CN114872054A - Method for positioning robot hand for industrial manufacturing of packaging container - Google Patents
Method for positioning robot hand for industrial manufacturing of packaging container Download PDFInfo
- Publication number
- CN114872054A CN114872054A CN202210810147.1A CN202210810147A CN114872054A CN 114872054 A CN114872054 A CN 114872054A CN 202210810147 A CN202210810147 A CN 202210810147A CN 114872054 A CN114872054 A CN 114872054A
- Authority
- CN
- China
- Prior art keywords
- robot
- positioning
- module
- manipulator
- packaging container
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000011157 data evaluation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005238 degreasing Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a robot positioning method for industrial manufacturing of packaging containers, relates to the technical field of control and measurement, and solves the technical problem of robot positioning for industrial manufacturing of packaging containers. The adopted method is that the signal processing is completed by a computing unit through designing a program with an algorithm capable of executing the positioning and the picking of the robot; the shortest path positioning algorithm combining machine vision and a Floeider interpolation method is constructed, parameter characteristic point matrixing processing can be automatically completed according to changes of the robot before and after movement, movement parameter changes of the robot are clearly expressed, positioning planning processing of the robot is completed, and accurate position positioning is measured through the machine vision. The invention can realize the positioning control and intelligent evaluation of the industrial manufacturing robot arm so as to improve the positioning evaluation capability of the robot arm.
Description
Technical Field
The invention relates to the technical field of control and measurement, in particular to a robot positioning method for industrial manufacturing of packaging containers.
Background
The packaging container is generally a general name of a packaging device, a material and other auxiliary materials used according to a certain technical specification in order to protect commodities, facilitate storage, facilitate transportation, promote sales, prevent environmental pollution and prevent safety accidents during commodity circulation. The packaging container is a product combining packaging materials and shapes, and comprises a packaging bag, a packaging box, a packaging bottle, a packaging can, a packaging box and the like. The packaging boxes listed in modern logistics packaging lines mainly comprise corrugated cartons, wooden boxes, pallet assembly packages, containers and plastic turnover boxes, which have various characteristics in the aspect of meeting the commodity transportation and packaging functions and must be reasonably selected and used according to actual needs. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, and can automatically execute work and realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. Industrial robots can replace human beings to perform long-time operations which are monotonous, frequent and repeated in industrial production, or operations in dangerous and severe environments, such as processes of stamping, die casting, heat treatment, welding, coating, forming of plastic products, machining, simple assembly and the like, and in departments of atomic energy industry and the like, to carry materials harmful to human bodies or perform technological operations.
How to realize the positioning of the robot for the industrial manufacturing of the packaging container is an urgent problem to be solved, the prior art usually adopts a laser technology, an infrared measurement and the like, and although the technology can also improve the positioning of the robot for the industrial manufacturing of the packaging container to a certain extent, the positioning evaluation of the robot cannot be realized by a big data evaluation method.
Disclosure of Invention
Aiming at the technical defects, the invention discloses a robot positioning method for industrial manufacturing of a packaging container, which can realize the positioning control and intelligent evaluation of the robot for industrial manufacturing so as to improve the positioning evaluation capability of the robot.
In order to achieve the technical effects, the invention adopts the following technical scheme:
a method for positioning a robot for the industrial manufacture of packaging containers comprises the following steps:
the method comprises the following steps: the mobile manipulator based on the packaging container is provided with a wheel type mobile base, a battery is arranged in the wheel type mobile base, a manipulator controller is further arranged in the mobile manipulator, industrial manufacturing data information is collected by arranging a manipulator sensor and a vision sensor, and the manipulator controller respectively outputs control signals to a mobile base and a control arm for mobile navigation and article pickup; the manipulator arm is used for picking up the size, shape, weight and position information of the object,
extending the vertical accessibility of the robot by mounting the manipulator arm on a vertical actuator stage which will enable the manipulator arm to be raised and lowered for the end-chucks to reach the upper and lower pick-up positions; the vacuum suction at the suction cups is engaged and disengaged by the robot controller actuating the valves, allowing the robot to grasp the contacted desired picked item, move the item into the packaging container and release it for packaging operations;
step two: the packaging container-based movable manipulator is also provided with an operation interface, wherein the operation interface comprises a graphical display monitor and input equipment, and the input equipment is a touch screen, a voice command, a keyboard, an input button or terminal equipment; the operator interface is configured to enable a user to command and control the mobile robot to perform localized tasks and to manually input product pick-up scheduling information to thereby send the mobile robot to perform packaging tasks;
step three: the movable manipulator based on the packaging container is also provided with one or more safety lamps or flashlights, an audible warning annunciator or loudspeaker and one or more emergency stop buttons, and positioning fault information is displayed at some other point on an operation interface; stopping operation of the packaging container based mobile robot when the robot sensor detects an unstable or unsafe diagnostic condition of the packaging container based mobile robot; stopping the operation of the movable robot based on the packaging container when the robot sensor detects a person or an obstacle nearby; processing by a robot controller;
step four: the robot controller may be configured to run a set of programs with algorithms capable of performing robot positioning and picking, signal processing being done by the computing unit; the calculation unit comprises a shortest path positioning algorithm combining machine vision and a Floiede interpolation method, the shortest path positioning algorithm can automatically complete parameter characteristic point matrixing processing according to the change of the robot hand before and after moving, so that the change of the moving parameters of the robot hand is clearly expressed, the positioning planning processing of the robot hand is completed, and the accurate position positioning is measured through the machine vision;
the shortest path positioning algorithm comprises the following steps:
step (1): calculating the moving distance lengths of the robots of the two time nodes by the formula (1):
in the formula (1), subscripts A and B are moving points of the manipulator;
representing the distance length from the robot node A to the next measuring point B;
representing the current telescopic rod length of the robot hand;
and
two time nodes representing a and B;
representing the speed of movement of the mobile robot.
Step (2): performing matrixing processing according to the moving distance length calculated by the formula (1) to obtain a distance matrix D between a plurality of movable manipulator positioning measurement points, wherein the distance matrix D is expressed as:
in equation (2), A, B, C, D each represent a mobile robot positioning measurement point;
representing that two adjacent movable robots are positioned and have no path conflict; the position relation of the movable manipulator can be seen through the matrix D;
and step 3: a mobile robot ranging and shadow matching approximate position solution may be calculated from a vision sensor
Weighted average of (a):
in the formula (3), the first and second groups,
and
respectively a shadow matching and visual ranging position solution,
and
is a weight matrix for each solution; using mobile robot position solution
Weighting it so as to implicitly assume that its error distribution is gaussian; a final mobile robot position solution is computed using a least squares estimate to extract a set of pseudorange measurements from a distance matrix D, expressed as:
in the formula (4), the first and second groups,
is an estimated state vector, including the position and time solutions,
is the state vector of the previous prediction(s),
is a vector of measurements of the position of the object,
is based on
Predicted measurement vector, W p Is a weighting matrix, represented by the following formula:
in the formula (5), the first and second groups,
is the probability that the mobile robot is in the current position,
is the estimated pseudo-range error standard deviation, and the output of the mobile robot position solution through equation (4) can enable the shadow matching of the machine vision sensor to be generally more accurate in the sight line direction, thereby meeting the requirement of high precision of robot positioning.
As a further technical scheme of the invention, the robot controller comprises a human-computer interaction module, an I/O module, a motion control module, a real-time monitoring module, a communication module and a servo module.
As a further technical scheme of the invention, the motion control module is a multi-axis integrated motion controller combined by a DSP chip and an FPGA chip.
As a further technical scheme of the invention, the man-machine interaction module is provided with a central processing unit, a memory connected with the central processing unit, an input module, an output module, a communication interface, a power supply module and an expansion interface module.
The invention has the following positive beneficial effects:
the invention completes signal processing through a computing unit by designing a program with an algorithm capable of executing robot positioning and picking; the shortest path positioning algorithm combining machine vision and a Floeider interpolation method is constructed, parameter characteristic point matrixing processing can be automatically completed according to changes of the robot before and after movement, movement parameter changes of the robot are clearly expressed, positioning planning processing of the robot is completed, and accurate position positioning is measured through the machine vision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive exercise, wherein:
FIG. 1 is a schematic view of the overall structure of a robot according to the present invention;
FIG. 2 is a schematic perspective view of a manipulator according to the present invention;
FIG. 3 is a schematic diagram of a robot controller according to the present invention;
FIG. 4 is a schematic diagram of a human-computer interaction structure according to the present invention;
the attached drawings are as follows: the spraying equipment degreasing chamber 1, the hardware mechanical fittings 2, the supporting device 3, the nozzle 4, the cleaning chemical supply 5, the conduit 6, the pump 7, the conduit 8, the drain pipe 9, the sensor 10, the signal wire 11, the controller 12, the signal wire 13 and the battery 14.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, and it should be understood that the embodiments described herein are merely for the purpose of illustrating and explaining the present invention and are not intended to limit the present invention.
As shown in fig. 1 and 2, a method for positioning a robot for industrial manufacture of packaging containers comprises the following steps:
the method comprises the following steps: the mobile robot based on the packaging container is provided with a wheel type mobile base 9, a battery 14 is arranged in the wheel type mobile base 9, a robot controller is further arranged in the mobile robot, industrial manufacturing data information is collected by arranging a robot sensor 1 and a vision sensor 15, and the robot controller respectively outputs control signals to a mobile base 9 and an operating arm 2 for mobile navigation and article pickup; the manipulator arm 2 is used to pick up item size, shape, weight and position information, the highly free manipulator arm 2 providing the maneuverability needed to pick up items for packaging in any configuration; the vertical accessibility of the robot is extended by mounting the manipulator arm 2 on a vertical actuator stage, which will enable the manipulator arm 2 to be raised and lowered in order for the end-effector 13 to reach the upper and lower pick-up positions; the vacuum suction at suction cup 13 is engaged and disengaged by the robot controller actuating the valve, thereby allowing the robot to grasp the contacted desired picked item, move the item into packaging container 6 and release it for packaging;
step two: the movable manipulator based on the packaging container is also provided with an operation interface 4, wherein the operation interface 4 comprises a graphical display monitor and an input device, and the input device is a touch screen, a voice command, a keyboard, an input button or a terminal device; the operation interface 4 is arranged to enable a user to command and control the mobile robot to perform a localized task and to manually input product pick-up scheduling information, thereby sending the mobile robot to perform a packaging task; in a particular embodiment, the packaging container based mobile robot may contain an external exchangeable memory port on one side, and when the operator plugs into the data storage device, the necessary information may be transferred directly to the mobile robot, thereby bypassing wireless communication to the server; the data storage device may be a magnetic disk, a USB flash memory device, or other form of external memory storage device; in other embodiments, the data is transmitted via proximity communication techniques, such as near field communication, bluetooth, or short range radio frequency identification, among other communication protocol standards.
Step three: the mobile manipulator based on the packaging container is also provided with one or more safety lights or flashlights 8, an audible warning annunciator or horn, one or more emergency stop buttons 7, displaying the positioning fault information at some other point on the operation interface 4; stopping operation of the packaging container based mobile robot when the robot sensor 1, 15 detects an unstable or unsafe diagnostic condition of the packaging container based mobile robot; when the robot sensors 1 and 15 detect that people or obstacles are nearby, the operation of the movable robot based on the packaging container is stopped; processing by a robot controller; the speed and/or operating direction of the mobile robot may then be controlled.
Step four: the robot controller may be configured to run a set of programs with algorithms capable of performing robot positioning and picking, signal processing being done by the computing unit; the calculation unit comprises a shortest path positioning algorithm combining machine vision and a Floedor interpolation method, the shortest path positioning algorithm can automatically complete parameter characteristic point matrixing processing according to the change of the robot before and after movement, so that the change of the movement parameters of the robot is clearly expressed, the positioning planning processing of the robot is completed, and the accurate position positioning is measured through the machine vision;
the shortest path positioning algorithm comprises the following steps:
step (1): calculating the moving distance length of the robot hand at two time nodes by the formula (1):
in the formula (1), subscripts A and B are moving points of the manipulator;
representing the distance length from the robot node A to the next measuring point B;
representing the current telescopic rod length of the robot hand;
and
two time nodes representing a and B;
representing the speed of movement of the mobile robot.
Step (2): performing matrixing processing according to the moving distance length calculated by the formula (1) to obtain a distance matrix D between a plurality of movable manipulator positioning measurement points, wherein the distance matrix D is expressed as:
in equation (2), A, B, C, D each represent a mobile robot positioning measurement point;
representing that two adjacent movable robots are positioned and have no path conflict; the position relation of the movable manipulator can be seen through the matrix D;
and step 3: from the vision sensor 15, the approximate position solution for mobile robot ranging and shadow matching can be calculated
Weighted average of (a):
in the formula (3), the first and second groups,
and
respectively a shadow matching and visual ranging position solution,
and
is a weight matrix for each solution; using mobile robot position solution
Weighting it so as to implicitly assume that its error distribution is gaussian; a final mobile robot position solution is computed using a least squares estimate to extract a set of pseudorange measurements from a distance matrix D, expressed as:
in the formula (4), the first and second groups,
is an estimated state vector, including the position and time solutions,
is the state vector of the previous prediction(s),
is a vector of measurements of the position of the object,
is based on
Predicted measurement vector, W p Is a weighting matrix, represented by the following formula:
in the formula (5), the first and second groups,
is the probability that the mobile robot is in the current position,
is the estimated pseudo-range error standard deviation, and the output of the mobile robot position solution through equation (4) can enable the shadow matching of the machine vision sensor to be generally more accurate in the sight line direction, thereby meeting the requirement of high precision of robot positioning.
The algorithm can automatically complete parameter characteristic point matrixing processing according to the change of the robot before and after moving, so that the change of the moving parameters of the robot is clearly expressed, the positioning planning processing of the robot is completed, and accurate position positioning is measured through machine vision.
In the above embodiments, the robot controller includes a human-machine interaction module, an I/O module, a motion control module, a real-time monitoring module, a communication module, and a servo module.
In the above embodiment, the motion control module is a multi-axis integrated motion controller combined by a DSP and an FPGA chip.
As shown in fig. 3, the motion control module adopts a multi-axis integrated motion controller combining Digital Signal Processing (DSP) + FPGA chip, which is an "embedded PC and motion control card integrated" controller, and can simultaneously control up to 8 axes, which has higher reliability and interference immunity, and can realize more complex and accurate robot motion control, and the control system module does not need a professional touch screen (HMI), and the controller is already integrated inside, and only needs to be connected with a common display. The motion control module does not need to install a hardware PLC, the PLC control function is realized by writing a software program, the program written on the PLC can be modified according to the actual situation on site, and the motion control module has strong universality and good transportability. The servo module adopts a Sanyo (SANYO) alternating current servo motor, the servo motor has the advantages of small volume and good rigidity, the module mainly receives motion instructions of motion control, including the rotation angle, the rotation speed and the torque of the servo motor, and has the advantages of small inertia, quick response, stable rotation and the like, in order to ensure the stable operation of the robot under the high-speed condition, a driver with high rigidity is adopted for transmission, and other overload capacities are considered at the same time
In particular embodiments, the robot controller may be configured to process and store task information to be packaged in a Warehouse Management System (WMS) and may coordinate the fulfillment of tasks with the mobile robot; all signal processing on the robot controller may be performed by one or more internal computing units;
in particular embodiments, the robot controller may have two software modules, the first of which is a task scheduling module that analyzes the task of an item that the robot needs to wrap received from the WMS and determines which of a plurality of mobile robots to assign to the task; upon selection of a mobile robotic pick task, the robotic controller issues a Stock Keeping Unit (SKU) location command indication, the robotic controller in close cooperation with the robotic status monitor to obtain key feedback information.
In particular embodiments, the robot controller may be further operable to store and process centralized SKU information in a SKU database that stores information required by the mobile robot to complete a task sort; the processing of the SKU specific information is performed within a SKU analysis software module; the SKU information may include SKU size and shape data, which may include physical dimensions and 3D geometry, and SKU marker codes, which may include bar codes and UPC data, and the robot controller may store information in a SKU database regarding locations and areas on the surface of each SKU unit that the mobile robot is or is not allowed to grasp; this allows the mobile robot hand to grasp an item in a known safe and stable manner and prevents the robot from grasping the item at a certain point or in an unsafe or unstable manner.
As shown in fig. 4, in the above embodiment, the human-computer interaction module is provided with a central processing unit, and a memory, an input module, an output module, a communication interface, a power supply module and an expansion interface module which are connected with the central processing unit.
In a specific embodiment, the power supply part plays an important role in the whole human-computer interaction structure block diagram, can provide system operation voltage, and ensures that the image obtained by the robot is stable; the CPU controls and commands the whole human-computer interaction structure; the memory stores the required hardware and software safely, the original factory system code is usually solidified in the system memory, and the user can not rewrite the system code in the read-only memory. In particular embodiments, the control module may employ an FX3U-64MR-ES core control chip.
Although specific embodiments of the present invention have been described above, it will be understood by those skilled in the art that these specific embodiments are merely illustrative and that various omissions, substitutions and changes in the form of the detail of the methods and systems described above may be made by those skilled in the art without departing from the spirit and scope of the invention. For example, it is within the scope of the present invention to combine the steps of the above-described methods to perform substantially the same function in substantially the same way to achieve substantially the same result. Accordingly, the scope of the invention is to be limited only by the following claims.
Claims (4)
1. A method for positioning a robot hand for industrial manufacturing of packaging containers is characterized in that: the method comprises the following steps:
the method comprises the following steps: a wheel type moving base (9) is arranged on the basis of a movable manipulator of a packaging container, a battery (14) is arranged in the wheel type moving base (9), a manipulator controller is further arranged in the movable manipulator, industrial manufacturing data information is collected by arranging a manipulator sensor (1) and a vision sensor (15), and the manipulator controller respectively outputs control signals to the moving base (9) and a control arm (2) for moving navigation and article pickup; the control arm (2) is used for picking up the size, shape, weight and position information of the article;
the vertical accessibility of the robot is extended by mounting the manipulator arm (2) on a vertical actuator stage, which will enable the manipulator arm (2) to be raised and lowered in order for the end-suction cups (13) to reach the upper and lower pick-up positions; the vacuum suction at the suction cup (13) is engaged and disengaged by a robot controller actuating a valve, thereby allowing the robot to grasp the contacted desired picked item, move the item into the packaging container (6) and release it for packaging work;
step two: the packaging container based movable manipulator is also provided with an operation interface (4), wherein the operation interface (4) comprises a graphic display monitor and an input device, and the input device is a touch screen, a voice command, a keyboard, an input button or a terminal device; the operation interface (4) is arranged to enable a user to command and control the mobile machine to perform a localized task and to manually input product pick-up scheduling information, thereby sending the mobile machine to perform a packaging task;
step three: the movable manipulator based on the packaging container is also provided with one or more safety lamps or flashlights (8), an audible warning annunciator or loudspeaker and one or more emergency stop buttons (7), and positioning fault information is displayed at some other point on the operation interface (4); stopping operation of the packaging container based mobile robot when the robot sensor (1) detects an unstable or unsafe diagnostic condition of the packaging container based mobile robot; when the robot sensor (1) detects that people or obstacles are nearby, the operation of the movable robot based on the packaging container is stopped; processing by a robot controller;
step four: the robot controller may be configured to run a set of programs with algorithms capable of performing robot positioning and picking, signal processing being done by the computing unit; the calculation unit comprises a shortest path positioning algorithm combining machine vision and a Floedor interpolation method, the shortest path positioning algorithm can automatically complete parameter characteristic point matrixing processing according to the change of the robot before and after movement, so that the change of the movement parameters of the robot is clearly expressed, the positioning planning processing of the robot is completed, and the accurate position positioning is measured through the machine vision;
the shortest path positioning algorithm comprises the following steps:
step (1): calculating the moving distance length of the robot hand at two time nodes by the formula (1):
in the formula (1), subscripts A and B are moving points of the manipulator;
representing the distance length from the robot node A to the next measuring point B;
representing the current telescopic rod length of the robot hand;
and
two time nodes representing a and B;
representing a moving speed of the mobile robot;
step (2): performing matrixing processing according to the moving distance length calculated by the formula (1) to obtain a distance matrix D between a plurality of movable manipulator positioning measurement points, wherein the distance matrix D is expressed as:
in equation (2), A, B, C, D each represent a mobile robot positioning measurement point;
represents twoAdjacent movable manipulator positioning measurement points have no path conflict; the position relation of the movable manipulator can be seen through the matrix D;
and step 3: from the vision sensor (15) a mobile robot ranging and shadow matching approximate position solution can be calculated
Weighted average of (a):
in the formula (3), the first and second groups,
and
respectively a shadow matching and visual ranging position solution,
and
is a weight matrix for each solution; using mobile robot position solution
Weighting it so as to implicitly assume that its error distribution is gaussian; a final mobile robot position solution is computed using a least squares estimate to extract a set of pseudorange measurements from a distance matrix D, expressed as:
in the formula (4), the first and second groups,
is an estimated state vector, including the position and time solutions,
is the state vector of the previous prediction(s),
is a vector of measurements of the position of the object,
is based on
Predicted measurement vector, W p Is a weighting matrix, represented by the following formula:
in the formula (5), the first and second groups,
is the probability that the mobile robot is in the current position,
is the estimated pseudo-range error standard deviation, and the output of the mobile robot position solution through equation (4) can enable the shadow matching of the machine vision sensor to be generally more accurate in the sight line direction, thereby meeting the requirement of high precision of robot positioning.
2. The method for positioning a robot hand for the industrial manufacture of packaging containers as claimed in claim 1, wherein: the robot controller comprises a man-machine interaction module, an I/O module, a motion control module, a real-time monitoring module, a communication module and a servo module.
3. The method for positioning a robot hand for industrial manufacture of packaging containers as claimed in claim 1, wherein: the motion control module is a multi-axis integrated motion controller combined by a DSP chip and an FPGA chip.
4. The method for positioning a robot hand for the industrial manufacture of packaging containers as claimed in claim 1, wherein: the man-machine interaction module is provided with a central processing unit, a memory connected with the central processing unit, an input module, an output module, a communication interface, a power supply module and an expansion interface module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810147.1A CN114872054A (en) | 2022-07-11 | 2022-07-11 | Method for positioning robot hand for industrial manufacturing of packaging container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810147.1A CN114872054A (en) | 2022-07-11 | 2022-07-11 | Method for positioning robot hand for industrial manufacturing of packaging container |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114872054A true CN114872054A (en) | 2022-08-09 |
Family
ID=82683032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210810147.1A Pending CN114872054A (en) | 2022-07-11 | 2022-07-11 | Method for positioning robot hand for industrial manufacturing of packaging container |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114872054A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264402A1 (en) * | 2007-08-20 | 2011-10-27 | Renishaw Plc | Course of motion determination |
| CN105643625A (en) * | 2016-03-07 | 2016-06-08 | 合肥工业大学 | Working mechanism of single-station feeding production processing system based on mechanical arm |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN110260866A (en) * | 2019-07-19 | 2019-09-20 | 闪电(昆山)智能科技有限公司 | A kind of robot localization and barrier-avoiding method of view-based access control model sensor |
| CN110428465A (en) * | 2019-07-12 | 2019-11-08 | 中国科学院自动化研究所 | View-based access control model and the mechanical arm grasping means of tactile, system, device |
| CN110442125A (en) * | 2019-07-15 | 2019-11-12 | 电子科技大学 | A kind of dynamic path planning method of mobile robot |
| WO2021134776A1 (en) * | 2020-01-03 | 2021-07-08 | Nokia Shanghai Bell Co., Ltd. | Obtaining a navigation path |
-
2022
- 2022-07-11 CN CN202210810147.1A patent/CN114872054A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264402A1 (en) * | 2007-08-20 | 2011-10-27 | Renishaw Plc | Course of motion determination |
| CN105643625A (en) * | 2016-03-07 | 2016-06-08 | 合肥工业大学 | Working mechanism of single-station feeding production processing system based on mechanical arm |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN110428465A (en) * | 2019-07-12 | 2019-11-08 | 中国科学院自动化研究所 | View-based access control model and the mechanical arm grasping means of tactile, system, device |
| CN110442125A (en) * | 2019-07-15 | 2019-11-12 | 电子科技大学 | A kind of dynamic path planning method of mobile robot |
| CN110260866A (en) * | 2019-07-19 | 2019-09-20 | 闪电(昆山)智能科技有限公司 | A kind of robot localization and barrier-avoiding method of view-based access control model sensor |
| WO2021134776A1 (en) * | 2020-01-03 | 2021-07-08 | Nokia Shanghai Bell Co., Ltd. | Obtaining a navigation path |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10867279B2 (en) | System and method for piece picking or put-away with a mobile manipulation robot | |
| US11348066B2 (en) | System and method for piece picking or put-away with a mobile manipulation robot | |
| CN206764760U (en) | A kind of goods conditioning machines people | |
| KR20180109107A (en) | Intelligent cart robotic devices for use in stores and warehouses | |
| US20150316925A1 (en) | Automation system and a method for tending a production system | |
| JP2019516185A (en) | Sensor Trajectory Planning for Vehicles | |
| CN205888700U (en) | Unloading system in robot with accurate locate function | |
| US20210170601A1 (en) | Conveyance robot system, method for controlling conveyance robot and non-transitory computer readable storage medium storing a robot control program | |
| Dobrokvashina et al. | Human robot interaction in collaborative manufacturing scenarios: prospective cases | |
| WO2020231319A1 (en) | Robot cell setup system and process | |
| Comari et al. | Mobile cobots for autonomous raw-material feeding of automatic packaging machines | |
| CN106546184B (en) | Large complicated carved three-dimensional appearance robot flexibility measuring system | |
| CN214846390U (en) | Dynamic environment obstacle avoidance system based on automatic guided vehicle | |
| Cheng et al. | Object handling using autonomous industrial mobile manipulator | |
| CN114872054A (en) | Method for positioning robot hand for industrial manufacturing of packaging container | |
| Lottermoser et al. | Method of usability for mobile robotics in a manufacturing environment | |
| Yamaguchi et al. | Intelligent and Collaborative Robots | |
| Wang et al. | A visual servoing system for interactive human-robot object transfer | |
| US11642782B2 (en) | Conveyance robot system, method for controlling conveyance robot and non-transitory computer readable storage medium storing a robot control program | |
| GB2602358A (en) | Automated stacking arrangement | |
| CN109814512A (en) | A kind of mobile picking goods putting device and method | |
| Linghan et al. | Dogget: A legged manipulation system in human environments | |
| Okwu et al. | Development of a Modular Pick and Place Robot/Automated Guided Vehicle (AGV) | |
| Feng et al. | Research on Motion Control and Trajectory Planning Algorithm of Mobile Manipulator Based on Deep Learning | |
| US20240058962A1 (en) | Systems and methods of coordinating a mobile robot and parcel handling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220809 |