CN114405848A - Workpiece placement control method and device, sorting system and storage medium - Google Patents
Workpiece placement control method and device, sorting system and storage medium Download PDFInfo
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- CN114405848A CN114405848A CN202210022220.9A CN202210022220A CN114405848A CN 114405848 A CN114405848 A CN 114405848A CN 202210022220 A CN202210022220 A CN 202210022220A CN 114405848 A CN114405848 A CN 114405848A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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Abstract
The invention provides a workpiece placement control method and device, a sorting system and a storage medium, wherein the method comprises the following steps: acquiring image information of a target workpiece; controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces; determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placing position; and controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance. According to the invention, the tracking encoder is arranged on the conveying line to accurately control the placing distance of the target workpieces, so that the problem that the target workpieces are damaged due to stacking of the target workpieces is avoided, and the productivity is greatly improved while the placing efficiency of the target workpieces is improved.
Description
Technical Field
The invention relates to the technical field of automatic sorting, in particular to a workpiece placement control method and device, a sorting system and a storage medium.
Background
At present, when a robot is used for placing a workpiece, such as a steel plate with a specific shape, on a station on a conveying line, a plurality of pairs of photoelectric sensors are usually arranged in a robot placing area, whether the workpiece is placed on the station of the conveying line is detected through the photoelectric sensors, and when the workpiece is not placed on the conveying line, the workpiece is controlled by the robot to move and placed on the station.
However, whether the workpiece is placed on the station is detected through the photoelectric sensor, false detection signals are easy to occur, so that the distance is inaccurate to control, the workpiece is placed and stacked, the workpiece is damaged, and the distance is placed due to the fact that the workpiece cannot be accurately detected, the placing efficiency of the workpiece is greatly reduced, and the productivity is reduced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, a first object of the present invention is to provide a workpiece placement control method, which can accurately control the placement distance of target workpieces by providing a tracking encoder on a conveying line, so as to avoid the problem that the target workpieces are stacked and damaged, thereby greatly improving the productivity while improving the placement efficiency of the target workpieces.
To this end, a second object of the present invention is to provide a work placing control apparatus.
To this end, a third object of the invention is to propose a sorting system.
To this end, a fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention proposes a workpiece placement control method for a workpiece placement control apparatus, the apparatus including: a conveyor line and a tracking encoder disposed on the conveyor line for determining a distance of the target workpiece along a direction of movement of the conveyor line, the method comprising: acquiring image information of the target workpiece; controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces; determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placing position; and controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance. .
According to the workpiece placement control method provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece is determined to reach the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, so that the placement interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
In some embodiments, controlling the target workpiece to move a preset distance in a preset direction according to the image information of the target workpiece includes: determining coordinate information of the target workpiece according to the image information of the target workpiece; and controlling the target workpiece to move the preset distance along the preset direction according to the coordinate information.
In some embodiments, determining the distance of movement of the target workpiece in the direction of movement of the conveyor line after the target workpiece reaches the placement location comprises: determining the placing time when the target workpiece reaches the placing position; and recording the moving distance of the target workpiece along the moving direction of the conveying line from the placing moment.
In some embodiments, controlling the placement of the target workpieces based on the length of the target workpieces in the direction of movement of the conveyor line, the distance between the target workpieces in the direction of movement of the conveyor line, and the distance of movement includes: determining the calibration distance of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line; when the movement distance is larger than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line; and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state.
To achieve the above object, an embodiment of a second aspect of the present invention proposes a workpiece placement control apparatus including: the acquisition module is used for acquiring the image information of the target workpiece; the first control module is used for controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces; the determining module is used for determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placing position; and the second control module is used for controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance.
According to the workpiece placement control device provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece is determined to reach the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, so that the placement interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
In some embodiments, the first control module is specifically configured to: determining coordinate information of the target workpiece according to the image information of the target workpiece; and controlling the target workpiece to move the preset distance along the preset direction according to the coordinate information.
In some embodiments, the determining module is specifically configured to: determining the placing time when the target workpiece reaches the placing position; and recording the moving distance of the target workpiece along the moving direction of the conveying line from the placing moment.
In some embodiments, the second control module is specifically configured to: determining the calibration distance of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line; when the movement distance is larger than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line; and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state. To achieve the above object, an embodiment of a third aspect of the present invention proposes a sorting system, including: the workpiece placement control apparatus of the above embodiment.
According to the sorting system provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece reaches the placing position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placing state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, which are stored in the controller, so that the placing interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, the placing efficiency of the target workpiece is improved, and the productivity is greatly improved.
To achieve the above object, an embodiment of a fourth aspect of the present invention proposes a computer-readable storage medium having stored thereon a workpiece placement control program that, when executed by a processor, implements the workpiece placement control method as described in the above embodiment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic configuration diagram of a workpiece placement control apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a workpiece placement control method according to one embodiment of the present invention;
FIG. 3 is a block diagram of a workpiece placement control apparatus according to one embodiment of the present invention;
fig. 4 is a block diagram of a sorting system according to one embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
In an embodiment, as shown in fig. 1, a schematic structural diagram of a workpiece placement control apparatus according to an embodiment of the present invention is shown. The workpiece placing control device 2 comprises a conveying line 10, a tracking encoder 11 arranged on the conveying line, a robot 12, a grabbing end pick-up 13, a target workpiece 14, a vision module (not shown in the figure) and a controller (not shown in the figure), when grabbing of the target workpiece is carried out, various information of the robot 12 and the target workpiece 14 is obtained in advance through the controller, the controller processes the obtained information to provide a placing distance for subsequent placing of the target workpiece 14, the moving distance of the target workpiece 14 on the conveying line 10 is recorded according to the tracking encoder 11, placing of the robot 12 and tracking of the target workpiece 14 are dynamically controlled, the placing distance between the target workpieces 14 is accurately controlled, stacking of the target workpieces 14 is avoided, and the productivity is greatly improved while the placing efficiency of the target workpieces 14 is improved.
A workpiece placement control method according to an embodiment of the present invention will be described below.
The workpiece placement control method according to the embodiment of the present invention will be described below with reference to fig. 1 and 2, and as shown in fig. 2, the workpiece placement control method according to the embodiment of the present invention includes at least steps S1 to S4.
In step S1, image information of the target workpiece is acquired.
In the embodiment, the target workpiece is a workpiece to be grabbed and placed, before the target workpiece is placed on the conveying line, the original workpiece is photographed through a vision module such as a camera, after the photographing is completed, the image information of the target workpiece is obtained by processing the image of the original workpiece, and the robot can be conveniently controlled to move according to the image information of the target workpiece by obtaining the image information of the target workpiece.
And step S2, controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces.
In an embodiment, after image information of a target workpiece is acquired, a robot determines a designated position of the target workpiece according to the image information, at this time, the robot is controlled to move to the designated position to grab the target workpiece, and after the grabbing is completed, the target workpiece is controlled to move along a preset direction by a preset distance, that is, the target workpiece is moved to a position above a target workpiece placement position by the robot to wait, at this time, the robot moves data information such as the length of the target workpiece along the moving direction of a conveying line, that is, the placement length of the target workpiece when the target workpiece is placed on the conveying line; the distance between the target workpieces along the moving direction of the conveying line and the placement position of the target workpieces are obtained, and the controller is convenient to determine the calibration distance of the target workpieces on the conveying line by obtaining the information.
And step S3, determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placing position.
In an embodiment, after the target workpieces are placed at the placing positions by the robot, the tracking encoder starts to record the moving distance of the target workpieces on the conveying line, and the placing distance between the target workpieces can be accurately controlled by determining the moving distance of the target workpieces on the conveying line. The motion of the robot and the dynamic tracking of the placement of the target workpiece are realized by arranging the tracking encoder on the conveying line.
And step S4, controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance.
In the embodiment, after the movement distance of the target workpiece along the movement direction of the conveying line is determined by the tracking encoder, the movement distance is sent to a controller, after the movement distance is controlled and received, the length of the target workpiece along the movement direction of the conveying line is determined to account for the distance of the conveying line and the distance between the target workpieces along the movement direction of the conveying line, and calculating the total distance of the two distances, using the total distance as a calibration distance, comparing the magnitude relationship between the movement distance and the calibration distance, based on the relationship between the two, the placing state of the target workpiece is controlled, the accurate control of the placing distance of the target workpiece is realized, stable and reliable incoming material information is provided for the next procedure, the problem that the target workpiece is damaged due to the fact that the target workpiece is placed in a stacked mode is solved, and therefore the placing efficiency of the target workpiece 14 is improved, and meanwhile the productivity is greatly improved.
According to the workpiece placement control method provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece is determined to reach the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, which are stored in the controller, so that the accurate control of the placement distance of the target workpiece is realized, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
In some embodiments, controlling the target workpiece to move a preset distance in a preset direction according to the image information of the target workpiece includes: determining coordinate information of the target workpiece according to the image information of the target workpiece; and controlling the target workpiece to move a preset distance along a preset direction according to the coordinate information.
In the embodiment, after the image information of the target workpiece is determined, the image information of the target workpiece is processed and analyzed to obtain the coordinate information of the target workpiece, and after the coordinate information of the target workpiece is determined, the robot is controlled to move to the coordinate according to the coordinate information to capture the target workpiece.
In some embodiments, determining the distance of movement of the target workpiece in the direction of movement of the conveyor line after the target workpiece reaches the placement location comprises: determining the placing time when the target workpiece reaches the placing position; and determining the movement distance of the target workpiece along the movement direction of the conveying line according to the placing time.
In an embodiment, after the target workpiece reaches the placement position, the current placement time is recorded, and the moving distance of the target workpiece on the conveying line is recorded from the time, so that the target workpiece placement position is tracked.
In some embodiments, controlling the placement of the target workpieces based on the length of the target workpieces in the direction of movement of the conveyor line, the distance between the target workpieces in the direction of movement of the conveyor line, and the distance of movement includes: determining the calibration distance of the target workpiece according to the length of the target workpiece along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line; when the movement distance is larger than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line; and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state.
In the embodiment, after the length of the target workpiece along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line are determined, the information is sent to the controller, the controller calculates the distance between the target workpieces in the moving direction of the conveying line and the distance between the target workpieces in the moving direction of the conveying line to obtain a calibration distance, the calibration distance is compared with the moving distance, when the moving distance is greater than the calibration distance, the target workpieces are controlled to be placed on the setting position of the conveying line, and at the moment, the target workpieces are considered not to be stacked; when the movement distance is smaller than or equal to the calibration distance, the target workpiece is controlled to be at the initial position, and at the moment, the target workpiece is considered to be possibly stacked, so that the workpiece is damaged.
According to the workpiece placement control method provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece is determined to reach the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, so that the placement interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
A workpiece placement control apparatus of an embodiment of the present invention is described below.
As shown in fig. 3, the workpiece placement control apparatus 2 of the embodiment of the present invention includes: the system comprises an acquisition module 20, a first control module 21, a determination module 22 and a second control module 23, wherein the acquisition module 20 is used for acquiring image information of a target workpiece; the first control module 21 is configured to control the target workpiece to move a preset distance in a preset direction according to the image information of the target workpiece, and obtain the length of the target workpiece in the moving direction of the conveying line, the distance between the target workpieces in the moving direction of the conveying line, and the placement position of the target workpiece; the determining module 22 is used for determining the moving distance of the target workpiece along the moving direction of the conveying line after the target workpiece reaches the placing position; the second control module 23 is used for controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveyor line, the distance between the target workpieces along the moving direction of the conveyor line and the moving distance.
According to the workpiece placement control device 2 provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece is determined to reach the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, so that the placement interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
In some embodiments, the first control module 21 is specifically configured to: determining coordinate information of the target workpiece according to the image information of the target workpiece; and controlling the target workpiece to move a preset distance along a preset direction according to the coordinate information.
In some embodiments, the determining module 22 is specifically configured to: determining the placing time when the target workpiece reaches the placing position; and determining the movement distance of the target workpiece along the movement direction of the conveying line according to the placing time.
In some embodiments, the second control module 23 is specifically configured to: determining the calibration distance of the target workpiece according to the length of the target workpiece along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line; when the movement distance is greater than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line; and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state.
A sorting system of an embodiment of the present invention is described below.
As shown in fig. 4, the sorting system 3 of the embodiment of the present invention includes the workpiece placement control device 2 of the above-described embodiment.
According to the sorting system 3 provided by the embodiment of the invention, the tracking encoder is arranged on the conveying line, after the target workpiece reaches the placement position, the moving distance of the target workpiece along the moving direction of the conveying line is recorded according to the tracking encoder, and the placement state of the target workpiece is controlled according to the length of the target workpiece along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance, so that the placement interval of the target workpiece is accurately controlled, stable and reliable incoming material information is provided for the next process, the problem that the target workpiece is damaged due to stacking of the target workpiece is avoided, and the productivity is greatly improved while the placement efficiency of the target workpiece is improved.
To achieve the above object, an embodiment of a fourth aspect of the present invention proposes a computer-readable storage medium having stored thereon a workpiece placement control program that, when executed by a processor, implements the workpiece placement control method as in the above embodiment.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A workpiece placement control method, characterized by being used for a workpiece placement control apparatus, the apparatus comprising: the device comprises a conveying line and a tracking encoder arranged on the conveying line, wherein the tracking encoder is used for determining the movement distance of the target workpiece along the movement direction of the conveying line, and the method comprises the following steps:
acquiring image information of the target workpiece;
controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces;
determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placement position;
and controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance.
2. The workpiece placement control method according to claim 1, wherein controlling the target workpiece to move a preset distance in a preset direction according to the image information of the target workpiece comprises:
determining coordinate information of the target workpiece according to the image information of the target workpiece;
and controlling the target workpiece to move the preset distance along the preset direction according to the coordinate information.
3. The workpiece placement control method according to claim 1, wherein determining the movement distance of the target workpiece in the direction of movement of the conveyor line after the target workpiece reaches the placement position comprises:
determining the placing time when the target workpiece reaches the placing position;
and recording the moving distance of the target workpiece along the moving direction of the conveying line from the placing moment.
4. The workpiece placement control method according to claim 1, wherein controlling the placement state of the target workpieces on the basis of the length of the target workpieces in the moving direction of the conveyor line, the distance between the target workpieces in the moving direction of the conveyor line, and the moving distance comprises:
determining the calibration distance of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line;
when the movement distance is larger than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line;
and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state.
5. A workpiece placement control apparatus, comprising:
the acquisition module is used for acquiring the image information of the target workpiece;
the first control module is used for controlling the target workpieces to move for a preset distance along a preset direction according to the image information of the target workpieces, and acquiring the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the placement positions of the target workpieces;
the determining module is used for determining the movement distance of the target workpiece along the movement direction of the conveying line after the target workpiece reaches the placing position;
and the second control module is used for controlling the placing state of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line, the distance between the target workpieces along the moving direction of the conveying line and the moving distance.
6. The workpiece placement control device according to claim 5, wherein the first control module is specifically configured to:
determining coordinate information of the target workpiece according to the image information of the target workpiece;
and controlling the target workpiece to move the preset distance along the preset direction according to the coordinate information.
7. The workpiece placement control device according to claim 5, wherein the determination module is specifically configured to:
determining the placing time when the target workpiece reaches the placing position;
and recording the moving distance of the target workpiece along the moving direction of the conveying line from the placing moment.
8. The workpiece placement control device according to claim 5, wherein the second control module is specifically configured to:
determining the calibration distance of the target workpieces according to the length of the target workpieces along the moving direction of the conveying line and the distance between the target workpieces along the moving direction of the conveying line;
when the movement distance is larger than the calibration distance, controlling the target workpiece to be placed on the setting position of the conveying line;
and when the movement distance is smaller than or equal to the calibration distance, controlling the target workpiece to be in an initial position state.
9. A sorting system, characterized by comprising a workpiece placement control device according to any of claims 5-8.
10. A non-transitory computer-readable storage medium, wherein a workpiece placement control program is stored thereon, the workpiece placement control program, when executed by a processor, implementing the workpiece placement control method according to any one of claims 1 to 4.
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| CN214975837U (en) * | 2021-04-02 | 2021-12-03 | 武汉天之逸科技有限公司 | Robot transfer chain is trailed letter sorting teaching system in coordination |
| CN113426704A (en) * | 2021-08-02 | 2021-09-24 | 杭州乾锦输送设备有限公司 | High-speed automatic sorting line |
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