CN110480630A - A kind of the adaptive targets positioning system and method for industrial robot - Google Patents
A kind of the adaptive targets positioning system and method for industrial robot Download PDFInfo
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- CN110480630A CN110480630A CN201910639542.6A CN201910639542A CN110480630A CN 110480630 A CN110480630 A CN 110480630A CN 201910639542 A CN201910639542 A CN 201910639542A CN 110480630 A CN110480630 A CN 110480630A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The present invention relates to the adaptive targets positioning systems and method of a kind of industrial robot, the system comprises image capture module, colored belt identification module, target identification module and time computing modules, the image recognition colored belt therein that colored belt identification module can be acquired according to image capture module, target identification module can be according to the image recognition target therein of acquisition, and time computing module can obtain the movement velocity of conveyer belt according to the distance computation between the recognition time and colored belt of colored belt, the starting time for a successive step mechanical arm of going forward side by side.By using the adaptive targets positioning system and method for industrial robot of the invention, automatic identification conveyor belt speed may be implemented, and adaptively the time of adjustment mechanical arm work, the target that can be applied on adjustable speed conveyer belt grab, and improve industrial machine task efficiency and adaptivity.
Description
Technical field
The present invention relates to a kind of positioning of the adaptive targets of Industrial Robot Technology field, in particular to industrial robot to be
System and method.
Background technique
The development level of Robot industry has become the important symbol for measuring a countries and regions industrialized level, in recent years
Come, China's Robot industry is quickly grown, and has emerged in large numbers many production firms, robot, robot produced is numerous in variety, function
It can be not quite similar.Nowadays, the fast development of intelligent robot has industrial expansion very big promotion, and industrial machine
People can be applied to the links of production line, and a critically important link is exactly that industrial robot is used to grab on a moving belt
Commodity use manpower and material resources sparingly to substitute the repeated labor of people.
However, there are many defects for existing industrial robot, some inconvenience are brought to production.For example, in order to guarantee work
Industry robot is to the crawl accuracy of target, and conveyer belt in the prior art can only be run with single speed, and a kind of biography
It send band that can only transmit a kind of commodity, more diverse industrial production can not be suitable for.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of positioning of the adaptive targets of industrial robot is
It system, automatic identification conveyor belt speed, and the adaptively time of adjustment mechanical arm work, can be applied on adjustable speed conveyer belt
Target crawl.
The embodiment of the present invention provides a kind of adaptive targets positioning system of industrial robot, and the system is used for adjustable speed
Target on conveyer belt grabs, and pre-determined distance is provided with a colored belt on the conveyer belt, the system comprises:
Image capture module, for acquiring the image of the conveyer belt；
Colored belt identification module, for the distinguishing mark band from the image that described image acquisition module acquires, and the company of record
It is continuous to recognize the acquisition time t1 moment and t2 moment corresponding to the image of colored belt twice；
Target identification module obtains target to be grabbed for identifying from the image that described image acquisition module acquires, and
Record recognizes moment time t3 of target；
Time computing module, at the time of for determining mechanical arm starting using following steps:
The fortune of current conveyer belt is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts
Scanning frequency degree；
Mechanical arm is obtained to run from current location to time t4 needed for crawl position；
The mesh under the speed of service of current conveyer belt is calculated according to the distance between image capture position and crawl position L2
Mark moves to the time t5 of crawl position from image capture position；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
Start the mechanical arm in the t6 moment, so that the mechanical arm is run from current location to the crawl position.
Optionally, the side of the conveyer belt is provided with multiple industrial robots, and the system is stored with each institute
State the number of industrial robot, the crawl position of each industrial robot, each industrial robot mechanical arm
The current state of current location, the manipulator motion speed of each industrial robot and each industrial robot,
The current state of the industrial robot includes that crawl neutralized in the free time；
The time computing module calculates when the target identification module recognizes target and acquires position apart from described image
The mechanical arm for setting the industrial robot in the nearest free time is run from current location to time t4 needed for crawl position, and is calculated
Whether time t5 is less than time t4, if it is, time computing module calculating is next apart from described image acquisition position
The mechanical arm of industrial robot in the nearest free time is run from current location to time t4 needed for crawl position, until obtain
Until time t4 is more than or equal to time t5, using the industrial robot currently calculated as the industrial robot for grabbing the target.
Optionally, current location of the time computing module according to the mechanical arm of the industrial robot, the industry
The manipulator motion speed of robot and the crawl position of the industrial robot calculate the mechanical arm of the industrial robot
It runs from current location to time t4 needed for crawl position.
Optionally, the surface of the colored belt is provided with the first two dimensional code, and the surface of the target is provided with the second two dimension
Code, when the colored belt identification module arrives first two dimensional code for identification, records the time of currently detected colored belt, institute
When stating target identification module and arriving second two dimensional code for identification, the time of currently detected target is recorded.
Optionally, the system also includes target classification module, the target classification module is used for according to the described 2nd 2
The identification information for tieing up code, classifies to the target；The target classification module is determined according to the classification results of the target
The storage position of the target, and the storage position of the target is sent to the industrial robot, so that the industry
The mechanical arm of robot grabs the target to corresponding storage position.
Optionally, the system also includes state management module, the state management module is used to calculate in the time
After module determines the robot for grabbing the target, state corresponding to the robot is changed as in crawl, and described receiving
When the task completion notice of robot, state corresponding to the robot is changed as in the free time.
Optionally, the storage location of each classification is respectively arranged with storage box, and multiple storages are provided in the storage box
Lattice, the system are also stored with the storage number of the storage lattice number of each classification, storage lattice position and each classification
Amount；
After the target classification module classifies to the target, the storage quantity of the classification is searched, according to
Storage quantity determines storage lattice number to be stored, and searches the position of the storage lattice, and storage lattice position is sent to
The robot, and the quantity of storage of the classification is added one.
Optionally, the system also includes target vanning module, the system is also stored with the vanning position of each classification
With take case position, the target vanning module is used for when the storage box storage for detecting a classification finishes, and searches the machine of free time
The storage location of the classification and vanning position are sent to the robot, so that the robot is by storage location by device people
Storage box crawl is moved to the vanning position, and searches the robot of another free time, which is taken case position and storage
Position is sent to the robot, so that the new storage box for taking case position crawl is moved to the vanning position by the robot
It sets.
The embodiment of the present invention also provides a kind of self-adapting objective locating method of industrial robot, using the industrial machine
The adaptive targets positioning system of device people, described method includes following steps:
Acquire the image of the conveyer belt；
The distinguishing mark band from the image that described image acquisition module acquires, and record and recognize colored belt twice in succession
The acquisition time t1 moment and t2 moment corresponding to image；
Identification obtains target to be grabbed from the image that described image acquisition module acquires, and record recognize target when
Between the t3 moment；
The fortune of current conveyer belt is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts
Scanning frequency degree；
Mechanical arm is obtained to run from current location to time t4 needed for crawl position；
The mesh under the speed of service of current conveyer belt is calculated according to the distance between image capture position and crawl position L2
Mark moves to the time t5 of crawl position from image capture position；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
Start the mechanical arm in the t6 moment, so that the mechanical arm is run from current location to the crawl position.
Using the adaptive targets positioning system of the industrial robot in the invention, have the following beneficial effects:
System image capture module, colored belt identification module, target identification module and time computing module of the invention, mark
The image recognition colored belt therein that will can be acquired with identification module according to image capture module, target identification module can root
According to the image recognition of acquisition target therein, and time computing module can be according between the recognition time and colored belt of colored belt
Distance computation obtain the movement velocity of conveyer belt, the starting time for a successive step mechanical arm of going forward side by side.By using of the invention
The adaptive targets positioning system and method for industrial robot may be implemented automatic identification conveyor belt speed, and adaptively adjust
The time of mechanical arm work can be applied to the target crawl on adjustable speed conveyer belt, improve industrial machine task efficiency
And adaptivity.
Detailed description of the invention
Fig. 1 is the schematic diagram of the adaptive targets positioning system of the industrial robot of one embodiment of the invention；
Fig. 2 is that multiple industrial robots of one embodiment of the invention are set to the structural schematic diagram of conveyer belt side；
Fig. 3 is the schematic diagram of lattice in the storage box of one embodiment of the invention；
Fig. 4 is the flow chart of the self-adapting objective locating method of the industrial robot of one embodiment of the invention.
Appended drawing reference:
1 conveyer belt, 11 colored belt
2 industrial robots
3 storage boxes 301~312 store inside lattice
4 cameras
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus the detailed description that will omit them.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to the embodiment of the present invention.However,
It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced without one in the specific detail or more
It is more, or can be using other structures, component, step, method etc..In other cases, known in being not shown in detail or describing
Structure, component or operation are to avoid fuzzy each aspect of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of adaptive targets positioning system of industrial robot, the system
Target crawl on adjustable speed conveyer belt.As shown in Fig. 2, being provided with a mark every pre-determined distance on the conveyer belt 1
Band 11, i.e. colored belt 11 are generally evenly distributed on conveyer belt, can according to the spacing of colored belt 11 and the time recognized come
Calculate the speed of service of conveyer belt 1.At least one industrial robot 2 is provided with beside conveyer belt 1.
The adaptive targets positioning system of the industrial robot includes:
Image capture module M100, for acquiring the image of the conveyer belt 1, image capture module can use various figures
As acquisition equipment, such as CCD camera, camera 4 etc.；
11 identification module M200 of colored belt, for the distinguishing mark band 11 from the image that described image acquisition module acquires,
And record recognize the acquisition time t1 moment and t2 moment corresponding to the image of colored belt 11 twice in succession, herein the t1 moment and
What the t2 moment indicated is time point, rather than time interval, such as recognizes the acquisition time of the image of colored belt 11 twice in succession
Respectively 5 points 20 seconds 30 minutes and 5 points 33 seconds 31 minutes；
Target identification module M300 obtains mesh to be grabbed for identifying from the image that described image acquisition module acquires
Mark, and moment time t3 for recognizing target is recorded, the t3 moment is also time point herein, for example, the time for recognizing target is 5
Point 31 minutes and 50 seconds；
Time computing module M400, at the time of for determining mechanical arm starting using following steps:
Current conveyer belt 1 is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts 11
The speed of service can specifically be calculated according to formula v=d/ (t2-t1), and wherein v is the speed of service of conveyer belt 1, and d is two
The distance between colored belt 11；
It obtains mechanical arm to run from current location to time t4 needed for crawl position, time t4 is a time zone herein
Between, rather than time point, for example, it is 50 seconds that mechanical arm, which is run from current location to the time needed for crawl position,；
It is calculated at the speed of service v of current conveyer belt 1 according to the distance between image capture position and crawl position L2,
Target moves to the time t5 of crawl position from image capture position, and specifically, using formula t5=L2/v, time t5 is herein
One time interval, rather than time point, such as it is 60 seconds that t5, which is calculated,；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
For example, using above-mentioned parameters calculate, the t6 moment be 5 points 0 second 32 minutes, i.e., start mechanical arm at the t6 moment, allow
Mechanical arm moves to crawl position from current location, to successfully grab target.
As shown in Fig. 2, in this embodiment, the side of the conveyer belt 1 is provided with multiple industrial robots 2, institute
The system of stating is stored with the crawl position, each described of the number of each industrial robot 2, each industrial robot 2
The current location of the mechanical arm of industrial robot 2, the manipulator motion speed of each industrial robot 2 and each described
The current state of industrial robot 2, the current state of the industrial robot 2 include that crawl neutralized in the free time.
The time computing module calculates when the target identification module recognizes target and acquires position apart from described image
The mechanical arm for setting the industrial robot 2 in the nearest free time is run from current location to time t4 needed for crawl position, and is counted
Whether evaluation time t5 is less than time t4, if it is, time computing module calculating is next to acquire position apart from described image
The mechanical arm for setting the industrial robot 2 in the nearest free time is run from current location to time t4 needed for crawl position, until
To time t4 be more than or equal to time t5 until, by the industrial robot 2 currently calculated as crawl the target industrial machine
People 2.
By above it is found that mechanical arm has little time to move to crawl position, can miss and grab in the case where t5 is less than t4
Target is taken, therefore, it is necessary to select other industrial robots 2, in the case where t5 is more than or equal to t4, the mechanical arm of the robot is
Having time moves to crawl position crawl target.By using this kind of method, more complicated production line can be applied to, it is more
It can be worked more without any confusion with Proper Match between multiple targets on a industrial robot 2 and conveyer belt 1.
In this embodiment, current location of the time computing module according to the mechanical arm of the industrial robot 2, institute
The crawl position of the manipulator motion speed and the industrial robot 2 of stating industrial robot 2 calculates the industrial robot 2
Mechanical arm run from current location to time t4 needed for crawl position.It herein, can be according to formula t4=(s1-s2)/v1
It calculates, v1 is the movement velocity of mechanical arm herein, and s1 and s2 are respectively the crawl position and current location of mechanical arm.At other
Embodiment in, t4 can also be obtained by the way of tabling look-up, such as previously according to the characteristic of mechanical arm, formulate mechanical arm
Current location, manipulator motion speed and t4 mapping table, the value of t4 can be obtained by tabling look-up.
In this embodiment, the surface of the colored belt 11 is provided with the first two dimensional code, and the surface of the target is provided with
Second two dimensional code records currently detected mark when 11 identification module of colored belt arrives first two dimensional code for identification
With 11 time, when the target identification module arrives second two dimensional code for identification, record currently detected target when
Between.Known using two dimensional code otherwise come distinguishing mark band 11 and target, can quickly carry out colored belt 11 and target identification,
Avoid the occurrence of excessive delay.It in other embodiments, can also be using other modes come distinguishing mark band 11 and target, example
Such as by the way of image comparison, i.e., by pre-stored 11 image of colored belt and target image and conveyer belt 1 acquire image into
Row compare etc., all belong to the scope of protection of the present invention within.
In this embodiment, the system also includes target classification module, the target classification module is used for according to
The identification information of second two dimensional code classifies to the target；The target classification module is according to the classification knot of the target
Fruit determines the storage position of the target, and the storage position of the target is sent to the industrial robot 2, so that
The mechanical arm of the industrial robot 2 grabs the target to corresponding storage position.Therefore, the present invention can not only answer
For adjustable speed conveyer belt 1, the conveyer belt 1 of multiple product also can be applied to.For example, being applied to same major class difference group
The shared production line of multiple product, adaptive targets positioning system of the invention can be with automatic identification target type, and carries out
Classification, is put into different storage positions.In another example can be applied to the conveyer belt 1 of express delivery, classification can be according to posting address institute
Classify in the region of category.
In this embodiment, the system also includes state management module, the state management module is used for when described
Between after computing module determines the robot for grabbing the target, change state corresponding to the robot and to receive in crawl
To the robot task completion notice when, change state corresponding to the robot for free time in.By changing in time
The distribution of crawl task can be better achieved in the state of robot.
As shown in figure 3, in this embodiment, the storage location of each classification is respectively arranged with storage box 3, the storage box
It is provided with multiple storage lattices in 3, the system is also stored with the storage lattice number of each classification, storage lattice position and each
The storage quantity of a classification.After the target classification module classifies to the target, the storage of the classification is searched
Quantity determines that storage lattice to be stored is numbered according to quantity has been stored, and searches the position of the storage lattice, will store lattice
Position is sent to the robot, and the quantity of storage of the classification is added one.
Therefore, the present invention may further realize the reasonable placement of the target for crawl, facilitate the vanning of later period target
And quantity statistics.In practical applications, multiple storage boxes 3 can be set in the storage location of each classification.
In this embodiment, the system also includes target vanning module, the system is also stored with the dress of each classification
Case position and take case position, the target vanning module is used to search empty when the storage box 3 for detecting a classification is stored and finished
The storage location of the classification and vanning position are sent to the robot, so that the robot will store by not busy robot
The crawl of storage box 3 of position is moved to the vanning position, and searches the robot of another free time, which is taken case position
Be sent to the robot with storage location so that the robot the new storage box 3 for taking case position crawl is moved to it is described
Vanning position.
It therefore,, can be automatically by it from storage position when the storage box 3 of a classification has been filled in the embodiment
Remove, impacted to avoid to the target storage of the subsequent classification, and new storage box 3 can be placed automatically, for after
The target for putting the classification is renewed, industrial automated process is better achieved.In practical applications, a storage position can
To place multiple storage boxes 3, when a new storage box 3 is instead of a storage box 3 expired, need the storage box 3
Storage lattice number, number can be using the number of storage box 3 substituted, and the system is needed the storage box 3
Storage lattice in storage configuration be modified, i.e., all storage lattices are reset to not stored target.
As shown in figure 4, the embodiment of the present invention also provides a kind of self-adapting objective locating method of industrial robot, using institute
The adaptive targets positioning system for the industrial robot stated, described method includes following steps:
Acquire the image of the conveyer belt；
The distinguishing mark band from the image that described image acquisition module acquires, and record and recognize colored belt twice in succession
The acquisition time t1 moment and t2 moment corresponding to image；
Identification obtains target to be grabbed from the image that described image acquisition module acquires, and record recognize target when
Between the t3 moment；
The fortune of current conveyer belt is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts
Scanning frequency degree；
Mechanical arm is obtained to run from current location to time t4 needed for crawl position；
The mesh under the speed of service of current conveyer belt is calculated according to the distance between image capture position and crawl position L2
Mark moves to the time t5 of crawl position from image capture position；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
Start the mechanical arm in the t6 moment, so that the mechanical arm is run from current location to the crawl position.
In the self-adapting objective locating method of industrial robot of the invention, each step can use above-mentioned industrial machine
The embodiment of each functional module of the adaptive location system of device people is realized, to realize that automatic identification transmits belt speed
Degree, and the working method of industrial robot is adaptively adjusted, industrial machine task efficiency and adaptivity are improved, herein not
It gives and repeating.
Using the adaptive targets positioning system of the industrial robot in the invention, have the following beneficial effects:
System image capture module, colored belt identification module, target identification module and time computing module of the invention, mark
The image recognition colored belt therein that will can be acquired with identification module according to image capture module, target identification module can root
According to the image recognition of acquisition target therein, and time computing module can be according between the recognition time and colored belt of colored belt
Distance computation obtain the movement velocity of conveyer belt, the starting time for a successive step mechanical arm of going forward side by side.By using of the invention
The adaptive targets positioning system and method for industrial robot may be implemented automatic identification conveyor belt speed, and adaptively adjust
The time of mechanical arm work can be applied to the target crawl on adjustable speed conveyer belt, improve industrial machine task efficiency
And adaptivity.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (9)
1. a kind of adaptive targets positioning system of industrial robot, which is characterized in that for the target on adjustable speed conveyer belt
It grabs, pre-determined distance is provided with a colored belt on the conveyer belt, the system comprises:
Image capture module, for acquiring the image of the conveyer belt；
Colored belt identification module for the distinguishing mark band from the image that described image acquisition module acquires, and records continuous two
Acquisition time t1 moment and t2 moment corresponding to the secondary image for recognizing colored belt；
Target identification module obtains target to be grabbed for identifying from the image that described image acquisition module acquires, and records
Recognize moment time t3 of target；
Time computing module, at the time of for determining mechanical arm starting using following steps:
The operation speed of current conveyer belt is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts
Degree；
Mechanical arm is obtained to run from current location to time t4 needed for crawl position；
According to the distance between image capture position and crawl position L2 calculate under the speed of service of current conveyer belt, target from
Image capture position moves to the time t5 of crawl position；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
Start the mechanical arm in the t6 moment, so that the mechanical arm is run from current location to the crawl position.
2. the adaptive targets positioning system of industrial robot according to claim 1, which is characterized in that the conveyer belt
Side be provided with multiple industrial robots, the system is stored with the number of each industrial robot, Ge Gesuo
State the crawl position of industrial robot, the current location of the mechanical arm of each industrial robot, each industrial machine
The current state of the manipulator motion speed of people and each industrial robot, the current state packet of the industrial robot
Crawl is included to neutralize in the free time；
The time computing module is calculated apart from described image acquisition position most when the target identification module recognizes target
The mechanical arm of industrial robot in the close free time is run from current location to time t4 needed for crawl position, and calculates the time
Whether t5 is less than time t4, if it is, time computing module calculating is next nearest apart from described image acquisition position
Free time in the mechanical arm of industrial robot run from current location to time t4 needed for crawl position, until the obtained time
Until t4 is more than or equal to time t5, using the industrial robot currently calculated as the industrial robot for grabbing the target.
3. the adaptive targets positioning system of industrial robot according to claim 2, which is characterized in that the time meter
Calculate module according to the current location of the mechanical arm of the industrial robot, the manipulator motion speed of the industrial robot and
The mechanical arm that the crawl position of the industrial robot calculates the industrial robot is run from current location to crawl position institute
The time t4 needed.
4. the adaptive targets positioning system of industrial robot according to claim 3, which is characterized in that the colored belt
Surface be provided with the first two dimensional code, the surface of the target is provided with the second two dimensional code, and the colored belt identification module is used for
When recognizing first two dimensional code, the time of currently detected colored belt is recorded, the target identification module arrives for identification
When second two dimensional code, the time of currently detected target is recorded.
5. the adaptive targets positioning system of industrial robot according to claim 4, which is characterized in that the system is also
Including target classification module, the target classification module is used for the identification information according to second two dimensional code, to the target
Classify；The target classification module determines the storage position of the target according to the classification results of the target, and by institute
The storage position for stating target is sent to the industrial robot, so that the mechanical arm of the industrial robot grabs the target
It takes to corresponding storage position.
6. the adaptive targets positioning system of industrial robot according to claim 5, which is characterized in that the system is also
Including state management module, the state management module is used to determine the robot of the crawl target in the time computing module
Later, state corresponding to the robot is changed as in crawl, and in the task completion notice for receiving the robot, change
State corresponding to the robot is in the free time.
7. the adaptive targets positioning system of industrial robot according to claim 5, which is characterized in that each classification
Storage location is respectively arranged with storage box, and multiple storage lattices are provided in the storage box, and the system is also stored with each
Storage lattice number, the storage quantity of storage lattice position and each classification of classification；
After the target classification module classifies to the target, the storage quantity of the classification is searched, according to having stored
Quantity determines storage lattice number to be stored, and searches the position of the storage lattice, storage lattice position is sent to described
Robot, and the quantity of storage of the classification is added one.
8. the adaptive targets positioning system of industrial robot according to claim 7, which is characterized in that the system is also
Including target vanning module, the system is also stored with the vanning position of each classification and takes case position, the target vanning mould
Block is used for when the storage box storage for detecting a classification finishes, and searches idle robot, by the storage location of the classification with
Vanning position is sent to the robot, so that the storage box crawl of storage location is moved to the vanning position by the robot
It sets, and searches the robot of another free time, take case position and storage location to be sent to the robot classification, so that institute
It states robot and the new storage box for taking case position crawl is moved to the vanning position.
9. a kind of self-adapting objective locating method of industrial robot, which is characterized in that use any one of claims 1 to 8
The adaptive targets positioning system of the industrial robot, described method includes following steps:
Acquire the image of the conveyer belt；
The distinguishing mark band from the image that described image acquisition module acquires, and record the image for recognizing colored belt twice in succession
Corresponding acquisition time t1 moment and t2 moment；
Identification obtains target to be grabbed from the image that described image acquisition module acquires, and records the time t3 for recognizing target
Moment；
The operation speed of current conveyer belt is calculated according to acquisition time t1 moment and the distance between t2 moment and two colored belts
Degree；
Mechanical arm is obtained to run from current location to time t4 needed for crawl position；
According to the distance between image capture position and crawl position L2 calculate under the speed of service of current conveyer belt, target from
Image capture position moves to the time t5 of crawl position；
Moment time t6 of starting mechanical arm is calculated using following formula:
T6=t3+t5-t4；
Start the mechanical arm in the t6 moment, so that the mechanical arm is run from current location to the crawl position.
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| CN114751206A (en) * | 2022-04-24 | 2022-07-15 | 广东天太机器人有限公司 | All-angle identification system |
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