CN115872121B - 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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- CN115872121B CN115872121B CN202310024122.3A CN202310024122A CN115872121B CN 115872121 B CN115872121 B CN 115872121B CN 202310024122 A CN202310024122 A CN 202310024122A CN 115872121 B CN115872121 B CN 115872121B
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Abstract
The application relates to the technical field of data processing, and provides an intelligent palletizing method and system based on a palletizing robot. Acquiring the freedom degree of a stacking space based on structural distribution information of the stacking robot, and acquiring the conveying position of a stacking conveying production line; acquiring a control path of the mechanical arm according to the fixed position and the conveying position; according to the space coordinate point set generated by the control path of the mechanical arm, controlling the real-time control of the palletizing robot, and obtaining real-time control parameters; and (3) carrying out repeated positioning accuracy 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. The technical problems that in the prior art, the stacking control effectiveness of the stacking robot is insufficient, so that stacking accuracy and stability of the material box body are poor are solved, and the technical effects of improving the control accuracy of a control system on the stacking robot and improving stacking stability of the material box body are achieved.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an intelligent palletizing method and system based on a palletizing robot.
Background
At present, the stacking robot replaces manual carrying and stacking to stack the boxes, the stacking robot is insufficient in stacking and carrying stability and accuracy of the material boxes to be stacked when labor and time resource consumption is reduced in stacking work, economic loss is caused by falling and damage of the material boxes in the stacking process, and the stacking and stacking accuracy is insufficient, so that the structural stability of the stacked material boxes is insufficient, and stacking and collapsing risks exist.
In summary, in the prior art, the stacking control effectiveness of the stacking robot is insufficient, so that the technical problems of poor stacking accuracy and stability of the material box body are caused.
Disclosure of Invention
Based on the above, it is necessary to provide an intelligent stacking method and system based on a stacking robot, which can improve the control accuracy of a control system on the stacking robot and the stacking stability of the material box.
An intelligent palletizing method based on palletizing robots, the method comprises the following steps: acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information; the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained; acquiring fixed position information of the palletizing robot; the machine case conveying system is connected to determine conveying position information of the stacking conveying production line; acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information; according to the space coordinate point set generated by the mechanical arm control path, controlling the real-time control of the palletizing robot to acquire real-time control parameters; and repeatedly analyzing the real-time control parameters in positioning accuracy to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
An intelligent palletizing system based on palletizing robots, the system comprising: the structure distribution acquisition module is used for 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; the space degree of freedom analysis module is used for carrying out degree of freedom analysis on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information to obtain the palletizing space degree of freedom; 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 chassis conveying system and determining conveying position information of the stacking conveying production line; the control path output module is used for acquiring a control path of the mechanical arm 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 control path of the mechanical arm 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 storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information;
the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained;
acquiring fixed position information of the palletizing robot;
the machine case conveying system is connected to determine conveying position information of the stacking conveying production line;
acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information;
according to the space coordinate point set generated by the mechanical arm control path, the palletizing robot is controlled in real time, and real-time control parameters are obtained;
and repeatedly analyzing the real-time control parameters in positioning accuracy 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 having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information;
the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained;
acquiring fixed position information of the palletizing robot;
the machine case conveying system is connected to determine conveying position information of the stacking conveying production line;
acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information;
according to the space coordinate point set generated by the mechanical arm control path, the palletizing robot is controlled in real time, and real-time control parameters are obtained;
and repeatedly analyzing the real-time control parameters in positioning accuracy to obtain optimized stacking parameters, and optimizing the mechanical arm of the stacking robot according to the optimized stacking parameters.
According to the intelligent stacking method and system based on the stacking robot, the technical problems that stacking accuracy and stability of the stacking of the material box body are poor due to the fact that the stacking control effectiveness of the stacking robot is insufficient in the prior art are solved, and the technical effects of improving the control accuracy of the control system on the stacking robot and improving stacking stability of the material box body are achieved.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
Drawings
FIG. 1 is a flow diagram of an intelligent palletizing method based on palletizing robots in one embodiment;
FIG. 2 is a schematic flow chart of controlling operation of a palletizing robot in an intelligent palletizing method based on the palletizing robot in an embodiment;
FIG. 3 is a block diagram of an intelligent palletizing system based on palletizing robots in one embodiment;
FIG. 4 is an internal block diagram of a computer device in one embodiment;
reference numerals illustrate: the system comprises a structural distribution obtaining module 1, a space degree of freedom analyzing 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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only 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, the method is applied to a palletizing robot control system, the system is connected with a data acquisition device, and the method includes:
s100, acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information;
s200, analyzing the degree of freedom of the palletizing robot according to the rotation structure information, the moving structure information and the fixed structure information to obtain the degree of freedom of a palletizing space;
specifically, in this embodiment, the palletizing robot is a palletizing manipulator, and is configured to automatically palletize, unstacking, moving and placing packaged goods with different external dimensions on a production line, where the structure is configured to implement actions such as lifting and turning of a mechanical arm of the palletizing robot so as to perform connection structures of various mechanical components for capturing the packaged goods and spatially displacing the packaged goods.
The rotating structure is a waist rotating joint of the palletizing robot and a related mechanical structure, and is used for realizing fixed rotation of a palletizing robot body around a base, the moving structure is a paw rotating joint of the palletizing robot and a related mechanical structure, and is used for realizing multi-angle space routing of the paw rotating joint of the palletizing robot along the horizontal direction stretching and the vertical direction pitching, and the fixed structure is a topological structure of the waist rotating joint of the palletizing robot and the related structure thereof, the paw rotating joint and the related structure thereof, such as a serial structure, a parallel structure and a series-parallel structure.
In this embodiment, according to the data acquisition device, the structural distribution information of the palletizing robot is acquired, the structural distribution information includes rotation structure information, movement structure information and fixed structure information, the rotation degree data of the palletizing robot base is obtained according to the rotation structure information, the movement structure information and the fixed structure information, the movement distance data of the waist rotary joint and the paw rotary joint in the horizontal direction and the vertical direction and the mechanical topological structure are obtained, the freedom degree analysis is performed on the palletizing robot based on the rotation data, the rotation joint movement data and the mechanical topological structure, the freedom degree of a palletizing space is acquired, and the freedom degree of the palletizing space reflects the working space range of the palletizing robot capable of grabbing and palletizing.
S300, acquiring fixed position information of the palletizing robot;
specifically, in this embodiment, the palletizing robot is fixed around the palletizing conveying line, the palletizing conveying line conveys the cargoes to be palletized to a certain position, the palletizing robot performs palletizing to palletize the scattered cargoes, and the palletizing conveying line conveys the palletized cargoes to the next processing step. The fixed position information refers to the relative position relation between the palletizing robot and the palletizing conveying production line in the 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 steps provided in the present application further include:
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 degree of freedom meets the relative space angle;
s440, if the control angle of the stacking space degree of freedom meets the relative space angle, acquiring a control instruction for controlling the execution of the stacking robot.
Specifically, in this embodiment, the chassis conveying system is a palletizing conveying line operation management system for controlling operations of the scattered irregular material boxes and the palletizing regular stacked material boxes. The machine case conveying system controls scattered cargoes on a stacking conveying production line to run and position the material box, after the material box is positioned, a vacuum chuck for grabbing the material box in a rotating joint of a gripper of a stacking robot starts to suck the box, and the stacking robot stacks the box according to preset stacking requirements, for example stacks the scattered boxes into 3 multiplied by 3. And then the chassis conveying system convexes and conveys the stacking rule material boxes to links such as subsequent boxing.
The intelligent stacking system is connected with the chassis 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 positions, the stacking initial position information is position information of scattered material boxes for positioning the material boxes on the stacking conveying production line, and the stacking target positions are position information of stacking processing and follow-up circulation conveying after space displacement of the box absorbed by the stacking robot.
According to the fixed position information of the palletizing robot, a relative space angle between the palletizing robot and the palletizing initial position and between the palletizing robot and the palletizing target position is obtained, the relative space angle takes a connecting line of the fixed position and the palletizing initial position as one side, a connecting line of the fixed position and the palletizing target position as one side, the fixed position is taken as a space angle formed by fixed points, and the palletizing robot performs grabbing and displacement palletizing operation of scattered material boxes in the relative space angle.
And acquiring a control angle reflecting the operable working range of the mechanical arm of the palletizing robot based on the palletizing space degree of freedom, judging whether the control angle of the palletizing space degree of freedom meets the relative space angle, and if the control angle of the palletizing space degree of freedom meets the relative space angle, indicating that the palletizing robot meets the current palletizing working requirement, acquiring a control instruction for controlling the palletizing robot to execute the palletizing task.
According to the embodiment, the relative space angle between the palletizing robot and the palletizing initial position and the palletizing target position is obtained, and is compared with the space degree of freedom control angle of the palletizing robot, so that the technical effect of avoiding palletizing working error accidents caused by mismatching of the operation working capacity of the palletizing robot and the actual palletizing requirement is achieved.
S500, acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information;
s600, carrying out real-time control on the palletizing robot according to the space coordinate point set generated by the control path of the mechanical arm to obtain real-time control parameters;
specifically, the mechanical arm control path is a space displacement path for carrying out stacking by controlling the mechanical arm to absorb scattered material boxes at the initial stacking position and then moving the scattered material boxes to the target stacking position when the stacking robot is fixed at the fixed position in actual application.
In this embodiment, the mechanical arm control path is obtained according to the fixed position information and the conveying position information, a three-dimensional space coordinate system is constructed by taking the fixed position as an origin of coordinates, the mechanical 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 mechanical arm control path.
And generating control parameters based on the space coordinate point set to control the palletizing robot in real time, so that a mechanical arm of the palletizing robot can theoretically execute the sucking and palletizing work of the material box according to the control path of the mechanical arm. The palletizing robot is influenced by the equipment and the material box body in the operation process, and the actual control parameters and the control parameters generated based on the space coordinate point set have certain deviation.
The method comprises the steps of obtaining real-time control parameters, wherein the real-time control parameters are a spatial displacement path of an actual palletizing robot mechanical arm during palletizing execution, an actual palletizing initial position and an actual palletizing target position information set, and the real-time control parameters are used for optimizing palletizing parameters of the palletizing robot by reference.
And S700, repeatedly analyzing the real-time control parameters in a positioning precision manner to obtain optimized stacking parameters, and optimizing the mechanical arm 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 the palletizing robot mechanical arm for sucking materials;
s720, inputting the initial positioning data set into a repeated positioning precision analysis model, and carrying out data iteration deviation analysis according to the repeated positioning precision analysis model to obtain an iteration deviation rate;
s730, judging whether the iteration deviation rate is in a preset iteration deviation rate, and if so, acquiring an optimization instruction;
s740, acquiring the optimized stacking parameters according to the optimized instruction.
Specifically, in this embodiment, the real-time control parameter is a spatial displacement path of the actual palletizing robot mechanical arm during palletizing execution, and an actual palletizing initial position and an actual palletizing target position information set, and according to the real-time control parameter, an initial positioning data set is obtained, where the initial positioning data set is an initial position where the palletizing robot mechanical arm sucks materials, that is, an actual palletizing initial position, and a plurality of initial positions in the initial positioning data set are marked with a time for sucking materials. And constructing coordinate data representation in a three-dimensional space coordinate system by taking the fixed position as the origin of coordinates at each initial positioning data and the initial stacking position in the initial positioning data set.
Inputting the initial positioning data set into a repeated positioning precision analysis model, and according to the repeated positioning precision analysis model, using a data calculation module of the repeated positioning precision analysis model to calculate vector differences between each initial positioning data in the initial positioning data set and the stacking initial position, and using a data drawing module to generate a data iteration image based on the vector differences of a plurality of initial positioning data and the material absorbing time marks of the plurality of initial positioning data, and performing data iteration deviation analysis based on the data iteration image to obtain an iteration deviation rate, wherein the iteration deviation rate is an image change condition.
The method comprises the steps of obtaining a preset iteration deviation rate based on past experience of a palletizing robot regulation and control management staff, wherein the preset iteration deviation rate is used for judging whether the control parameters of the original palletizing robot are required to be adjusted or not. Judging whether the iteration deviation rate is in a preset iteration deviation rate, if so, acquiring an optimization instruction, adjusting control parameters by the optimization instruction, and acquiring the optimized stacking parameters, wherein the optimized control parameters can control the mechanical arm running path of the stacking robot to be close to the mechanical arm control path.
According to the embodiment, the palletizing robot palletizing operation is executed by adopting the control parameters acquired based on the mechanical arm control path, and the operation deviation rate analysis is performed by acquiring the operation data of multiple groups of palletizing robots, so that the original control parameters are fed back and adjusted, the technical effects that the actual operation path of the mechanical arm of the palletizing robot is closer to the mechanical arm control path, the accuracy of the mechanical arm of the palletizing robot for sucking the material box body is improved, the control accuracy of the control system for the palletizing robot is improved, and the palletizing stability of the material box body is improved are achieved.
In one embodiment, the method steps provided herein further comprise:
s810, acquiring a first vacuum chuck of the palletizing robot, wherein the first vacuum chuck is a vacuum chuck between a mechanical arm of the palletizing robot and a material box body;
s820, acquiring data of the conveyed material box body, and acquiring box body surface material data, box body geometric data and box body quality data;
s830, analyzing the box body surface material data, the box body geometric data and the box body quality data to obtain an adsorption limiting index, wherein the adsorption limiting index is an adsorption limiting index of a material box body and a vacuum chuck;
and S840, carrying out box body adsorption control on the first vacuum chuck according to the adsorption limiting index.
Specifically, in this embodiment, the palletizer robot sucks the material box through the vacuum chuck used for grabbing the material box in the rotating joint of the manipulator gripper, and the suction strength of the palletizer robot on the material box depends on the surface material of the box, the volume of the box and the mass of the material box.
Thus, in this embodiment, data acquisition is performed on the conveyed material box to obtain box surface material data, box geometry data, and box body quality data, where the box surface material data is box surface material data, such as paper, foam, and metal, the box geometry data is box length×width×height data, and the box body quality data is total quality data of the material box.
And acquiring historical box body surface material data, historical box body geometric data and historical box body quality data of various historical material boxes, and corresponding vacuum chuck adsorption limit index data to construct a database, wherein the data relationship in the database is historical box body surface material data-historical box body geometric data-historical box body quality data-historical vacuum chuck adsorption limit index.
Based on the characteristics of standardized mass production, after acquiring box body surface material data, box body geometric data and box body quality data of a certain material box body to be piled, acquiring a required vacuum chuck adsorption limiting index based on the database, wherein the suction chuck adsorption limiting index is suction strength data required to be provided by the first vacuum chuck.
In this embodiment, the case body surface material data, the case body geometry data, and the case body quality data are input into a database to perform similar case body surface material data, similar case body geometry data, and similar case body quality data traversal analysis, to obtain a similar adsorption limitation index, and the adsorption limitation index is used as an adsorption limitation index of the material case body and the vacuum chuck, and case body adsorption control is performed on the first vacuum chuck according to the adsorption limitation index.
According to the embodiment, the historical box body surface material data, the historical box body geometric data and the historical box body quality data are acquired and acquired, and the corresponding vacuum chuck adsorption limiting index data are used for constructing a database, so that after box body surface material data, box body geometric data and box body quality data of a certain material box to be stacked are acquired, the required vacuum chuck adsorption limiting index can be acquired based on the database, the setting of vacuum chuck suction control of the stacking robot is rapidly carried out, the regulation and control efficiency of the stacking robot is improved, and the technical effect of indirectly improving the construction efficiency of a stacking production line is achieved.
In one embodiment, the method steps provided herein further comprise:
s841, acquiring sucker distribution information of the first vacuum sucker;
s842, performing suction cup arrangement density analysis based on the suction cup distribution information to obtain suction cup density;
s843, analyzing the suction adaptation degree of the suction pipe of the suction cup according to the density of the suction cup and the adsorption limiting index to obtain an adaptation degree parameter;
s844, carrying out adsorption control on the conveyed material box body according to the fitness parameter.
Specifically, in this embodiment, the suction cup suction limit index is suction strength data that the first vacuum cup needs to provide, and the first vacuum cup is generated by a plurality of small suction cups arranged on a flat first vacuum cup surface. Therefore, in this embodiment, on the basis of obtaining the suction index of the suction cup, when the suction index of the suction cup is determined to be achieved by analysis, suction cup suction data that each suction cup in the first vacuum suction cup needs to be dispersedly born is required.
Specifically, the suction cup distribution information of the first vacuum suction cup is obtained, suction cup arrangement density analysis is performed based on the suction cup distribution information, suction cup density is obtained, suction cup tracheal suction fitness analysis is performed according to the suction cup density and the adsorption limiting index, and a fitness parameter is obtained, wherein the suction cup fitness parameter is a palletizing robot suction control parameter corresponding to suction cup adsorption data of each suction cup with scattered suction cups under the current suction cup density condition, and the transported material box is subjected to adsorption control according to the fitness parameter.
According to the embodiment, the suction cup adsorption index data of each small suction cup required to bear is determined by acquiring the position arrangement information analysis of each small suction cup in the first vacuum suction cup, and the corresponding suction cup adsorption control parameters are determined, so that the technical effect of improving the adaptation degree of the suction cup control parameters of the palletizing robot and the suction object material box is achieved.
In one embodiment, the method steps provided herein further comprise:
s851, acquiring air pressure monitoring data based on an air pressure display instrument of the first vacuum chuck;
s852, performing air pressure anomaly analysis on the air pressure monitoring data to obtain air pressure anomaly data;
s853, generating early warning information for reminding the first vacuum chuck of gas leakage according to the gas pressure abnormal data.
Specifically, it should be understood that, in this embodiment, the suction displacement of the material box is performed by the suction cup, so that there is a possibility that the suction force generated by the suction cup does not meet the suction displacement of the material box, and the material box breaks away from the mechanical arm of the palletizing robot on the control path of the mechanical arm and falls down to damage the mechanical arm.
Therefore, in this embodiment, the real-time monitoring of the first vacuum chuck is performed based on the air pressure display instrument of the first vacuum chuck, real-time air pressure monitoring data of the first vacuum chuck is obtained, a curve image of air pressure changing along with time is drawn based on the real-time air pressure monitoring data, air pressure anomaly analysis is performed on the air pressure monitoring data based on a curve graph, when irregular fluctuation or a curve is in a sliding trend of the curve image, the air pressure anomaly data is indicated to exist in the current first vacuum chuck, and air pressure anomaly data is obtained, wherein the air pressure anomaly data is 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 is in a sliding trend.
According to the air pressure abnormal data, early warning information is generated and used for reminding the first vacuum chuck of gas leakage, so that the technical effect that the gas leakage of the first vacuum chuck is not perceived in time, and the material box is sucked by the first vacuum chuck and separated from the first vacuum chuck to cause material loss in the process of reaching the stacking target position along the control path of the mechanical arm is achieved.
In one embodiment, the method steps provided herein further comprise:
s450, carrying out stacking space analysis according to the conveying position information to obtain a preset stacking array;
s460, acquiring a stacking variable parameter according to the preset stacking array;
s470, sequentially adjusting the real-time control parameters by the stacking variable parameters to obtain adjustment control parameters;
and S480, controlling the mechanical arm of the palletizing robot according to the adjustment control parameters.
In particular, 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 x 3 configuration. The stacking initial position in the conveying position information is fixed, the stacking target position has variability, and the material boxes are stacked to form the preset stacking array by changing the stacking target position to change the positions of the material boxes.
In this embodiment, the stacking space analysis is performed according to the stacking target position in the conveying position information, the preset stacking array is obtained, the stacking variable parameter is obtained according to the preset stacking array, and the stacking parameter variable is obtained by obtaining the box geometric data of the material box and performing the real-time control parameter adjustment obtained by calculating the preset stacking array, so that the stacking robot sequentially absorbs and transfers the material box from the stacking initial position to the stacking target position, and then the material box is directly stacked to form the preset stacking array.
And sequentially adjusting the real-time control parameters by the stacking variable parameters to obtain adjustment control parameters, wherein the adjustment control parameters are a plurality of groups of control parameters and have a sequence for controlling the stacking robot, and the mechanical arm of the stacking robot is controlled according to the adjustment control parameters.
According to the embodiment, the preset stacking array is obtained, the stacking variable parameters are obtained based on the preset stacking array, the real-time control parameters are sequentially adjusted to obtain the adjustment control parameters, and the technical effects that the stacking robot stacks the material box according to the preset stacking array and improves the stacking accuracy of the material box are achieved.
In one embodiment, as shown in fig. 4, there is provided an intelligent palletizing system based on palletizing robot, comprising: the system comprises a structural distribution obtaining module 1, a space degree of freedom analyzing 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, wherein:
the structure distribution obtaining module 1 is used for obtaining 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;
the space degree of freedom analysis module 2 is used for carrying out degree of freedom analysis on the palletizing robot according to the rotation structure information, the moving structure information and the fixed structure information to obtain the palletizing space degree of freedom;
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 chassis conveying system and determining conveying position information of the stacking conveying production line;
the control path output module 5 is used for acquiring a control path of the mechanical arm 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 control path of the mechanical arm to acquire real-time control parameters;
and the mechanical arm parameter optimization module 7 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.
In one embodiment, the delivery location determination 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;
the relative space angle obtaining unit is used for obtaining the 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;
a control angle judging unit for judging whether the control angle of the stacking space degree of freedom meets the relative space angle;
and the judging result executing unit is used for acquiring a control instruction and controlling the execution of the palletizing robot if the control angle of the palletizing space degree of freedom meets the relative space angle.
In one embodiment, the control parameter acquisition module 6 further comprises:
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 the palletizing robot mechanical arm 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 carrying out 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 optimized instruction execution unit is used for acquiring the optimized stacking parameters by using the optimized 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 of the palletizing robot and a material box body;
the data acquisition execution unit is used for 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;
the adsorption limit obtaining unit is used for analyzing the box body surface material data, the box body geometric data and the box body quality data to obtain an adsorption limit index, wherein the adsorption limit index is an adsorption limit index of the material box body and the vacuum chuck;
and the adsorption control execution unit is used for carrying out box adsorption control on the first vacuum chuck according to the adsorption limiting index.
In one embodiment, the adsorption control performing unit further includes:
the sucker distribution obtaining unit is used for obtaining sucker distribution information of the first vacuum sucker;
the sucker density obtaining unit is used for carrying out sucker arrangement density analysis based on the sucker distribution information to obtain sucker density;
the suction fitness analysis unit is used for carrying out suction fitness analysis of the suction pipe of the suction cup according to the density of the suction cup and the adsorption limiting 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 steps provided herein further comprise:
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 anomaly analysis unit is used for carrying out air pressure anomaly analysis on the air pressure monitoring data to obtain air pressure anomaly data;
the abnormal early warning generation unit is used for generating early warning information according to the air pressure abnormal data and reminding the first vacuum chuck of gas leakage.
In one embodiment, the delivery location determination module 4 further comprises:
the stacking array generating unit is used for performing stacking space analysis according to the conveying position information to obtain a preset stacking array;
the variable parameter acquisition 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 parameters.
For a specific embodiment of the palletizing robot-based intelligent palletizing system, reference may be made to the above embodiment of the palletizing robot-based intelligent palletizing method, and the detailed description thereof will be omitted. The modules in the intelligent palletizing device based on the palletizing robot can be all or partially realized by software, hardware and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above 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 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. 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, when executed by the processor, implements an intelligent palletizing method based on palletizing robots.
Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information; the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained; acquiring fixed position information of the palletizing robot; the machine case conveying system is connected to determine conveying position information of the stacking conveying production line; acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information; according to the space coordinate point set generated by the mechanical arm control path, the palletizing robot is controlled in real time, and real-time control parameters are obtained; and repeatedly analyzing the real-time control parameters in positioning accuracy to obtain optimized stacking parameters, and optimizing the mechanical arm 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 structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information; the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained; acquiring fixed position information of the palletizing robot; the machine case conveying system is connected to determine conveying position information of the stacking conveying production line; acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information; according to the space coordinate point set generated by the mechanical arm control path, the palletizing robot is controlled in real time, and real-time control parameters are obtained; and repeatedly analyzing the real-time control parameters in positioning accuracy 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 may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (8)
1. An intelligent palletizing method based on a palletizing robot is characterized in that the method is applied to a palletizing robot control system, the system is connected with a data acquisition device, and the method comprises the following steps:
acquiring structural distribution information of the palletizing robot according to the data acquisition device, wherein the structural distribution information comprises rotation structure information, moving structure information and fixed structure information;
the degree of freedom analysis is carried out on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information, and the degree of freedom of a palletizing space is obtained;
acquiring fixed position information of the palletizing robot;
the machine case conveying system is connected to determine conveying position information of the stacking conveying production line;
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;
if the control angle of the stacking space degree of freedom meets the relative space angle, acquiring a control instruction for controlling the execution of the stacking robot;
acquiring a control path of the mechanical arm according to the fixed position information and the conveying position information;
according to the space coordinate point set generated by the mechanical arm control path, the palletizing robot is controlled in real time, and real-time control parameters are obtained;
repeated positioning accuracy analysis is carried out on the real-time control parameters to obtain optimized stacking parameters, and the method comprises the following steps:
acquiring an initial positioning data set according to the real-time control parameters, wherein the initial positioning data set is an initial position of the palletizing robot mechanical arm for sucking materials;
inputting the initial positioning data set into a repeated positioning precision analysis model, and carrying out data iteration deviation analysis according to the repeated positioning precision analysis model to obtain an iteration deviation rate;
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, acquiring an optimization instruction;
acquiring the optimized stacking parameters by the optimized instruction;
and optimizing the mechanical arm of the palletizing robot according to the optimized palletizing parameter.
2. 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 of the palletizing robot and a material box body;
acquiring data of the conveyed material box, and acquiring 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 limiting index, wherein the adsorption limiting index is an adsorption limiting index of a material box and a vacuum chuck;
and carrying out box body adsorption control on the first vacuum chuck according to the adsorption limiting index.
3. The method of claim 2, wherein the method further comprises:
acquiring sucker distribution information of the first vacuum sucker;
performing suction cup arrangement density analysis based on the suction cup distribution information to obtain suction cup density;
according to the density of the sucker and the adsorption limiting index, carrying out suction adaptability analysis of the sucker air pipe to obtain a adaptability parameter;
and carrying out adsorption control on the conveyed material box body according to the fitness parameter.
4. A method as claimed in claim 3, 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 anomaly analysis on the air pressure monitoring data to obtain air pressure anomaly data;
and generating early warning information for reminding the first vacuum chuck of gas leakage according to the abnormal data of the air pressure.
5. A method as claimed in claim 3, wherein the method further comprises:
carrying out stacking space analysis according to the conveying position information to obtain a preset stacking array;
acquiring a stacking variable parameter according to the preset stacking array;
sequentially adjusting the real-time control parameters by the stacking variable parameters to obtain adjustment control parameters;
and controlling the mechanical arm of the palletizing robot according to the adjustment control parameters.
6. An intelligent palletising system based on a palletising robot, characterised in that the system performs a method as claimed in any one of claims 1 to 5, the system comprising:
the structure distribution acquisition module is used for 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;
the space degree of freedom analysis module is used for carrying out degree of freedom analysis on the palletizing robot according to the rotating structure information, the moving structure information and the fixed structure information to obtain the palletizing space degree of freedom;
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 chassis conveying system and determining conveying position information of the stacking conveying production line;
the control path output module is used for acquiring a control path of the mechanical arm 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 control path of the mechanical arm 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.
7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
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| CN202310024122.3A CN115872121B (en) | 2023-01-09 | 2023-01-09 | Intelligent stacking method and system based on stacking robot |
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| CN202310024122.3A CN115872121B (en) | 2023-01-09 | 2023-01-09 | Intelligent stacking method and system based on stacking robot |
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| CN115872121B true CN115872121B (en) | 2023-07-25 |
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| CN111152214B (en) * | 2019-12-13 | 2021-08-03 | 珠海格力电器股份有限公司 | Four-degree-of-freedom palletizing robot, control system and palletizing path planning method |
| CN111618863A (en) * | 2020-06-24 | 2020-09-04 | 辽宁工业大学 | Four-axis industrial stacking robot and control method thereof |
| CN112047113B (en) * | 2020-08-26 | 2022-02-22 | 苏州中科全象智能科技有限公司 | 3D visual stacking system and method based on artificial intelligence technology |
| CN114044369B (en) * | 2021-11-05 | 2023-04-11 | 江苏昱博自动化设备有限公司 | Control method of stacking manipulator based on adaptive cruise technology |
| CN115194767A (en) * | 2022-07-18 | 2022-10-18 | 湖北勤信恒诚塑胶有限公司 | Industrial robot operation action accuracy monitoring and analyzing system based on machine vision |
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