
Optionally, the ordinate determines the subunit, and is specifically configured to:
if the mobile electric eye comprises: determining the sum of the second ordinate mean value of each transverse scanning point corresponding to the movable electric eye and one half length of the first longitudinal edge of the wrapping paper as the second central point ordinate of the wrapping paper by using the first movable electric eye or the second movable electric eye;
if the mobile electric eye comprises: and the sum of the second ordinate mean value of each transverse scanning point corresponding to the first movable electric eye and the second ordinate mean value of each transverse scanning point corresponding to the second movable electric eye is determined as the second central point ordinate of the wrapping paper by the first movable electric eye and the second movable electric eye.
The manipulator movement aligning device can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
The fourth embodiment of the present invention provides a manipulator movement alignment system, including: the device comprises a conveying belt, one or two scanning sliding tables, a conveying belt encoder, a mechanical arm, a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the scanning sliding tables are arranged perpendicular to the conveying belt, and a servo motor encoder and a movable electric eye are respectively arranged on each scanning sliding table. The processor executes various functional applications and data processing by running the program stored in the memory, for example, implementing the robot movement alignment method provided by the embodiment of the present invention: controlling the conveyor belt to drive the packaging paper placed above to run; when the edge of the packaging paper touches the light spot of each movable electric eye, each movable electric eye is controlled to move back and forth on the corresponding scanning sliding table according to preset movement data; acquiring scanning points corresponding to the moving electric eyes and first coordinates of the scanning points in a conveyor belt coordinate system; determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point; and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper. Figure 2 shows a robot alignment system with only one moving electric eye. Figure 3 shows a robot alignment system with two moving electric eyes. The robotic alignment system shown in fig. 2 or 3 is only an example and should not impose any limitations on the functionality or scope of use of embodiments of the invention.
The robot movement aligning system shown in fig. 2 includes: the device comprises a conveying belt 410, a scanning sliding table 420, a conveying belt encoder 430, a memory (not shown in FIG. 2), a processor (not shown in FIG. 2) and a manipulator (not shown in FIG. 2), wherein the scanning sliding table 420 is installed perpendicular to the conveying belt 410, and a servo motor encoder 440 and a moving electric eye 450 are arranged on the scanning sliding table 420; the mobile electric eye 450 includes: a first moving electric eye or a second moving electric eye; the conveyor belt 410 is used for driving the packing paper 460 on the conveyor belt to run, so that the conveyor belt passes below the scanning sliding table; the mobile electric eye arranged on the scanning sliding table 420 is used for moving back and forth with preset mobile data when the edge of the wrapping paper touches the light spot of the mobile electric eye, so that a longitudinal scanning point is respectively formed on two longitudinal edges of the wrapping paper when the light spot passes through the lower part of the scanning sliding table, and a plurality of transverse scanning points are formed on the transverse edge corresponding to the mobile electric eye in the wrapping paper. The conveyor belt encoder 430 is used for latching when the light spot of the moving electric eye touches the transverse edge of the wrapping paper to obtain a transverse latching value of a scanning point formed on the edge of the wrapping paper by the first moving electric eye; the servo motor encoder 440 is used for latching when the light spot of the movable electric eye touches the longitudinal edge of the wrapping paper to obtain a longitudinal latching value of a scanning point formed on the edge of the wrapping paper by the movable electric eye; the manipulator is used for placing the object to be packaged at the target position of the packaging paper after the target position of the packaging paper is determined. Wherein, the preset movement data of the movable electric eye can be determined according to the length of the transverse edge of the wrapping paper.
The robot movement aligning system shown in fig. 3 includes: the system comprises a conveyor belt 410, a first scanning slide table 4201, a second scanning slide table 4202, a conveyor belt encoder 430, a memory (not shown in fig. 3), a processor (not shown in fig. 3), and a robot (not shown in fig. 3), wherein the first scanning slide table 4201 and the second scanning slide table 4202 are both mounted perpendicular to the conveyor belt 410, and a first servo motor encoder 4401 and a first moving electric eye 4501 are arranged on the first scanning slide table 4201; a second servo motor encoder 4402 and a second movable electric eye 4502 are arranged on the second scanning sliding table 4202; . The first movable electric eye 451 is used for moving back and forth with first preset moving data on the first scanning sliding table when the edge of the wrapping paper touches the light spot of the first movable electric eye, so that the light spot forms a longitudinal scanning point on each of two longitudinal edges of the wrapping paper in the process that the wrapping paper passes through the lower part of the first scanning sliding table, and a plurality of transverse scanning points are formed on the first transverse edge corresponding to the first movable electric eye in the wrapping paper. Similarly, when the edge of the wrapping paper touches the light spot of the second moving electric eye, the second moving electric eye 4502 moves back and forth on the second scanning sliding table according to second preset moving data, so that the light spot forms a longitudinal scanning point on each of two longitudinal edges of the wrapping paper and a plurality of transverse scanning points on a second transverse edge of the wrapping paper corresponding to the second moving electric eye in the process that the wrapping paper passes through the position below the second scanning sliding table. The first movable electric eye and the second movable electric eye move on the respective scanning sliding tables and do not conflict with each other. When the packing paper with different sizes is replaced, the preset moving data of the moving electric eye can be adjusted according to the length of the longitudinal edge of the packing paper.
The manipulator movement alignment system can execute the manipulator movement alignment method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fifth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot moving and aligning method according to the embodiments of the present invention: controlling the conveyor belt to drive the packaging paper placed above to run; when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data; acquiring scanning points corresponding to the moving electric eye and first coordinates of the scanning points in a conveyor belt coordinate system; determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point; and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. The manipulator moving and aligning method is applied to computer equipment in a manipulator moving and aligning system, and the system further comprises: the device comprises a conveying belt, a scanning sliding table and a manipulator; be equipped with the removal electric eye on the scanning slip table, the removal electric eye includes: a first moving electric eye and/or a second moving electric eye, the method comprising:
controlling the conveyor belt to drive the packaging paper placed above to run;
when the edge of the packaging paper touches the light spot of the movable electric eye for the first time, controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data;
acquiring scanning points corresponding to the movable electric eye and first coordinates of the scanning points in a conveyor belt coordinate system, wherein the scanning points are formed by irradiating light beams of the movable electric eye on the edge of the wrapping paper;
determining an attitude angle and a first central point coordinate of the wrapping paper under the conveyor belt coordinate system according to the first coordinate of each scanning point;
and determining the target position of the packaging paper according to the first central point coordinate and the attitude angle, and controlling the manipulator to place the object to be packaged on the target position of the packaging paper.
2. The method of claim 1, wherein the obtaining of the scanning spot corresponding to the moving electric eye comprises:
acquiring a longitudinal scanning point corresponding to the moving electric eye, wherein the longitudinal scanning point comprises: a first longitudinal scan point and a second longitudinal scan point, said first longitudinal scan point being located on a first longitudinal edge of said wrapper and said second longitudinal scan point being located on a second longitudinal edge of said wrapper;
acquiring a plurality of transverse scanning points corresponding to the movable electric eye; each transverse scanning point corresponding to the first movable electric eye is positioned on a first transverse edge of the wrapping paper, and each transverse scanning point corresponding to the second movable electric eye is positioned on a second transverse edge of the wrapping paper.
3. The method of claim 2, wherein the robotic movement alignment system further comprises: servo motor encoder and conveyer belt encoder, every moves electric eye and corresponds a servo encoder respectively, and is corresponding, acquires each the first coordinate of scanning point under the conveyer belt coordinate system, includes:
acquiring a longitudinal latching value of the servo motor encoder and a transverse latching value of the conveyor belt encoder, wherein the servo motor encoder latches and obtains the longitudinal latching value when the light spot of the corresponding moving electric eye touches the longitudinal edge of the packaging paper; the conveyor belt encoder latches and obtains a transverse latch value when the light spot of the moving electric eye touches the transverse edge of the wrapping paper;
respectively determining first vertical coordinates of each scanning point corresponding to the movable electric eye according to each vertical latch value corresponding to the movable electric eye;
respectively determining a first abscissa of each scanning point corresponding to the movable electric eye according to each transverse latch value corresponding to the movable electric eye;
for each scanning point, respectively determining a first coordinate of the scanning point according to a first ordinate of the scanning point and a first abscissa of the scanning point;
the scanning point comprises: the scanning device comprises a first longitudinal scanning point, a second longitudinal scanning point and a plurality of transverse scanning points.
4. A method according to claim 1, wherein determining from the first coordinates of each of said scanned points the attitude angle of the wrapper in said conveyor coordinate system comprises:
determining the slope of the wrapping paper under the conveyor belt coordinate system according to the first coordinates of the transverse scanning points corresponding to the mobile electric eye based on a least square method;
and determining the attitude angle of the wrapping paper according to the slopes.
5. A method according to claim 1, wherein determining coordinates of a first centre point of a wrapper in said conveyor coordinate system from said first coordinates of each of said scanned points comprises:
selecting an intermediate coordinate system, wherein the origin of the intermediate coordinate system is the same as that of the conveyor belt coordinate system, and the coordinate axis direction of the intermediate coordinate system is consistent with that of the packaging paper coordinate system;
determining a second coordinate of the first coordinate of each scanning point in the intermediate coordinate system based on the first matrix; the first matrix is determined by the attitude angle;
according to the second coordinate of each scanning point, determining the second central point coordinate of the wrapping paper under the middle coordinate system;
and determining the coordinate of a second central point of the wrapping paper on the basis of a second matrix, wherein the second matrix is determined by the attitude angle, and the coordinate of the first central point of the wrapping paper is under the coordinate system of the conveyor belt.
6. The method according to claim 5, wherein said determining coordinates of a second center point of said wrapper in said intermediate coordinate system based on said second coordinates of each of said scanned points comprises:
determining a second abscissa mean value of each longitudinal scanning point corresponding to the mobile electric eye as a second central point abscissa of the wrapping paper;
determining a second central point ordinate of the wrapping paper according to a second ordinate mean value of each transverse scanning point corresponding to the mobile electric eye;
and determining a second central point coordinate of the wrapping paper under the middle coordinate system according to the second central point abscissa and the second central point ordinate.
7. The method according to claim 6, wherein said determining a second center point ordinate of the wrapper based on a second ordinate mean of the respective transversely scanned points corresponding to the moving eye comprises:
if the mobile electric eye comprises: determining the sum of the second ordinate mean value of each transverse scanning point corresponding to the movable electric eye and one half length of the first longitudinal edge of the wrapping paper as the second central point ordinate of the wrapping paper by using the first movable electric eye or the second movable electric eye;
if the mobile electric eye comprises: and the sum of the second ordinate mean value of each transverse scanning point corresponding to the first movable electric eye and the second ordinate mean value of each transverse scanning point corresponding to the second movable electric eye is determined as the second central point ordinate of the wrapping paper by the first movable electric eye and the second movable electric eye.
8. The utility model provides a manipulator removes aligning device which characterized in that includes:
the first control module is used for controlling the conveyor belt to drive the packaging paper placed above the conveyor belt to run;
the second control module is used for controlling the movable electric eye to move back and forth on the corresponding scanning sliding table according to preset movement data when the edge of the packaging paper touches the light spot of the movable electric eye;
the acquisition module is used for acquiring scanning points corresponding to the movable electric eye and first coordinates of the scanning points in a conveyor belt coordinate system, wherein the scanning points are formed by irradiating light beams of the movable electric eye on the edge of the wrapping paper;
the first determining module is used for determining an attitude angle and a first central point coordinate of the wrapping paper under a conveyor belt coordinate system according to the first coordinate of each scanning point;
and the second determining module is used for determining the target position of the packaging paper according to the first central point coordinate and the attitude angle and controlling the mechanical arm to place the object to be packaged on the target position of the packaging paper.
9. A manipulator movement alignment system includes: conveyer belt, one or two scanning slip tables, conveyer belt encoder, manipulator, memory, treater, the computer program that stores on the memory and can run on the treater, the scanning slip table perpendicular to the conveyer belt installation, its characterized in that: a servo motor encoder and a movable electric eye are respectively arranged on each scanning sliding table, and the manipulator movement alignment method as claimed in any one of claims 1 to 7 is realized when the processor executes the program.
10. A computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the robot movement registration method according to any one of claims 1 to 7.
CN202110825239.2A 2021-07-21 2021-07-21 Manipulator movement alignment method, device and system and storage medium Pending CN113547520A (en)

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