CN115872121A - Intelligent stacking method and system based on stacking robot - Google Patents
Intelligent stacking method and system based on stacking robot Download PDFInfo
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- CN115872121A CN115872121A CN202310024122.3A CN202310024122A CN115872121A CN 115872121 A CN115872121 A CN 115872121A CN 202310024122 A CN202310024122 A CN 202310024122A CN 115872121 A CN115872121 A CN 115872121A
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Abstract
The application relates to the technical field of data processing, and provides an intelligent stacking method and system based on a stacking robot. Acquiring stacking space freedom degree and acquiring a conveying position of a stacking conveying production line through structural distribution information based on a stacking robot; acquiring a mechanical arm control path according to the fixed position and the conveying position; controlling the real-time control of the palletizing robot according to a space coordinate point set generated by a mechanical arm control path to obtain real-time control parameters; and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters. The stacking control system solves the technical problems that stacking control effectiveness of the stacking robot is insufficient, stacking accuracy and stability of material boxes are poor, and the technical effects that the control accuracy of the control system to the stacking robot is improved, and stacking stability of the material boxes is improved are achieved.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an intelligent stacking method and system based on a stacking robot.
Background
At the present stage, the stacking robot replaces manual carrying and stacking to carry out box stacking, when the stacking work is reduced for manpower and time resource consumption, the stacking robot is not enough in stacking carrying stability and accuracy of material boxes to be stacked, so that economic loss caused by falling and damaging of the material boxes and insufficient stacking accuracy caused by insufficient structural stability of the material boxes after stacking are caused in the stacking process, and the risk of stacking collapse is caused.
In conclusion, the stacking robot in the prior art has the technical problems that the stacking control effectiveness is insufficient, and the stacking accuracy and stability of the material box bodies are poor.
Disclosure of Invention
Therefore, in order to solve the technical problems, the intelligent stacking method and system based on the stacking robot are needed to improve the control accuracy of the control system on the stacking robot and improve the stacking stability of the material boxes.
An intelligent stacking method based on a stacking robot comprises the following steps: acquiring structure distribution information of the palletizing robot according to the data acquisition device, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information; analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain stacking space freedom degree; acquiring fixed position information of the palletizing robot; connecting a case conveying system, and determining conveying position information of a stacking conveying production line; acquiring a mechanical arm control path according to the fixed position information and the conveying position information; controlling the real-time control of the palletizing robot according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters; and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing mechanical arms of the stacking robot according to the optimized stacking parameters.
An intelligent palletizing system based on a palletizing robot, the system comprising: the robot palletizer comprises a structure distribution acquisition module, a data acquisition device and a control module, wherein the structure distribution acquisition module is used for acquiring structure distribution information of the robot palletizer according to the data acquisition device, and the structure distribution information comprises rotation structure information, moving structure information and fixed structure information; the space freedom degree analysis module is used for analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain stacking space freedom degree; the fixed position obtaining module is used for obtaining fixed position information of the palletizing robot; the conveying position determining module is used for connecting the case conveying system and determining conveying position information of the stacking conveying production line; the control path output module is used for acquiring a mechanical arm control path according to the fixed position information and the conveying position information; the control parameter acquisition module is used for controlling the palletizing robot in real time according to the space coordinate point set generated by the mechanical arm control path to acquire real-time control parameters; and the mechanical arm parameter optimization module is used for carrying out repeated positioning precision analysis on the real-time control parameters, obtaining optimized stacking parameters and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring structure distribution information of the palletizing robot according to the data acquisition device, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain stacking space freedom degree;
acquiring fixed position information of the palletizing robot;
connecting a case conveying system, and determining conveying position information of a stacking conveying production line;
acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters;
and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring structure distribution information of the palletizing robot according to the data acquisition device, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain the stacking space freedom degree;
acquiring fixed position information of the palletizing robot;
connecting a case conveying system, and determining conveying position information of a stacking conveying production line;
acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters;
and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
Above-mentioned intelligent pile up neatly method and system based on pile up neatly machine people has solved and has had the pile up neatly machine people pile up neatly control validity among the prior art not enough, leads to the relatively poor technical problem of material box pile up neatly degree of accuracy and stability, has reached the control accuracy nature that improves control system to pile up neatly machine people, improves the material box pile up neatly stability's technical effect.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
FIG. 1 is a schematic flow diagram of an intelligent palletizing method based on a palletizing robot in one embodiment;
fig. 2 is a schematic flow chart of controlling the operation of the palletizing robot in the intelligent palletizing method based on the palletizing robot in one embodiment;
FIG. 3 is a block diagram of an intelligent palletizing system based on a palletizing robot in one embodiment;
FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment;
description of reference numerals: the system comprises a structural distribution obtaining module 1, a spatial freedom degree analysis module 2, a fixed position obtaining module 3, a conveying position determining module 4, a control path output module 5, a control parameter obtaining module 6 and a mechanical arm parameter optimizing module 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, the present application provides an intelligent palletizing method based on a palletizing robot, which is applied to a palletizing robot control system, the system is connected with a data acquisition device, and the method comprises the following steps:
s100, acquiring structure distribution information of the palletizing robot according to the data acquisition device, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
s200, analyzing the freedom degree of the palletizing robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain the palletizing space freedom degree;
specifically, in this embodiment, the palletizing robot is a palletizing manipulator, and is configured to automatically palletize, unstack, move and place packaged goods of different external dimensions on a production line, and the structures are distributed as connection structures of various mechanical components that realize actions such as lifting, rotating and the like of a mechanical arm of the palletizing robot so as to grab and spatially displace the packaged goods.
The rotating structure is a waist rotating joint and a related mechanical structure of the palletizing robot and is used for realizing the fixed rotation of the palletizing robot body around the base, the moving structure is a paw rotating joint and a related mechanical structure of the palletizing robot and is used for realizing the multi-angle space routing of the paw rotating joint of the palletizing robot along the horizontal direction extension and the vertical direction pitching, and the fixing structure is a topological structure of the waist rotating joint and the related structure of the palletizing robot, the paw rotating joint and the related structure of the paw rotating joint, such as a series structure, a parallel structure and a series-parallel structure.
In this embodiment, according to the data acquisition device, structural distribution information of the palletizing robot is obtained, where the structural distribution information includes rotation structure information, movement structure information, and fixed structure information, and according to the rotation structure information, the movement structure information, and the fixed structure information, the palletizing robot base rotation degree data, the movement distance data of the waist rotary joint and the gripper rotary joint in the horizontal direction and the vertical direction, and the mechanical topology structure are obtained, and based on the rotation data, the rotary joint movement data, and the mechanical topology structure, the palletizing robot is subjected to degree-of-freedom analysis to obtain a palletizing space degree-of-freedom, where the palletizing space degree-of-freedom reflects a working space range in which the palletizing robot can grab a palletizer.
S300, acquiring fixed position information of the palletizing robot;
particularly, in this embodiment, the palletizing robot is fixed in around the pile up neatly carries producing the line, and the pile up neatly carries producing the line and will wait that the pile up neatly goods transmit to a certain position after the palletizing robot carries out the pile up neatly and is regular with scattered goods pile up neatly, and the pile up neatly carries producing the line and carries the regular goods of pile up neatly to next processing step again. The fixed position information indicates the relative position relation between the robot palletizer and the palletizing conveying production line in actual palletizing work.
S400, connecting a case conveying system, and determining conveying position information of a stacking conveying production line;
in one embodiment, as shown in fig. 2, the method provided by the present application further includes:
s410, obtaining a stacking initial position and a stacking target position according to the conveying position information of the stacking conveying production line;
s420, acquiring a relative space angle between the palletizing robot and the palletizing initial position and the palletizing target position according to the fixed position information of the palletizing robot;
s430, judging whether the control angle of the stacking space freedom degree meets the relative space angle;
and S440, if the control angle of the stacking space freedom degree meets the relative space angle, acquiring a control instruction for controlling the execution of the stacking robot.
Specifically, in this embodiment, the machine box conveying system is a palletizing conveying production line operation management system for performing operation control on scattered irregular material boxes and palletizing regular stacking material boxes. The machine case conveying system controls operation of scattered goods on a stacking conveying production line and positioning of material boxes, after the positioning of the material boxes is completed, a vacuum chuck used for grabbing the material boxes in a claw rotary joint of the stacking robot starts to suck the boxes, and the stacking robot performs box stacking according to preset stacking requirements, for example, the scattered boxes are stacked into 3 x 3. And then the case conveying system conveys the regular material stacking box body in a flowing mode to subsequent boxing and other links.
The intelligent stacking system is connected with the case conveying system, conveying position information of a stacking conveying production line is determined, the conveying position information comprises stacking initial position information and stacking target position, the stacking initial position information is scattered material boxes, the material boxes are positioned on the stacking conveying production line, and the stacking target position is position information for stacking treatment and subsequent circulation conveying after the stacking robot absorbs the boxes to generate spatial displacement.
According to the fixed position information of the stacking robot, a relative space angle between the stacking robot and the initial stacking position and the target stacking position is obtained, the relative space angle is a space angle formed by taking a connecting line of the fixed position and the initial stacking position as one side, taking a connecting line of the fixed position and the target stacking position as one side and taking the fixed position as a fixed point, and the stacking robot performs grabbing of scattered material boxes and displacement stacking operation in the relative space angle.
And acquiring the control angle reflecting the operable working range of a mechanical arm of the stacking robot based on the stacking space degree of freedom, judging whether the control angle of the stacking space degree of freedom meets the relative space angle, if so, indicating that the stacking robot meets the current stacking working requirement, and acquiring a control command for controlling the stacking robot to execute a stacking task.
The relative space angle between the stacking robot and the stacking initial position and the stacking target position is obtained, and the relative space angle is compared with the space degree of freedom control angle of the stacking robot, so that the technical effect of avoiding the stacking work error accident caused by the fact that the operation working capacity of the stacking robot is not matched with the actual stacking requirement is achieved.
S500, acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
s600, controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters;
particularly, the mechanical arm control path is a space displacement path which is used for controlling the mechanical arm to move to a stacking target position to perform stacking after the bulk material box body is absorbed at the initial stacking position after the stacking robot is fixed at the fixed position in actual application.
In this embodiment, the robot arm control path is obtained according to the fixed position information and the conveying position information, a three-dimensional space coordinate system is constructed with the fixed position as an origin of coordinates, the robot arm control path is brought into the constructed three-dimensional space coordinate system, a space coordinate point set is obtained, and a plurality of space coordinate points in the space coordinate point set are connected to form the robot arm control path.
And generating a control parameter based on the spatial coordinate point set to control the palletizing robot in real time, so that a mechanical arm of the palletizing robot can theoretically perform the suction and palletizing work of the material box according to a mechanical arm control path. The operation process of the palletizing robot is influenced by the equipment and the material box body, and a certain deviation exists between an actual control parameter and a control parameter generated based on the spatial coordinate point set.
The method comprises the steps of obtaining real-time control parameters, wherein the real-time control parameters are a space displacement path of an actual stacking robot mechanical arm when stacking is carried out, an actual stacking initial position and an actual stacking target position information set, and the real-time control parameters are used for carrying out optimization processing on stacking parameters of the stacking robot by reference.
And S700, carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing mechanical arms of the stacking robot according to the optimized stacking parameters.
In one embodiment, the method steps provided herein further comprise:
s710, acquiring an initial positioning data set according to the real-time control parameters, wherein the initial positioning data set is an initial position of a mechanical arm of the palletizing robot for sucking materials;
s720, inputting the initial positioning data set into a repeated positioning precision analysis model, and performing data iterative deviation analysis according to the repeated positioning precision analysis model to obtain an iterative deviation rate;
s730, judging whether the iterative deviation rate is in a preset iterative deviation rate, and if the iterative deviation rate is in the preset iterative deviation rate, acquiring an optimization instruction;
and S740, acquiring the optimized stacking parameters according to the optimized instruction.
Specifically, in this embodiment, the real-time control parameters are a space displacement path, an actual stacking initial position and an actual stacking target position information set when the actual stacking robot mechanical arm performs stacking, and according to the real-time control parameters, an initial positioning data set is obtained, where the initial positioning data set is an initial position at which the stacking robot mechanical arm absorbs a material, that is, an actual stacking initial position, and a plurality of initial positions and marks in the initial positioning data set have a material absorbing time. And each initial positioning data in the initial positioning data set and the stacking initial position are represented by coordinate data in a three-dimensional space coordinate system established by taking the fixed position as a coordinate origin.
Inputting the initial positioning data set into a repeated positioning precision analysis model, taking the repeated positioning precision analysis model as a data trend analysis model, calculating the vector difference between each initial positioning data in the initial positioning data set and the initial stacking position by a data calculation module of the repeated positioning precision analysis model, generating a data iteration image by a data charting module based on the vector difference of a plurality of initial positioning data and the material absorption time identification of the plurality of initial positioning data, performing data iteration deviation analysis based on the data iteration image, and acquiring an iteration deviation rate, wherein the iteration deviation rate is the image change condition.
The method comprises the steps that a preset iteration deviation ratio is obtained based on past experience of a robot palletizer regulation and control worker, and the preset iteration deviation ratio is used for judging whether control parameters of an original robot palletizer need to be adjusted or not. Judging whether the iterative deviation rate is in a preset iterative deviation rate, if so, acquiring an optimization instruction, and adjusting control parameters by the optimization instruction to acquire the optimized palletizing parameters, wherein the optimized control parameters can control the mechanical arm operation path of the palletizing robot to be close to the mechanical arm control path.
According to the stacking robot stacking control method and device, the control parameters acquired based on the mechanical arm control path are adopted to execute stacking operation of the stacking robot, multiple groups of operation data of the stacking robot are acquired to analyze the operation deviation rate, so that the original control parameters are fed back and adjusted, the actual operation path of the mechanical arm of the stacking robot is closer to the mechanical arm control path, the accuracy of the mechanical arm of the stacking robot sucking the material box is improved, the control accuracy of a control system for the stacking robot is improved, and the stacking stability of the material box is improved.
In one embodiment, the method provided by the present application further comprises:
s810, acquiring a first vacuum chuck of the palletizing robot, wherein the first vacuum chuck is a vacuum chuck between a mechanical arm and a material box body of the palletizing robot;
s820, carrying out data acquisition on the conveyed material box body to obtain box body surface material data, box body geometric data and box body quality data;
s830, analyzing the box surface material data, the box geometric data and the box quality data to obtain an adsorption limit index, wherein the adsorption limit index is the adsorption limit index of the material box and the vacuum chuck;
and S840, performing box body adsorption control on the first vacuum chuck according to the adsorption limit index.
Particularly, in the embodiment, the palletizing robot absorbs the material box body through a vacuum sucker in a mechanical arm paw rotary joint, wherein the vacuum sucker is used for grabbing the material box body, and the absorption strength of the palletizing robot on the material box body depends on the surface material of the box body, the volume of the box body and the quality of the material box body.
Therefore, in this embodiment, data acquisition is performed on the conveyed material box, and box surface material data, box geometric data, and box quality data are obtained, where the box surface material data is box surface material data, such as paper, foam, and metal, the box geometric data is box length × width × height data, and the box quality data is total quality data of the material box.
Historical box surface material data, historical box geometric data, historical box quality data and corresponding vacuum chuck adsorption limit index data of various types of historical material boxes are acquired and acquired to construct a database, and the data relationship in the database is historical box surface material data, historical box geometric data, historical box quality data and historical vacuum chuck adsorption limit indexes.
The method is characterized in that standardization is realized on the basis of scale production, after box surface material data, box geometric data and box quality data of a certain material box to be stacked are acquired, a required suction limiting index of the vacuum chuck can be acquired on the basis of the database, and the suction limiting index is suction intensity data required to be provided by the first vacuum chuck.
In this embodiment, the box surface material data, the box geometric data and the box quality data are input into a database to perform traversal analysis on similar box surface material data, similar box geometric data and similar box quality data, so as to obtain a similar adsorption limiting index, the adsorption limiting index is used as an adsorption limiting index of the material box and the vacuum chuck, and box adsorption control is performed on the first vacuum chuck according to the adsorption limiting index.
This embodiment acquires historical box surface material data, historical box geometric data and historical box quality data and the vacuum chuck that corresponds through the collection and adsorbs restriction index data and builds the database, has realized obtaining after certain box surface material data, box geometric data and the box quality data of waiting the pile up neatly material box, based on required vacuum chuck adsorbs the restriction index can be known to the database to carry out the settlement of pile up neatly machine people vacuum chuck's suction control fast, improve pile up neatly machine people's regulation and control efficiency, improve the pile up neatly and produce the technological effect of the efficiency of building of line indirectly.
In one embodiment, the method provided by the present application further comprises:
s841, acquiring the sucker distribution information of the first vacuum sucker;
s842, analyzing the arrangement density of the suckers based on the sucker distribution information to obtain the density of the suckers;
s843, analyzing the suction adaptability of the air pipe of the suction cup according to the density of the suction cup and the adsorption limit index to obtain an adaptability parameter;
and S844, performing adsorption control on the conveyed material box body according to the fitness parameter.
Specifically, in this embodiment, the suction cup adsorption limitation index is data of the suction intensity that the first vacuum suction cup needs to provide, and the first vacuum suction cup is generated by arranging a plurality of small suction cups on a flat surface of the first vacuum suction cup. Therefore, in this embodiment, on the basis of obtaining the suction cup adsorption index, when the suction cup adsorption index is analyzed and determined to be realized, the suction cup adsorption data that each suction cup needs to be dispersedly assumed in the first vacuum suction cup is analyzed and determined.
The sucker distribution information of the first vacuum sucker is obtained, sucker density is obtained based on sucker arrangement density analysis carried out by the sucker distribution information, and the sucker density is obtained according to the sucker density and the adsorption limit index, so that sucker air pipe suction adaptability analysis is carried out, adaptability parameters are obtained, the sucker adaptability parameters are sucker suction control parameters of the stacking robot corresponding to sucker adsorption data of each sucker in a dispersed mode under the condition of the current sucker density, and the adaptability parameters are right for adsorption control of the conveyed material box body.
The sucking disc that the required of each small-size sucking disc of this embodiment is confirmed through the position arrangement information analysis who acquires each small-size sucking disc in the first vacuum chuck adsorbs index data to the confirming of the sucking disc adsorption control parameter that corresponds has realized improving the technological effect of pile up neatly machine people sucking disc control parameter and the adaptation degree of absorption object material box.
In one embodiment, the method steps provided herein further comprise:
s851, acquiring air pressure monitoring data based on the air pressure display instrument of the first vacuum chuck;
s852, performing air pressure abnormity analysis on the air pressure monitoring data to obtain air pressure abnormity data;
and S853, generating early warning information according to the air pressure abnormal data, wherein the early warning information is used for reminding the first vacuum chuck of air leakage.
Particularly, it should be understood that the sucking displacement of the material box body is carried out through the sucking disc in this embodiment, so there is the possibility that the sucking disc produces suction force and does not satisfy the material box body sucking displacement, causes the material box body to break away from the robot arm of the palletizer robot on the robot arm control path and drop the damage accident.
Therefore, in this embodiment, the air pressure display instrument based on the first vacuum chuck performs real-time monitoring of the first vacuum chuck to obtain real-time air pressure monitoring data of the first vacuum chuck, draws a curve image of air pressure changing with time based on the real-time air pressure monitoring data, performs air pressure anomaly analysis on the air pressure monitoring data based on the curve image, and when the curve image irregularly fluctuates or the curve tends to slide down, indicates that the current first vacuum chuck has an air pressure anomaly to obtain air pressure anomaly data, where the air pressure anomaly data are air pressure monitoring data corresponding to irregular fluctuation of the curve image and air pressure monitoring data corresponding to a curve inflection point when the curve tends to slide down.
According to the air pressure abnormal data, early warning information is generated and used for reminding the first vacuum chuck of having air leakage, and the technical effect that the air leakage of the first vacuum chuck is not timely perceived, so that the first vacuum chuck is used for sucking the material box body and separating from the material box body along the mechanical arm control path to reach the stacking target position to cause material loss is achieved.
In one embodiment, the method provided by the present application further comprises:
s450, carrying out stacking space analysis according to the conveying position information to obtain a preset stacking array;
s460, acquiring stacking variable parameters according to the preset stacking array;
s470, sequentially adjusting the real-time control parameters according to the stacking variable parameters to obtain adjustment control parameters;
and S480, controlling the mechanical arm of the palletizing robot according to the adjusting control parameter.
Specifically, the preset stacking array is a stacking structure in which a stacking robot sucks scattered material boxes to be stacked from a stacking conveying production line and stacks the scattered material boxes, for example, the material boxes are stacked into a 3 × 3 × 3 structure. The stacking initial position in the conveying position information is fixed, the stacking target position has variability, and the material boxes are changed in position by changing the stacking target position to be stacked to form the preset stacking array.
In this embodiment, the stacking space analysis is performed according to the stacking target position in the conveying position information to obtain the preset stacking array, and the stacking parameter is obtained according to the preset stacking array, where the stacking parameter variable is obtained by obtaining box geometric data of material boxes and calculating the preset stacking array, so that the stacking robot absorbs and migrates the material boxes from the initial stacking position to the stacking target position in sequence and then directly stacks the material boxes to form the preset stacking array.
And sequentially adjusting the real-time control parameters according to the stacking variable parameters to obtain adjustment control parameters, wherein the adjustment control parameters are multiple groups of control parameters and have a sequential order for the control of the stacking robot, and the mechanical arm of the stacking robot is controlled according to the adjustment control parameters.
According to the stacking robot, the stacking variable parameters are acquired based on the preset stacking array, the real-time control parameters are sequentially adjusted to acquire the adjusting control parameters, stacking of material boxes according to the preset stacking array is achieved, and the stacking accuracy of the material boxes is improved.
In one embodiment, as shown in fig. 4, there is provided a robot palletizer-based intelligent palletizing system comprising: the structure distribution obtains module 1, and spatial freedom degree analysis module 2, fixed position obtains module 3, carries position determination module 4, control path output module 5, and control parameter obtains module 6, arm parameter optimization module 7, wherein:
the robot palletizer comprises a structure distribution obtaining module 1, a data acquisition device and a control module, wherein the structure distribution obtaining module is used for obtaining structure distribution information of the robot palletizer according to the data acquisition device, and the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
the spatial freedom degree analysis module 2 is used for analyzing the freedom degree of the palletizing robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain a palletizing spatial freedom degree;
the fixed position obtaining module 3 is used for obtaining fixed position information of the palletizing robot;
the conveying position determining module 4 is used for connecting a case conveying system and determining conveying position information of a stacking conveying production line;
the control path output module 5 is used for acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
the control parameter acquisition module 6 is used for controlling the palletizing robot in real time according to the space coordinate point set generated by the mechanical arm control path to acquire real-time control parameters;
and the mechanical arm parameter optimization module 7 is used for performing repeated positioning precision analysis on the real-time control parameters, acquiring optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
In one embodiment, the delivery position determining module 4 further comprises:
the position information analysis unit is used for obtaining a stacking initial position and a stacking target position according to the conveying position information of the stacking conveying production line;
a relative space angle obtaining unit, configured to obtain a relative space angle between the robot palletizer and the initial palletizing position and the target palletizing position according to the fixed position information of the robot palletizer;
the control angle judging unit is used for judging whether the control angle of the stacking space freedom degree meets the relative space angle or not;
and the judgment result execution unit is used for acquiring a control instruction if the control angle of the stacking space degree of freedom meets the relative space angle, and is used for controlling the execution of the stacking robot.
In one embodiment, the control parameter obtaining module 6 further includes:
the initial positioning obtaining unit is used for obtaining an initial positioning data set according to the real-time control parameters, wherein the initial positioning data set is an initial position of a mechanical arm of the palletizing robot for sucking materials;
the iterative deviation analysis unit is used for inputting the initial positioning data set into a repeated positioning precision analysis model, and performing data iterative deviation analysis according to the repeated positioning precision analysis model to obtain an iterative deviation rate;
the iteration deviation judging unit is used for judging whether the iteration deviation rate is in a preset iteration deviation rate or not, and if the iteration deviation rate is in the preset iteration deviation rate, an optimization instruction is obtained;
and the optimization instruction execution unit is used for acquiring the optimized stacking parameters according to the optimization instruction.
In one embodiment, the system provided herein further comprises:
the vacuum chuck acquisition unit is used for acquiring a first vacuum chuck of the palletizing robot, wherein the first vacuum chuck is a vacuum chuck between a mechanical arm and a material box body of the palletizing robot;
the data acquisition execution unit is used for acquiring data of the conveyed material box to obtain box surface material data, box geometric data and box quality data;
the adsorption limitation obtaining unit is used for analyzing the box surface material data, the box geometric data and the box quality data to obtain an adsorption limitation index, wherein the adsorption limitation index is the adsorption limitation index of the material box and the vacuum chuck;
and the adsorption control execution unit is used for carrying out box body adsorption control on the first vacuum chuck according to the adsorption limit index.
In one embodiment, the adsorption control execution unit further includes:
the sucking disc distribution obtaining unit is used for obtaining sucking disc distribution information of the first vacuum sucking disc;
the sucker density obtaining unit is used for analyzing the sucker arrangement density based on the sucker distribution information to obtain the sucker density;
the suction fitness analysis unit is used for analyzing the suction fitness of the air pipe of the sucker according to the density of the sucker and the adsorption limit index to obtain fitness parameters;
and the adsorption control execution unit is used for carrying out adsorption control on the conveyed material box body according to the fitness parameter.
In one embodiment, the method provided by the present application further comprises:
the air pressure data acquisition unit is used for acquiring air pressure monitoring data based on the air pressure display instrument of the first vacuum chuck;
the air pressure abnormity analysis unit is used for carrying out air pressure abnormity analysis on the air pressure monitoring data to obtain air pressure abnormity data;
and the abnormity early warning generation unit is used for generating early warning information according to the air pressure abnormity data and reminding the first vacuum chuck of gas leakage.
In one embodiment, the delivery position determining module 4 further comprises:
the stacking array generating unit is used for carrying out stacking space analysis according to the conveying position information to obtain a preset stacking array;
the variable parameter acquiring unit is used for acquiring stacking variable parameters according to the preset stacking array;
the control parameter adjusting unit is used for sequentially adjusting the real-time control parameters according to the stacking variable parameters to obtain adjustment control parameters;
and the adjusting parameter control unit is used for controlling the mechanical arm of the palletizing robot according to the adjusting control parameter.
For a specific embodiment of the intelligent palletizing system based on the palletizing robot, reference may be made to the above embodiments of the intelligent palletizing method based on the palletizing robot, and details are not repeated here. All or part of each module in the intelligent stacking device based on the stacking robot can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing news data, time attenuation factors and other data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an intelligent palletizing method based on a palletizing robot.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of: according to the data acquisition device, acquiring structure distribution information of the palletizing robot, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information; analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain stacking space freedom degree; acquiring fixed position information of the palletizing robot; connecting a case conveying system, and determining conveying position information of a stacking conveying production line; acquiring a mechanical arm control path according to the fixed position information and the conveying position information; controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters; and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing mechanical arms of the stacking robot according to the optimized stacking parameters.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring structure distribution information of the palletizing robot according to the data acquisition device, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information; analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain the stacking space freedom degree; acquiring fixed position information of the palletizing robot; connecting a case conveying system, and determining conveying position information of a stacking conveying production line; acquiring a mechanical arm control path according to the fixed position information and the conveying position information; controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters; and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. An intelligent stacking method based on a stacking robot is characterized in that the method is applied to a stacking robot control system, the system is connected with a data acquisition device, and the method comprises the following steps:
according to the data acquisition device, acquiring structure distribution information of the palletizing robot, wherein the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
analyzing the freedom degree of the stacking robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain the stacking space freedom degree;
acquiring fixed position information of the palletizing robot;
connecting a case conveying system, and determining conveying position information of a stacking conveying production line;
acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
controlling the palletizing robot in real time according to a space coordinate point set generated by the mechanical arm control path to obtain real-time control parameters;
and carrying out repeated positioning precision analysis on the real-time control parameters to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
2. The method of claim 1, wherein the method further comprises:
according to the conveying position information of the stacking conveying production line, a stacking initial position and a stacking target position are obtained;
acquiring a relative space angle between the palletizing robot and the palletizing initial position and the palletizing target position according to the fixed position information of the palletizing robot;
judging whether the control angle of the stacking space degree of freedom meets the relative space angle or not;
and if the control angle of the stacking space degree of freedom meets the relative space angle, acquiring a control command for controlling the execution of the stacking robot.
3. The method of claim 1, wherein the method further comprises:
acquiring an initial positioning data set according to the real-time control parameters, wherein the initial positioning data set is an initial position of a mechanical arm of the palletizing robot for sucking materials;
inputting the initial positioning data set into a repeated positioning precision analysis model, and performing data iterative deviation analysis according to the repeated positioning precision analysis model to obtain an iterative deviation rate;
judging whether the iteration deviation rate is in a preset iteration deviation rate, and if the iteration deviation rate is in the preset iteration deviation rate, acquiring an optimization instruction;
and acquiring the optimized stacking parameters according to the optimized instruction.
4. The method of claim 1, wherein the method further comprises:
acquiring a first vacuum chuck of the palletizing robot, wherein the first vacuum chuck is a vacuum chuck between a mechanical arm and a material box body of the palletizing robot;
carrying out data acquisition on a conveyed material box to obtain box surface material data, box geometric data and box quality data;
analyzing the box surface material data, the box geometric data and the box quality data to obtain an adsorption limit index, wherein the adsorption limit index is the adsorption limit index of the material box and the vacuum chuck;
and carrying out box body adsorption control on the first vacuum chuck according to the adsorption limit index.
5. The method of claim 4, wherein the method further comprises:
acquiring the sucker distribution information of the first vacuum sucker;
analyzing the arrangement density of the suckers based on the sucker distribution information to obtain the density of the suckers;
according to the density of the sucker and the adsorption limit index, analyzing the adaptability of the suction force of the sucker air pipe to obtain an adaptability parameter;
and carrying out adsorption control on the conveyed material box body according to the fitness parameter.
6. The method of claim 5, wherein the method further comprises:
acquiring air pressure monitoring data based on an air pressure display instrument of the first vacuum chuck;
performing air pressure abnormity analysis on the air pressure monitoring data to obtain air pressure abnormity data;
and generating early warning information according to the air pressure abnormal data, wherein the early warning information is used for reminding the first vacuum chuck of gas leakage.
7. The method of claim 5, wherein the method further comprises:
carrying out stacking space analysis according to the conveying position information to obtain a preset stacking array;
acquiring stacking variable parameters according to the preset stacking array;
sequentially adjusting the real-time control parameters according to the stacking variable parameters to obtain adjustment control parameters;
and controlling the mechanical arm of the palletizing robot according to the adjustment control parameter.
8. An intelligent palletizing system based on a palletizing robot, which is characterized by comprising:
the robot palletizer comprises a structure distribution acquisition module, a data acquisition device and a control module, wherein the structure distribution acquisition module is used for acquiring structure distribution information of the robot palletizer according to the data acquisition device, and the structure distribution information comprises rotation structure information, moving structure information and fixed structure information;
the space freedom degree analysis module is used for analyzing the freedom degree of the palletizing robot by using the rotating structure information, the moving structure information and the fixed structure information to obtain a palletizing space freedom degree;
the fixed position obtaining module is used for obtaining fixed position information of the palletizing robot;
the conveying position determining module is used for connecting the case conveying system and determining conveying position information of the stacking conveying production line;
the control path output module is used for acquiring a mechanical arm control path according to the fixed position information and the conveying position information;
the control parameter acquisition module is used for controlling the palletizing robot in real time according to the space coordinate point set generated by the mechanical arm control path to acquire real-time control parameters;
and the mechanical arm parameter optimization module is used for carrying out repeated positioning precision analysis on the real-time control parameters, obtaining optimized stacking parameters and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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