CN115194767A - Industrial robot operation action accuracy monitoring and analyzing system based on machine vision - Google Patents
Industrial robot operation action accuracy monitoring and analyzing system based on machine vision Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses an industrial robot operation action accuracy monitoring and analyzing system based on machine vision, which comprises: the invention provides a stacking robot picking precision analysis module, a stacking robot placing precision analysis module, a stacking object placing rationality analysis module, a database and an early warning terminal.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot operation action accuracy monitoring and analyzing system based on machine vision.
Background
In recent years, artificial intelligence, the technology such as intelligent control develops rapidly, industrial production also presents the trend of brisk development, but on the one hand increases because of the cost of labor up to now, on the other hand because there are many dangerous works in industrial production, industrial robot is used in industrial production more and more, in numerous industrial production, palletizing robot's frequency of use is rising gradually, palletizing robot not only can liberate labourer's both hands, and can be more high-efficient, accomplish the pile up neatly work conveniently, and at the pile up neatly in-process, palletizing robot's pile up neatly precision influences palletizing robot's pile up neatly effect, consequently, it is especially important to carry out detection analysis to palletizing robot's precision.
Most of the existing precision analysis of the robot palletizer only analyzes the precision of a taking part and a palletizing position of the robot palletizer, and specifically has the following defects:
(1) Most of the existing precision analysis of the stacking robot is only to analyze the precision of a part taking and stacking position of the stacking robot, the analysis of the precision of the part placing of the stacking robot is lacked, the analysis dimension is not comprehensive, and then the accuracy of the part placing track of the stacking robot cannot be guaranteed, so that the stacking operation efficiency of the stacking robot is influenced.
(2) The precision analysis of the existing palletizing robot is mostly only to carry out precision analysis on the suction force of the sucking disc when the precision of a part taking is analyzed, the precision analysis of the part taking track of the palletizing robot is omitted, and then the track of the palletizing robot in the part taking operation is not accurate, so that the phenomenon that the palletized objects are damaged can be caused, and the operation precision of the palletizing robot after the part taking operation is influenced.
(3) The precision analysis of the existing palletizing robot is mainly only to carry out damage analysis on palletizing objects after the palletizing robot finishes palletizing operations when reasonable coefficients of putting corresponding to the palletizing objects are analyzed, the influence of the stacking position stability corresponding to the palletizing objects on the precision of the palletizing robot is ignored, the analysis dimensionality is single, the putting rationality of the palletizing objects can be influenced, the quality of palletizing operations can not be guaranteed, and the phenomenon that the palletizing objects fall off due to unreasonable putting of the palletizing objects can possibly occur.
Disclosure of Invention
In order to overcome the defects in the background art, the embodiment of the invention provides a system for monitoring and analyzing the precision of the operation action of an industrial robot based on machine vision, which can effectively solve the problems in the background art.
The purpose of the invention can be realized by the following technical scheme:
an industrial robot operation action accuracy monitoring and analyzing system based on machine vision comprises: the system comprises a stacking robot part taking precision analysis module, a stacking robot part placing precision analysis module, a stacked object placing rationality analysis module, a database and an early warning terminal;
the stacking robot picking precision analysis module is used for analyzing picking precision of the stacking robot so as to obtain picking precision coefficients corresponding to the stacking robot, and comprises a stacking robot picking path precision analysis unit and a stacking robot sucker suction precision analysis unit;
the stacking robot placing accuracy analysis module is used for analyzing the stacking robot placing accuracy so as to obtain a placing accuracy coefficient corresponding to the stacking robot;
the stacking object placement rationality analysis module is used for analyzing the placing rationality of stacked objects so as to obtain a placement rationality coefficient corresponding to the stacked objects, and comprises a stacked object damage degree analysis unit and a stacked object stacking stability analysis unit;
the database is used for storing the number of each piece taking predicted position, the number of each piece placing predicted position, the suction force of the sucker corresponding to each pressure intensity of the palletizing robot and the reasonable suction force table of the sucker of the palletizing robot corresponding to each volume and each mass of stacked objects;
the early warning terminal is used for carrying out corresponding early warning according to the accurate coefficient of the piece of getting that the pile up neatly machine people corresponds, the accurate coefficient of putting and the reasonable coefficient of putting that the pile up neatly article corresponds.
Further, the pile taking path precision analysis unit of the palletizing robot is used for analyzing the pile taking path precision coefficient corresponding to the palletizing robot, and the specific analysis method is as follows:
a1: establishing a three-dimensional coordinate system by taking a central point of a base of the palletizing robot as an original point;
a2: acquiring an initial position of a stacking robot and a placement position of stacked objects, executing a pickup operation by the stacking robot to obtain a pickup path of the stacking robot, acquiring actual arrival points which are divided in the actual pickup path and correspond to the stacking robot according to a preset path interval on the pickup path of the stacking robot, and recording the actual arrival points as actual arrival points;
a3: numbering the actual positions of the workpieces taken by the stacking robot into 1,2, i.e., m, i.e., o according to a preset sequence;
a4: matching the number of each actual picking position point of the palletizing robot with the number of each predicted picking position point stored in a database, and further matching the predicted picking position point corresponding to each actual picking position point of the palletizing robot;
a5: acquiring three-dimensional coordinates of each actual pickup arrival point of the palletizing robot and three-dimensional coordinates of a predicted pickup arrival point corresponding to each actual pickup arrival point of the palletizing robot;
a6: analyzing the offset distance of each actually taken part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually taken part to position point of the palletizing robot and the three-dimensional coordinates of the expected taken part to position point corresponding to each actually taken part to position point, wherein the calculation formula is as follows:
wherein eta m ' denotes the offset distance, x, of the actual point to the m-th pick of the palletizer robot m 、y m 、z m Three-dimensional coordinate, x, representing the actual position of the mth pick-up of the palletizing robot 0 、y 0 、z 0 The three-dimensional coordinates of the actual position point of the robot palletizer corresponding to the predicted position point of the pickup are represented;
a7: the offset distance of each actual position point of the robot palletizer is compared with the preset allowable offset distance of the actual position point of the robot palletizer, the accurate coefficient of the path of the robot palletizer corresponding to the robot palletizer is analyzed, and the calculation formula is as follows:
wherein eta represents the precision coefficient of the corresponding pickup path of the palletizing robot, and eta' represents the allowable offset distance of the actual pickup to the position.
Further, the accurate suction force analysis unit of the sucker of the palletizing robot is used for analyzing reasonable suction force coefficients of the sucker corresponding to the palletizing robot, and the specific analysis method comprises the following steps:
d1: using a camera loaded by a palletizing robot to acquire images of palletized objects before the palletizing work is started;
d2: extracting appearance parameters of the palletized objects from the acquired image of the palletized objects, wherein the appearance parameters of the palletized objects comprise length, width, height and quality;
d3: extracting the length, width and height from the appearance parameters and analyzing the volume of the palletized objects according to the length, width and height;
d4: the volume and the mass of the stacked objects are led into a reasonable suction table of a sucker of the stacking robot corresponding to each volume and each mass of the stacked objects stored in a database, and the reasonable suction of the sucker of the stacking robot to the stacked objects is matched;
d5: acquiring the pressure intensity displayed by a pressure sensor of the palletizing robot;
d6: matching the pressure of the stacking robot with the suction force of the sucker corresponding to each pressure of the stacking robot stored in the database, and further matching the actual suction force of the sucker of the stacking robot to the stacked object;
d5: compare pile up neatly machine people to the reasonable suction of the sucking disc of pile up neatly article and pile up neatly machine people to the actual suction of the sucking disc of pile up neatly article, and then the reasonable coefficient of sucking disc suction that from this analysis pile up neatly machine people corresponds, its computational formula is:
f represents a reasonable suction coefficient of a suction disc corresponding to the stacking robot, and F 'and F' represent a reasonable suction disc and an actual suction disc of the stacking robot for stacking objects respectively.
Further, a concrete calculation formula of the accurate coefficient of the pickup corresponding to the palletizing robot is as follows:
wherein
And expressing the corresponding accurate coefficient of the workpiece taking of the stacking robot.
Further, a specific analysis method of the workpiece placing precision coefficient corresponding to the palletizing robot is as follows:
b1: the method comprises the steps of obtaining the placing position and the stacking position of a stacked object, executing a piece placing operation by a stacking robot to obtain a piece placing path of the stacking robot, obtaining actual arrival points which are divided in the actual piece placing path and correspond to the stacking robot according to preset path intervals on the piece placing path of the stacking robot, and recording the actual arrival points as actual arrival points of the piece placing;
b2: numbering the actual positions of the workpieces placed by the robot palletizer to be 1,2, p, q according to a preset sequence;
b3: matching the serial numbers of the actual positions of the workpieces placed by the stacking robot with the serial numbers of the predicted positions of the workpieces placed by the stacking robot, which are stored in a database, and further matching the predicted positions of the workpieces placed by the stacking robot corresponding to the actual positions of the workpieces placed by the stacking robot;
b4: acquiring three-dimensional coordinates of each actual placing position of the robot palletizer and three-dimensional coordinates of each predicted placing position corresponding to each actual placing position;
b5: analyzing the offset distance of each actually placed part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually placed part to the position point of the palletizing robot and the three-dimensional coordinates of the expected position point of each actually placed part corresponding to each actually placed part to the position point, wherein the calculation formula is as follows:
wherein mu p ' denotes the actual offset distance from the p-th placing element of the palletizing robot to the station, x p 、y p 、z p Three-dimensional coordinate, x, representing the actual position of the p-th pick of the palletizing robot 1 、y 1 、z 1 The three-dimensional coordinates of the actual position point of the part placing point of the robot palletizer corresponding to the expected position point of the part placing point are represented;
b6: offset distance for putting each part of stacking robot to actual position pointComparing the distance with the preset allowable offset distance of the actual position of the workpiece to be placed, and analyzing the accurate workpiece placing coefficient corresponding to the palletizing robot according to the distance, wherein the calculation formula is as follows:
wherein mu represents a corresponding workpiece placing precision coefficient of the palletizing robot, and mu' represents an allowable offset distance of the workpiece placing actual position.
Further, the palletized article damage degree analyzing unit is used for analyzing damage coefficients corresponding to palletized articles, and the specific analyzing method comprises the following steps:
c1: using a camera loaded by a palletizing robot to collect appearance images of various palletized objects after the palletizing robot completes palletizing operation, and numbering the various palletized objects as 1,2, i, n respectively;
c2: identifying appearance defect parameters corresponding to all the stacked objects based on the acquired appearance images of all the stacked objects, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas;
c3: acquiring the area of stacked objects;
c4: extracting the appearance defect type from the appearance defect parameters, matching the appearance defect type with preset weight factors corresponding to various appearance defect types, and matching the weight factors corresponding to the appearance defect type of each palletized article;
c5: analyzing the damage coefficient corresponding to the stacked objects according to the weight factors of the area, the area of the appearance defect and the type of the appearance defect of each stacked object, wherein the calculation formula is as follows:
wherein
Representing the corresponding damage factor of the palletized object, s' representing the area of the palletized object, s i Indicating the apparent defect area, gamma, of the ith pallet i A weighting factor representing the ith palletized article corresponding to the type of appearance defect.
Further, the palletized object palletizing stability analyzing unit is used for analyzing the placing stability coefficient corresponding to the palletized objects, and the specific analyzing method is as follows:
e1: dividing the stacked objects according to rows, and numbering the stacked objects in the rows as 1,2, ·, h,. And k respectively;
e2: acquiring central points of all rows of stacked objects based on the acquired stacked object appearance images, connecting the central points of all rows of stacked objects, and further acquiring central lines corresponding to all rows of stacked objects, so as to acquire included angles between the central lines and the ground, and recording the included angles as inclination angles;
e3: making a vertical line from the central point of the appointed stacked object to the ground, and marking the vertical line as a reference line;
e4: the central line corresponding to each line of stacked objects is superposed and compared with the reference line, and the line superposition length of the central line corresponding to each line of stacked objects and the reference line is further obtained;
e5: acquiring the length of a central line corresponding to each row of stacked objects;
e6: analyzing a placing stability coefficient corresponding to the stacked objects according to the line superposition length of the central line corresponding to each row of stacked objects and the reference line, the central line length, the inclination angle and a preset allowed inclination angle of the stacked objects, wherein the calculation formula is as follows:
wherein
Showing the corresponding placing stability coefficient of the stacked objects, theta' showing the allowed inclination angle of the stacked objects, theta h Shows the angle of inclination, l, of the stacked articles in the h-th row h Line coincidence length l of central line corresponding to the h-th row of stacked objects and reference line h ' denotes the centre line length for the palletized articles in the h-th row.
Further, a concrete calculation formula of the reasonable placing coefficient corresponding to the stacked objects is as follows:
wherein phi represents a reasonable placing coefficient corresponding to the stacked objects.
Further, the specific method for performing corresponding early warning according to the comprehensive accurate coefficient of taking the part, the accurate coefficient of putting the part and the reasonable coefficient of putting corresponding to the palletized object corresponding to the palletizing robot is as follows:
t1: comparing the comprehensive accurate coefficient of the workpiece taking corresponding to the stacking robot with a preset workpiece taking warning coefficient, and if the comprehensive accurate coefficient of the workpiece taking corresponding to the stacking robot is smaller than the workpiece taking warning coefficient, performing workpiece taking abnormity early warning on a worker;
t2: comparing the workpiece placing precision coefficient corresponding to the stacking robot with a preset workpiece placing warning coefficient, and if the workpiece placing precision coefficient corresponding to the stacking robot is smaller than the workpiece placing warning coefficient, performing workpiece placing abnormity early warning on workers;
t3: comparing the reasonable placing coefficient corresponding to the stacked objects with a preset stacked object placing warning coefficient, and if the reasonable placing coefficient corresponding to the stacked objects is smaller than the stacked object placing warning coefficient, performing placing abnormity early warning on workers.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
(1) When the accuracy of the stacking robot is analyzed, the accuracy of taking and stacking positions of the stacking robot is analyzed, the accuracy of placing the stacking robot is analyzed, the problem of incomplete analysis dimension is solved, the accuracy of placing a track of the stacking robot is effectively guaranteed, and accordingly the stacking operation efficiency of the stacking robot can be improved.
(2) When the pile taking accuracy of the stacking robot is analyzed, the suction force of the sucking disc is not only analyzed accurately, but also the pile taking track accuracy of the stacking robot is analyzed, so that the problem that the pile taking track of the stacking robot is inaccurate in stacking operation is solved, the phenomenon that stacked objects are damaged due to the fact that the stacking track of the stacking robot is inaccurate is effectively avoided, and the problem that follow-up operation of the stacking robot is inaccurate after the pile is taken is effectively solved.
(3) When the reasonable placing coefficient corresponding to the palletized objects is analyzed, the palletized objects are not only subjected to damage analysis after the palletizing robot finishes palletizing operation, but also the stability of palletizing positions corresponding to the palletized objects is analyzed, the reasonable placing coefficient of the palletized objects is analyzed from multiple dimensions, the problem of single analysis dimension is solved, the placing rationality of the palletized objects is further ensured, the quality of palletizing operation of the palletizing robot is ensured, and the phenomenon that the palletized objects fall off due to unreasonable placing of the palletized objects is effectively avoided.
(4) According to the method and the system, when corresponding early warning is carried out according to the accuracy of the palletizing robot, the targeted early warning is carried out according to the accuracy of taking and placing the parts and the accuracy of placing the palletized objects of the palletizing robot, so that on one hand, the invalid operation phenomenon caused by the fact that the palletizing robot carries out the next-stage operation when the current palletizing operation is not accurate is avoided, on the other hand, corresponding measures can be taken by workers according to different early warnings, the pertinence of the workers to the maintenance of the palletizing robot is guaranteed, and therefore the maintenance time and the maintenance cost are saved.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a schematic diagram of an industrial robot operation precision monitoring and analyzing system based on machine vision.
Fig. 2 is a schematic diagram of a pile up neatly robot pick-up accuracy analysis module according to the present invention.
Fig. 3 is a schematic diagram of a palletized object placement rationality analysis module according to the present invention.
Fig. 4 is a schematic diagram of the suction cup type gripper of the palletizing robot for sucking the palletized objects.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention provides a system for monitoring and analyzing the operation precision of an industrial robot based on machine vision, comprising: the stacking robot system comprises a stacking robot taking precision analysis module, a stacking robot placing precision analysis module, a stacking object placing rationality analysis module, a database and an early warning terminal.
A pile up neatly machine people gets a precision analysis module, pile up neatly machine people puts a precision analysis module and pile up neatly article and puts rationality analysis module and all be connected with early warning terminal, the database gets a precision analysis module and pile up neatly machine people and puts a precision analysis module with pile up neatly machine people and be connected.
A pile up neatly machine people gets a precision analysis module and is used for getting a precision to pile up neatly machine people and analyzing, and then obtains the accurate coefficient of getting that pile up neatly machine people corresponds, and it is shown with reference to fig. 2, pile up neatly machine people gets a precision analysis module and gets a route precision analysis unit and pile up neatly machine people sucking disc suction precision analysis unit including pile up neatly machine people.
In the above embodiment, the pile taking path precision analysis unit of the palletizing robot is configured to analyze a pile taking path precision coefficient corresponding to the palletizing robot, and the specific analysis method is as follows:
a1: and establishing a three-dimensional coordinate system by taking the central point of the base of the robot palletizer as an origin.
A2: the method comprises the steps of obtaining an initial position of a stacking robot and a placing position of stacked objects, executing a pickup operation by the stacking robot to obtain a pickup path of the stacking robot, obtaining actual arrival points which are divided in the actual pickup path and correspond to the stacking robot according to preset path intervals on the pickup path of the stacking robot, and recording the actual arrival points as actual arrival points.
A3: the actual positions of the workpieces taken by the stacking robot are numbered as 1,2, i.
A4: and matching the serial numbers of the actual pickup position points of the palletizing robot with the serial numbers of the predicted pickup position points stored in the database, and further matching the predicted pickup position points corresponding to the actual pickup position points of the palletizing robot.
A5: and acquiring the three-dimensional coordinates of each actual pickup position of the palletizing robot and the three-dimensional coordinates of the predicted pickup position corresponding to each actual pickup position.
A6: analyzing the offset distance of each actually taken part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually taken part to position point of the palletizing robot and the three-dimensional coordinates of the expected taken part to position point corresponding to each actually taken part to position point, wherein the calculation formula is as follows:
wherein eta m ' represents the offset distance, x, from the m-th pick-up actual position of the palletizing robot m 、y m 、z m Three-dimensional coordinate, x, representing the actual position of the mth pick-up of the palletizing robot 0 、y 0 、z 0 And the three-dimensional coordinates of the actual picking position point of the robot palletizer, which correspond to the predicted picking position point, are shown.
A7: the offset distance of each picking actual position point of the palletizing robot is compared with the preset allowable offset distance of the picking actual position point, the picking path accurate coefficient corresponding to the palletizing robot is analyzed according to the allowable offset distance, and the calculation formula is as follows:
wherein eta represents the precision coefficient of the corresponding pickup path of the palletizing robot, and eta' represents the allowable offset distance of the actual pickup to the position.
It should be noted that, if there is a phenomenon that a robot palletizer does not take a piece accurately, on one hand, product quality of a palletized item may be affected, and a situation that the palletized item is damaged may occur, and on the other hand, subsequent operations of the robot palletizer after the end of taking a piece may be affected, and therefore, an accurate coefficient of a piece taking path corresponding to the robot palletizer needs to be analyzed.
Referring to fig. 4, in the above embodiment, the suction precision analysis unit of the chuck of the palletizing robot is configured to analyze a reasonable suction coefficient of the chuck corresponding to the palletizing robot, and a specific analysis method thereof is as follows:
d1: a camera carried by the palletizing robot is used for image acquisition of palletized objects before the start of palletizing work.
D2: appearance parameters of the palletized objects are extracted from the acquired image of the palletized objects, wherein the appearance parameters of the palletized objects comprise length, width, height and quality.
D3: the length, width and height are extracted from the appearance parameters and the volume of the palletized objects is analyzed accordingly.
D4: and (4) guiding the volume and the mass of the stacked objects into a reasonable suction table of the sucker of the stacking robot corresponding to each volume and each mass of the stacked objects stored in the database, and further matching the reasonable suction of the sucker of the stacking robot on the stacked objects.
D5: and acquiring the pressure intensity displayed by a pressure sensor of the palletizing robot.
D6: and matching the pressure of the stacking robot with the suction force of the sucker corresponding to each pressure of the stacking robot stored in the database, and further matching the actual suction force of the sucker of the stacking robot to the stacked object.
D5: compare pile up neatly machine people to the reasonable suction of the sucking disc of pile up neatly article and pile up neatly machine people to the actual suction of the sucking disc of pile up neatly article, and then the reasonable coefficient of sucking disc suction that from this analysis pile up neatly machine people corresponds, its computational formula is:
f represents a reasonable suction coefficient of a suction disc corresponding to the stacking robot, and F 'and F' represent a reasonable suction disc and an actual suction disc of the stacking robot for stacking objects respectively.
It should be noted that, if there is the unreasonable phenomenon of sucking disc suction of palletizing robot to the pile goods, if the sucking disc suction of palletizing robot to the pile goods is too big, and then can lead to the pile goods impaired, if the sucking disc suction undersize of palletizing robot to the pile goods, and then can lead to the pile goods condition that drops because the sucking disc suction undersize appears in the pile up neatly operation process that the palletizing robot may appear, consequently, need carry out the analysis to the reasonable coefficient of sucking disc suction that the palletizing robot corresponds.
In the above embodiment, the specific calculation formula of the accurate pickup coefficient corresponding to the palletizing robot is as follows:
wherein
And expressing the corresponding accurate coefficient of the workpiece taking of the stacking robot.
When the precision of taking the workpieces of the stacking robot is analyzed, the suction force of the sucker is analyzed precisely, the precision of the workpiece taking track of the stacking robot is analyzed, the problem that the workpiece taking track of the stacking robot is inaccurate in stacking operation is solved, the phenomenon that stacked objects are damaged due to the fact that the stacking track of the stacking robot is inaccurate is further effectively avoided, and the problem that follow-up operation of the stacking robot is inaccurate after the workpieces are taken is solved effectively.
A pile up neatly machine people puts an accurate nature analysis module and is used for putting a accurate nature to pile up neatly machine people and analyzing, and then obtains the accurate coefficient of putting that pile up neatly machine people corresponds.
In the above embodiment, a specific analysis method of the workpiece placing precision coefficient corresponding to the palletizing robot is as follows:
b1: the method comprises the steps of obtaining the placing position and the stacking position of a stacked object, executing a piece placing operation by a stacking robot to obtain a piece placing path of the stacking robot, obtaining actual arrival points which are divided in the actual piece placing path and correspond to the stacking robot according to preset path intervals on the piece placing path of the stacking robot, and recording the actual arrival points as the actual arrival points.
B2: the actual positions of the workpieces placed on the stacking robot are numbered as 1,2, a.
B3: and matching the serial numbers of the actual positions of the placed workpieces of the palletizing robot with the serial numbers of the predicted positions of the placed workpieces stored in the database, and further matching the predicted positions of the placed workpieces corresponding to the actual positions of the placed workpieces of the palletizing robot.
B4: and acquiring the three-dimensional coordinates of each actual placing position of the robot palletizer and the three-dimensional coordinates of the predicted placing position corresponding to each actual placing position.
B5: analyzing the offset distance of each actually placed part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually placed part to the position point of the palletizing robot and the three-dimensional coordinates of the expected position point of each actually placed part corresponding to each actually placed part to the position point, wherein the calculation formula is as follows:
wherein mu p ' denotes the actual offset distance from the p-th placing element of the palletizing robot to the station, x p 、y p 、z p Three-dimensional coordinate, x, representing the actual position of the p-th pick of the palletizing robot 1 、y 1 、z 1 And the three-dimensional coordinates of the actual position point of the part placing point of the robot palletizer, corresponding to the expected position point of the part placing point, are shown.
B6: the offset distance of each actual position of the robot palletizer and the preset allowable offset distance of each actual position of the robot palletizer are compared, and the corresponding accurate coefficient of the robot palletizer is analyzed according to the offset distance, wherein the calculation formula is as follows:
wherein mu represents a corresponding workpiece placing precision coefficient of the palletizing robot, and mu' represents an allowable offset distance of the workpiece placing actual to a position point.
It should be noted that, if there is not accurate phenomenon of putting of pile up neatly machine people, can influence the product quality of pile up neatly article on the one hand, the impaired condition of pile up neatly article may appear, and on the other hand can influence the accuracy of pile up neatly article pile up neatly position, consequently, need put an accurate coefficient to pile up neatly machine people correspondence and analyze.
When the accuracy of the stacking robot is analyzed, the accuracy of taking and stacking positions of the stacking robot is analyzed, the accuracy of placing the stacking robot is analyzed, the problem of incomplete analysis dimension is solved, the accuracy of placing a track of the stacking robot is effectively guaranteed, and accordingly the stacking operation efficiency of the stacking robot can be improved.
The rationality analysis module is put to pile up neatly article is used for carrying out the analysis to the rationality that the pile up neatly article was put, and then obtains putting rational coefficient that the pile up neatly article corresponds, and it is shown with reference to figure 3, pile up neatly article is put rationality analysis module and is included the impaired degree analytical element of pile up neatly article and pile up neatly article pile up neatly stability analytical element.
In the above embodiment, the palletized article damage degree analyzing unit is configured to analyze damage coefficients corresponding to palletized articles, and the specific analyzing method includes:
c1: the method comprises the steps of collecting appearance images of various palletized objects after the palletizing operation of the palletizing robot is completed by using a camera loaded by the palletizing robot, and numbering the various palletized objects as 1,2, i.
C2: and identifying appearance defect parameters corresponding to the stacked objects based on the acquired appearance images of the stacked objects, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas.
Note that the above-described types of external defects include cracks, dents, bulges, and the like.
C3: the area of the palletized objects is obtained.
C4: and extracting the appearance defect type from the appearance defect parameters, matching the appearance defect type with preset weighting factors corresponding to various appearance defect types, and matching the weighting factors corresponding to the appearance defect type of each palletized article.
C5: analyzing the damage coefficient corresponding to the palletized objects according to the area of each palletized object, the area of the appearance defect and the weight factor of the type of the appearance defect, wherein the calculation formula is as follows:
wherein
Representing the damage factor corresponding to the palletized object, s' representing the area of the palletized object, s i Indicating the apparent defect area, gamma, of the ith pallet i A weighting factor representing the ith palletized article corresponding to the type of appearance defect.
In the above embodiment, the palletizing object palletizing stability analyzing unit is configured to analyze a placing stability coefficient corresponding to a palletizing object, and a specific analysis method thereof is as follows:
e1: dividing the stacked objects according to rows, and numbering the stacked objects in the rows as 1,2, a.
E2: the central point of each row of stacked objects is obtained based on the collected stacked object appearance images, the central points of each row of stacked objects are connected, and then the central line corresponding to each row of stacked objects is obtained, so that the included angle between the central line and the ground is obtained, and the included angle is recorded as the inclination angle.
E3: and (4) making a vertical line from the central point of the appointed piled object to the ground, and marking the vertical line as a reference line.
E4: and (4) carrying out coincidence comparison on the central line corresponding to each row of stacked objects and the reference line, and further obtaining the line coincidence length of the central line corresponding to each row of stacked objects and the reference line.
E5: and acquiring the line length of the central line corresponding to each row of stacked objects.
E6: analyzing a placing stability coefficient corresponding to the stacked objects according to the line superposition length of the central line corresponding to each row of stacked objects and the reference line, the central line length, the inclination angle and a preset allowed inclination angle of the stacked objects, wherein the calculation formula is as follows:
wherein
Showing the corresponding placing stability coefficient of the stacked objects, theta' showing the allowed inclination angle of the stacked objects, theta h Shows the angle of inclination, l, of the stacked articles in the h-th row h Line coincidence length l of central line corresponding to the h-th row of stacked objects and reference line h ' denotes the centre line length for the palletized articles in the h-th row.
It should be noted that if there is the unstable phenomenon of pile up neatly article and puts, there is the risk that pile up neatly article collapses, and then leads to pile up neatly operation of pile up neatly robot invalid, consequently, need put reasonable coefficient to the pile up neatly article correspondence and carry out the analysis.
It should be noted that when the placing stability coefficients corresponding to the stacked articles are analyzed, the included angle between the center line of the stacked articles and the ground is analyzed, the overlapping length between the center line of the stacked articles and the reference line is analyzed, the placing stability coefficients corresponding to the stacked articles are analyzed from multiple dimensions, and the analysis result is comprehensive.
In the above embodiment, the specific calculation formula of the reasonable placement coefficient corresponding to the stacked objects is as follows:
wherein phi represents a reasonable placing coefficient corresponding to the stacked objects.
When the reasonable placing coefficient corresponding to the palletized objects is analyzed, the palletized objects are not only subjected to damage analysis after the palletizing robot finishes palletizing operation, but also the stability of palletizing positions corresponding to the palletized objects is analyzed, the reasonable placing coefficient of the palletized objects is analyzed from multiple dimensions, the problem of single analysis dimension is solved, the placing rationality of the palletized objects is further ensured, the quality of palletizing operation of the palletizing robot is ensured, and the phenomenon that the palletized objects fall off due to unreasonable placing of the palletized objects is effectively avoided.
The database is used for storing the number of each taking predicted position, the number of each placing predicted position, the suction force of the sucker corresponding to each pressure of the palletizing robot and the reasonable suction force table of the sucker of the palletizing robot corresponding to each volume and each mass of stacked objects.
The reasonable suction table of the sucker of the palletizing robot corresponding to each volume and each mass of the middle palletized objects is shown in a reference table 1.
TABLE 1
The early warning terminal is used for carrying out corresponding early warning according to the accurate coefficient of the piece of getting that the pile up neatly machine people corresponds, the accurate coefficient of putting and the reasonable coefficient of putting that the pile up neatly article corresponds.
In the above embodiment, the specific method of performing the corresponding early warning according to the comprehensive accurate coefficient of the pickup part, the accurate coefficient of the placement part and the reasonable coefficient of the placement part corresponding to the palletizing robot is as follows:
t1: and comparing the comprehensive accurate coefficient of the part taking corresponding to the stacking robot with a preset part taking warning coefficient, and if the comprehensive accurate coefficient of the part taking corresponding to the stacking robot is smaller than the part taking warning coefficient, performing part taking abnormity early warning on a worker.
T2: the accurate coefficient of putting that corresponds the pile up neatly machine people compares with the warning coefficient of putting a preset, if the accurate coefficient of putting that the pile up neatly machine people corresponds is less than puts a warning coefficient, then puts an unusual early warning to the staff.
T3: comparing the reasonable placing coefficient corresponding to the stacked objects with a preset stacked object placing warning coefficient, and if the reasonable placing coefficient corresponding to the stacked objects is smaller than the stacked object placing warning coefficient, performing placing abnormity early warning on workers.
According to the method and the system, when corresponding early warning is carried out according to the accuracy of the palletizing robot, the targeted early warning is carried out according to the accuracy of taking and placing the parts and the accuracy of placing the palletized objects of the palletizing robot, so that on one hand, the invalid operation phenomenon caused by the fact that the palletizing robot carries out the next-stage operation when the current palletizing operation is not accurate is avoided, on the other hand, corresponding measures can be taken by workers according to different early warnings, the pertinence of the workers to the maintenance of the palletizing robot is guaranteed, and therefore the maintenance time and the maintenance cost are saved.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (9)
1. The utility model provides an industrial robot operation action accuracy monitoring analysis system based on machine vision which characterized in that includes: the system comprises a stacking robot part taking precision analysis module, a stacking robot part placing precision analysis module, a stacked object placing rationality analysis module, a database and an early warning terminal;
the stacking robot picking precision analysis module is used for analyzing picking precision of the stacking robot so as to obtain picking precision coefficients corresponding to the stacking robot, and comprises a stacking robot picking path precision analysis unit and a stacking robot sucker suction precision analysis unit;
the stacking robot placing part precision analyzing module is used for analyzing the stacking robot placing part precision so as to obtain a placing part precision coefficient corresponding to the stacking robot;
the stacking object placement rationality analysis module is used for analyzing the placing rationality of stacked objects so as to obtain a placement rationality coefficient corresponding to the stacked objects, and comprises a stacked object damage degree analysis unit and a stacked object stacking stability analysis unit;
the database is used for storing the number of each piece taking predicted position, the number of each piece placing predicted position, the suction force of the sucker corresponding to each pressure intensity of the palletizing robot and the reasonable suction force table of the sucker of the palletizing robot corresponding to each volume and each mass of stacked objects;
the early warning terminal is used for carrying out corresponding early warning according to the accurate coefficient of taking a piece, the accurate coefficient of putting a piece and the reasonable coefficient of putting that the pile up neatly article corresponds that the pile up neatly machine people corresponds.
2. The system for monitoring and analyzing the working motion accuracy of the industrial robot based on the machine vision as claimed in claim 1, wherein: the pile up neatly machine people gets a route precision analysis unit and is used for getting a route precision coefficient to pile up neatly machine people corresponds and analyzing, and its concrete analysis method is:
a1: establishing a three-dimensional coordinate system by taking a central point of a base of the palletizing robot as an original point;
a2: acquiring an initial position of a stacking robot and a placement position of stacked objects, executing a pickup operation by the stacking robot to obtain a pickup path of the stacking robot, acquiring actual arrival points which are divided in the actual pickup path and correspond to the stacking robot according to a preset path interval on the pickup path of the stacking robot, and recording the actual arrival points as actual arrival points;
a3: numbering the actual positions of the workpieces taken by the stacking robot into 1,2, i.e., m, i.e., o according to a preset sequence;
a4: matching the number of each actual picking position point of the palletizing robot with the number of each predicted picking position point stored in a database, and further matching the predicted picking position point corresponding to each actual picking position point of the palletizing robot;
a5: acquiring three-dimensional coordinates of each actual pickup position of the palletizing robot and three-dimensional coordinates of a predicted pickup position corresponding to each actual pickup position;
a6: analyzing the offset distance of each actually taken part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually taken part to position point of the palletizing robot and the three-dimensional coordinates of the expected taken part to position point corresponding to each actually taken part to position point, wherein the calculation formula is as follows:
wherein eta m ' represents the offset distance, x, from the m-th pick-up actual position of the palletizing robot m 、y m 、z m Three-dimensional coordinate, x, representing the actual position of the mth pick of the palletizing robot 0 、y 0 、z 0 The three-dimensional coordinates of the actual position point of the robot palletizer corresponding to the predicted position point of the pickup are represented;
a7: the offset distance of each actual position point of the robot palletizer is compared with the preset allowable offset distance of the actual position point of the robot palletizer, the accurate coefficient of the path of the robot palletizer corresponding to the robot palletizer is analyzed, and the calculation formula is as follows:
wherein eta represents the precision coefficient of the corresponding pickup path of the palletizing robot, and eta' represents the allowable offset distance of the actual pickup to the position.
3. The system for monitoring and analyzing the operational accuracy of the industrial robot based on the machine vision as claimed in claim 2, wherein: the accurate analysis unit of pile up neatly machine people sucking disc suction is used for carrying out the analysis to the reasonable coefficient of sucking disc suction that pile up neatly machine people corresponds, and its concrete analysis method is:
d1: using a camera loaded by a palletizing robot to acquire images of palletized objects before the palletizing work is started;
d2: extracting appearance parameters of the palletized objects from the acquired palletized object images, wherein the appearance parameters of the palletized objects comprise length, width, height and quality;
d3: extracting the length, width and height from the appearance parameters and analyzing the volume of the palletized objects according to the length, width and height;
d4: the volume and the mass of the stacked objects are led into a reasonable suction table of a sucker of the stacking robot corresponding to each volume and each mass of the stacked objects stored in a database, and the reasonable suction of the sucker of the stacking robot to the stacked objects is matched;
d5: acquiring the pressure intensity displayed by a pressure sensor of the palletizing robot;
d6: matching the pressure of the stacking robot with the suction force of the sucker corresponding to each pressure of the stacking robot stored in the database, and further matching the actual suction force of the sucker of the stacking robot to the stacked object;
d5: compare pile up neatly machine people to the reasonable suction of the sucking disc of pile up neatly article and pile up neatly machine people to the actual suction of the sucking disc of pile up neatly article, and then the reasonable coefficient of sucking disc suction that from this analysis pile up neatly machine people corresponds, its computational formula is:
f represents a reasonable suction coefficient of a suction disc corresponding to the stacking robot, and F 'and F' represent a reasonable suction disc and an actual suction disc of the stacking robot for stacking objects respectively.
4. The system for monitoring and analyzing the working motion accuracy of the industrial robot based on the machine vision as claimed in claim 3, wherein: the specific calculation formula of the accurate coefficient of picking up corresponding to the palletizing robot is as follows:
wherein
And expressing the corresponding accurate coefficient of the workpiece taking of the stacking robot.
5. The system for monitoring and analyzing the operational accuracy of the industrial robot based on the machine vision as claimed in claim 1, wherein: the specific analysis method of the workpiece placing precision coefficient corresponding to the stacking robot comprises the following steps:
b1: the method comprises the steps of obtaining the placing position and the stacking position of a stacked object, executing a piece placing operation by a stacking robot to obtain a piece placing path of the stacking robot, obtaining actual arrival points which are divided in the actual piece placing path and correspond to the stacking robot according to preset path intervals on the piece placing path of the stacking robot, and recording the actual arrival points as actual arrival points of the piece placing;
b2: numbering the actual positions of the workpieces placed by the robot palletizer to be 1,2, p, q according to a preset sequence;
b3: matching the serial numbers of the actual positions of the workpieces placed by the stacking robot with the serial numbers of the predicted positions of the workpieces placed by the stacking robot, which are stored in a database, and further matching the predicted positions of the workpieces placed by the stacking robot corresponding to the actual positions of the workpieces placed by the stacking robot;
b4: acquiring three-dimensional coordinates of each actual placing position of the robot palletizer and three-dimensional coordinates of each predicted placing position corresponding to each actual placing position;
b5: analyzing the offset distance of each actually placed part to the position point of the palletizing robot according to the three-dimensional coordinates of each actually placed part to the position point of the palletizing robot and the three-dimensional coordinates of the expected position point of each actually placed part corresponding to each actually placed part to the position point, wherein the calculation formula is as follows:
wherein mu p ' denotes the actual offset distance from the p-th placing element of the palletizing robot to the site, x p 、y p 、z p Three-dimensional coordinate, x, representing the actual position of the p-th pick of the palletizing robot 1 、y 1 、z 1 The three-dimensional coordinates of the actual position point of the part placing point of the robot palletizer corresponding to the expected position point of the part placing point are represented;
b6: the offset distance of each placing member of the stacking robot from the actual position to the position is compared with the preset allowable offset distance of each placing member from the actual position to the position, and the corresponding accurate coefficient of the placing member of the stacking robot is analyzed according to the comparison result, wherein the calculation formula is as follows:
wherein mu represents a corresponding workpiece placing precision coefficient of the palletizing robot, and mu' represents an allowable offset distance of the workpiece placing actual position.
6. The system for monitoring and analyzing the working motion accuracy of the industrial robot based on the machine vision as claimed in claim 1, wherein: the stacked article damage degree analysis unit is used for analyzing damage coefficients corresponding to stacked articles, and the specific analysis method comprises the following steps:
c1: using a camera loaded by a palletizing robot to collect appearance images of various palletized objects after the palletizing robot completes palletizing operation, and numbering the various palletized objects as 1,2, i, n respectively;
c2: identifying appearance defect parameters corresponding to all the stacked objects based on the acquired appearance images of all the stacked objects, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas;
c3: acquiring the area of stacked objects;
c4: extracting the appearance defect types from the appearance defect parameters, matching the appearance defect types with preset weight factors corresponding to various appearance defect types, and matching the weight factors corresponding to the appearance defect types of the palletized objects;
c5: analyzing the damage coefficient corresponding to the stacked objects according to the weight factors of the area, the area of the appearance defect and the type of the appearance defect of each stacked object, wherein the calculation formula is as follows:
wherein
Representing the damage factor corresponding to the palletized object, s' representing the area of the palletized object, s i Indicating the apparent defect area, gamma, of the ith pallet i A weighting factor representing the ith palletized item corresponding to the type of appearance defect.
7. The system for monitoring and analyzing the operational accuracy of the industrial robot based on the machine vision as claimed in claim 6, wherein: the stacking stability analysis unit for the stacked objects is used for analyzing the placing stability coefficient corresponding to the stacked objects, and the specific analysis method comprises the following steps:
e1: dividing the stacked objects according to rows, and numbering the stacked objects in the rows as 1,2, ·, h,. And k respectively;
e2: acquiring central points of all rows of stacked objects based on the acquired stacked object appearance images, connecting the central points of all rows of stacked objects, and further acquiring central lines corresponding to all rows of stacked objects, so as to acquire included angles between the central lines and the ground, and recording the included angles as inclination angles;
e3: making a vertical line from the central point of the appointed stacked object to the ground, and marking the vertical line as a reference line;
e4: the central line corresponding to each line of stacked objects is superposed and compared with the reference line, and the line superposition length of the central line corresponding to each line of stacked objects and the reference line is further obtained;
e5: obtaining the line length of a center line corresponding to each row of stacked objects;
e6: analyzing a placing stability coefficient corresponding to the stacked objects according to the line superposition length of the central line corresponding to each row of stacked objects and the reference line, the central line length, the inclination angle and a preset allowed inclination angle of the stacked objects, wherein the calculation formula is as follows:
wherein
Showing the corresponding placing stability coefficient of the stacked objects, theta' showing the allowed inclination angle of the stacked objects, theta h Shows the angle of inclination, l, of the stacked articles in the h-th row h Line coincidence length l of central line corresponding to the h-th row of stacked objects and reference line h ' indicates the length of the centerline line corresponding to the palletized object in the h-th row.
8. The system for monitoring and analyzing the working motion accuracy of the industrial robot based on the machine vision as claimed in claim 7, wherein: the concrete calculation formula of the reasonable placing coefficient corresponding to the stacked objects is as follows:
wherein phi represents a reasonable placing coefficient corresponding to the stacked objects.
9. The system for monitoring and analyzing the working motion accuracy of the industrial robot based on the machine vision as claimed in claim 1, wherein: the concrete method for carrying out corresponding early warning according to the comprehensive accurate coefficient of taking the part, the accurate coefficient of putting the part and the reasonable coefficient of putting corresponding to the palletized object corresponding to the palletizing robot is as follows:
t1: comparing the comprehensive accurate coefficient of the workpiece taking corresponding to the stacking robot with a preset workpiece taking warning coefficient, and if the comprehensive accurate coefficient of the workpiece taking corresponding to the stacking robot is smaller than the workpiece taking warning coefficient, performing workpiece taking abnormity early warning on a worker;
t2: comparing the workpiece placing precision coefficient corresponding to the stacking robot with a preset workpiece placing warning coefficient, and if the workpiece placing precision coefficient corresponding to the stacking robot is smaller than the workpiece placing warning coefficient, performing workpiece placing abnormity early warning on workers;
t3: comparing the reasonable placing coefficient corresponding to the stacked objects with a preset stacked object placing warning coefficient, and if the reasonable placing coefficient corresponding to the stacked objects is smaller than the stacked object placing warning coefficient, performing placing abnormity early warning on workers.
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