CN111496798A - Robot conveyor belt tracking method, equipment and storage device - Google Patents
Robot conveyor belt tracking method, equipment and storage device Download PDFInfo
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- CN111496798A CN111496798A CN202010421131.2A CN202010421131A CN111496798A CN 111496798 A CN111496798 A CN 111496798A CN 202010421131 A CN202010421131 A CN 202010421131A CN 111496798 A CN111496798 A CN 111496798A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a robot conveyor belt tracking method, which comprises the following steps: acquiring a first track of the movement of the robot; acquiring a first interpolation point stored in a data cache region; judging whether the number of the first interpolation points stored in the data cache region reaches a preset threshold value or not; when the number of the first interpolation points does not reach the preset threshold value, acquiring the current coordinate of the workpiece to be processed according to the moving position information of the conveyor belt; generating second interpolation points according to the current coordinates of the workpiece to be machined, and storing the second interpolation points into the data cache region, so that the total number of the first interpolation points and the second interpolation points in the data cache region reaches the preset threshold value; and controlling the robot to process the workpiece to be processed according to the first interpolation point and the second interpolation point. Through the mode, the invention can achieve the purpose of avoiding the inaccurate position and the vibration caused by the overlarge acceleration of the robot when the conveyor belt tracks.
Description
Technical Field
The present disclosure relates to the field of robot control, and in particular, to a method, an apparatus, and a storage device for tracking a robot conveyor belt.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. With the rapid development of economy, the application of the robot in the industrial field is more and more extensive, and the robot becomes an important driving force for reducing the production cost, improving the production efficiency, improving the industrial manufacturing capability and realizing intelligent manufacturing.
In the prior art, when a robot conveyor belt tracking function is applied, a pair of motion tracks are interpolated, interpolation points are stored in a data cache buffer, and the robot is controlled to move according to interpolation point information in the data cache buffer. However, such a design has a problem that when the interpolation is overtime or the time of the interpolation thread is staggered with the time of the data issuing thread, the data cache in the interpolation thread of the robot is insufficient, and the supplementary interpolation point needs to be calculated.
Disclosure of Invention
The application provides a robot conveyor belt tracking method, equipment and a storage device, which can achieve the purpose of avoiding vibration caused by inaccurate position and overlarge robot acceleration during tracking.
In order to solve the technical problem, the application adopts a technical scheme that: there is provided a robot conveyor tracking method comprising the steps of:
acquiring a first track of the movement of a robot, wherein the first track is a motion track of the robot for processing a workpiece to be processed, which is preset according to a workpiece coordinate system of the workpiece to be processed;
acquiring a first interpolation point stored in a data cache region, wherein the first interpolation point is at least one intermediate point moving along the first track according to the robot;
judging whether the number of the first interpolation points stored in the data cache region reaches a preset threshold value or not;
when the number of the first interpolation points does not reach the preset threshold value, acquiring the current coordinate of the workpiece to be processed according to the moving position information of the conveyor belt;
generating second interpolation points according to the current coordinates of the workpiece to be machined, and storing the second interpolation points into the data cache region, so that the total number of the first interpolation points and the second interpolation points in the data cache region reaches the preset threshold value;
and controlling the robot to process the workpiece to be processed according to the first interpolation point and the second interpolation point in the data cache region.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a robotic conveyor belt tracking device comprising:
the coordinate acquisition module is used for acquiring a first interpolation point stored in the data cache region;
and the interpolation calculation module is used for generating a second interpolation point according to the current coordinate of the workpiece to be processed, updating the second interpolation point into the data cache region according to the second interpolation point, and enabling the number of the updated first interpolation point and the second interpolation point to reach a preset threshold value of the data cache region.
In order to solve the above technical problem, another technical solution adopted by the present application is: providing a robotic conveyor tracking device comprising a processor, a memory coupled to the processor, wherein the memory stores program instructions for implementing the above-described robotic conveyor tracking method; the processor is to execute the program instructions stored by the memory to track the robotic conveyor belt.
In order to solve the above technical problem, the present application adopts another technical solution that: a storage device is provided, which stores a program file capable of realizing the robot conveyor belt tracking method.
The beneficial effect of this application is: according to the robot conveyor belt tracking method, the device, the equipment and the storage device, the real-time coordinate position of the workpiece to be processed is obtained, the interpolation point is calculated according to the real-time coordinate position, the robot is controlled to move and process the workpiece to be processed according to the interpolation point, and through the mode, the calculation of the interpolation point can be more accurate, and the purposes of avoiding inaccurate position during conveyor belt tracking and reducing the problem that the robot shakes due to overlarge robot acceleration caused by inaccurate position are achieved.
Drawings
FIG. 1 is a schematic flow diagram of a robotic conveyor tracking method according to a first embodiment of the invention;
FIG. 2 is a diagram illustrating a relationship among a first coordinate system, a second coordinate system, and a third coordinate system according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a robotic conveyor tracking device according to one embodiment of the invention;
FIG. 4 is a schematic diagram of a robotic conveyor tracking device in accordance with one embodiment of the invention;
FIG. 5 is a schematic structural diagram of a memory device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a robot conveyor tracking method according to a first embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
step S101: the method comprises the steps of obtaining a first track of movement of a robot, wherein the first track is a motion track of the robot for processing a workpiece to be processed, and the motion track is set according to a workpiece coordinate system of the workpiece to be processed.
It should be noted that, the robot trajectory planning is to calculate an expected motion trajectory of a TCP Point according to a requirement of a processing task, where the TCP Point refers to a central Point (TCP) of a robot processing Tool, and in order to complete various processing tasks, it is necessary to install various different tools, such as a spray gun, a gripper, a welding gun, etc., at an end of an industrial robot, since shapes and sizes of the tools are different, after a Tool is replaced or adjusted, a position of an actual working Point of the robot relative to an end of the robot changes, so that it is necessary to establish a Tool coordinate system on the robot Tool, where an origin is a Tool central Point, and in step S101, a trajectory queue of the workpieces to be processed needs to be acquired before acquiring a first trajectory of the robot movement, where the trajectory queue is a set of multiple preset movement trajectories of the workpieces to be processed under a second coordinate system, where the trajectory includes at least one member, i.e., a movement trajectory in the set, and the movement trajectory may include information such as trajectory speed, and then, where a first trajectory in the first trajectory in coordinate system is represented as { a, b, n is represented as a second coordinate system { 10, b, x 0, p 0, b, p 0, b, p 0, b, n x 0, n x 0.
In this embodiment, the second Coordinate System may be a Workpiece Coordinate System (Workpiece Coordinate System), the Workpiece Coordinate System is a cartesian Coordinate System fixed on the Workpiece, and the user may plan and set a movement trajectory of the robot for executing the processing task according to a position of the processing point on the Workpiece to be processed in the Workpiece Coordinate System, so as to obtain a trajectory queue of the movement trajectory of the robot for processing the Workpiece to be processed, and select a first member from the queue as the first trajectory, and the TCP point of the robot moves according to the first trajectory.
Step S102: and acquiring a first interpolation point stored in a data cache region, wherein the first interpolation point is at least one intermediate point moving along the first track according to the robot.
It should be noted that Interpolation (Interpolation) is a process of determining the motion trajectory of the industrial robot according to a certain method, that is, a method of calculating an intermediate point between known points according to a certain algorithm, and is also referred to as "densification of data points". The industrial robot system is circularly executed all the time after the interpolator thread is started, each interpolation period interpolates a first track in the track queue, then interpolation data are stored in a data buffer area buffer, and a motor shaft is controlled to rotate to a specified position according to interpolation points in the data buffer area buffer, so that the robot body is controlled to move.
In this embodiment, a first interpolation point stored in the data buffer is obtained, where the first interpolation point is at least one intermediate point obtained by performing interpolation according to the first trajectory in an interpolation period, and the interpolation period is a time interval for performing interpolation point calculation.
Step S103: and judging whether the number of the first interpolation points stored in the data cache region reaches a preset threshold value.
In this embodiment, the preset threshold may be the number of interpolation points to be calculated in each interpolation period. In step S103, the number of the first interpolation points stored in the data buffer area is compared with the number of interpolation points calculated in each interpolation period.
Step S104: and when the number of the first interpolation points does not reach the preset threshold value, acquiring the current coordinate of the workpiece to be processed according to the position information of the movement of the conveyor belt.
Specifically, when the number of the first interpolation points does not reach the preset threshold of the data buffer, in order to calculate the interpolation points, the number of feedback pulses of an outer shaft encoder configured to the conveyor belt may be obtained, and the position of the current conveyor belt moving in the first coordinate system is calculated by using the feedback pulses, and then the current coordinate of the workpiece to be processed is obtained by associating the position information of the conveyor belt moving from the first coordinate system to the second coordinate system of the workpiece to be processed, where the first coordinate system is the reference coordinate system of the position information of the conveyor belt moving, and the second coordinate system is the reference coordinate system of the workpiece to be processed.
Referring to fig. 2, fig. 2 is a relationship diagram of a first coordinate system, a second coordinate system, and a third coordinate system according to a first embodiment of the invention. In this embodiment, when the conveyor belt tracking function is performed on the conveyor belt, a base coordinate system and a workpiece coordinate system are firstly calibrated, where the base coordinate system is relative to the third coordinate system, and the workpiece coordinate system is relative to the base coordinate system; the moving direction X of the conveyor belt is coincident with the moving direction X1 of the workpiece to be processed, and when the conveyor belt moves, the moving distance of the conveyor belt is as follows:
△x＝(cur_pulse_no–last_pulse_no)*mm_per_pulse,
wherein cur _ pulse _ no represents the number of belt pulses at the current moment, last _ pulse _ no represents the number of belt pulses at the previous moment, and mm _ per _ pulse represents the distance of each pulse, and the current coordinate of the position of the workpiece to be processed under the workpiece coordinate system is p1(x1+ △ x, y1, z1) obtained by calculating the moving distance of the belts.
Step S105: and generating second interpolation points according to the current coordinates of the workpiece to be processed, and storing the second interpolation points into the data cache region, so that the total number of the first interpolation points and the second interpolation points in the data cache region reaches the preset threshold value.
It should be noted that, when the number of the first interpolation points does not reach the preset threshold, then a number of second interpolation points (the preset threshold — the number of the first interpolation points) need to be continuously calculated in the interpolation period for supplementation, and due to the movement of the transmission belt, if the second interpolation points are calculated, the processing points p for calculating the first interpolation points are also used for calculation, so that a deviation occurs between the issued command position and the point p1 to which the robot actually needs to move, and therefore the second interpolation points need to be generated according to the current coordinate p1 of the workpiece to be processed.
In this embodiment, when the robot calculates the second interpolation point, the robot uses the target point p of the previous trajectory as a starting point and the current target point p1 as an end point, plans a linear trajectory, and waits for interpolation, where interpolation is based on information such as a linear line formed by the starting point and the end point and a speed, and the position of a coordinate point to be reached by the robot in each interpolation period can be calculated, for example, assuming that the p-point trajectory is L in p: p { x 10, y 10, z 10, a 0, b180, c 0}, v1, and the p 1-point trajectory is L in p: 1{ x 10+ △ x, y 10, z 10, a 0, b180, c 0}, and v2, connecting coordinates of p and p 5 to form a linear line, and the second interpolation point can be calculated according to the robot trajectory execution speeds v1 and v2, the second interpolation point is stored in the data buffer, so that the number of the first interpolation point and the number of the second interpolation point reaches a preset threshold, and the number of the second interpolation point can be calculated according to the preset number of the second interpolation point, when the number of interpolation point is equal to the preset threshold, and the number of the second interpolation point is equal to the preset number, for example, when the number of the second interpolation point is equal to be calculated, and the preset number is equal to be equal to the preset threshold p 3, and the preset number of interpolation point, and when the number of the preset interpolation point is equal to be calculated, and the.
Since the calculation of the interpolation points is based on the workpiece coordinate system, the robot performs workpiece processing and finally obtains the moving positions of the joint axes according to the point information; therefore, the second interpolation point must be converted from the second coordinate system to the third coordinate system, in this embodiment, the third coordinate system is the robot coordinate system, and then the target point coordinates in the robot coordinate system are inversely solved to convert the target point position to the robot joint axis position. For example: the homogeneous matrix of the object coordinate system C1 with respect to the base coordinate system C is M, the homogeneous transformation matrix of the base coordinate system C with respect to the robot coordinate system C2 is M1, then pMachine for working＝M1*M*PEyes of a userThe point position in the object coordinate system, where p is converted into the robot coordinate systemMachine for workingFor interpolation point positions, P, in the robot coordinate systemEyes of a userAnd finally converting the position of the interpolation point under the workpiece coordinate system to the position of the joint axis of the robot through the position of the interpolation point under the robot coordinate system.
Step S106: and controlling the robot to move and process the workpiece to be processed according to the first interpolation point and the second interpolation point in the data cache region.
When the robot moves according to the data in the data cache region, the first interpolation point and the second interpolation point in the data cache region need to be converted into pulse information, and the robot moves and processes the workpiece to be processed according to the pulse information.
The robot conveyor belt tracking method according to the first embodiment of the invention updates the workpiece coordinate system by acquiring the real-time position of the workpiece to be processed and moving the conveyor belt, calculates the interpolation points according to the real-time coordinate position and stores the interpolation points into the data cache region, so that when the interpolation points in the data cache region are in data starvation, the real-time acquired coordinate system of the conveyor belt moving workpiece is still used when the interpolation points are calculated next, and the problems that when the data are in starvation, the interpolation positions and the point positions to which the robot actually needs to move are deviated due to the fact that the two interpolation points use the same workpiece coordinate system in an interpolation period, and the robot acceleration is overlarge and generates vibration due to overlarge deviation from the actual positions when the speed of the conveyor belt is higher are solved. Finally, the problem that the position of the robot conveyor belt in tracking is inaccurate or the robot body shakes is solved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot conveyor tracking device according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes a coordinate acquisition module 41 and an interpolation calculation module 42.
And a coordinate obtaining module 41, configured to obtain the first interpolation point stored in the data buffer.
Optionally, the coordinate acquiring module 41 may be further configured to acquire a first trajectory of the robot movement.
Optionally, the coordinate acquiring module 41 may be further configured to acquire a feedback pulse corresponding to the movement of the conveyor belt.
And the interpolation calculation module 42 is configured to generate a second interpolation point according to the current coordinate of the workpiece to be processed, and store the second interpolation point into the data cache region, so that the total number of the first interpolation point and the second interpolation point in the data cache region reaches the preset threshold.
Optionally, the interpolation computation module 42 is further configured to obtain position information of the movement of the conveyor belt in a first coordinate system according to the feedback pulse, where the first coordinate system is a reference coordinate system of the position information of the movement of the conveyor belt. And associating the moving position information of the conveyor belt to a second coordinate system of the workpiece to be processed from the first coordinate system to obtain the current coordinate of the workpiece to be processed, wherein the second coordinate system is a reference coordinate system of the workpiece to be processed.
Optionally, the interpolation computation module 42 is further configured to convert the second interpolation point from the second coordinate system to a third coordinate system of the robot motion, where the third coordinate system is used to describe the movement angle of the joint axis of the robot; and obtaining the position of the joint axis of the robot according to the result of the second interpolation point after the conversion in the third coordinate system.
It can be understood that the specific manner of implementing each function by each module of the robot conveyor tracking device may refer to the specific steps corresponding to the above embodiments, and therefore, the detailed description thereof is omitted here.
According to the robot conveyor belt tracking device, the real-time coordinate position of the workpiece to be processed is obtained, and the interpolation point is calculated according to the real-time coordinate position.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a robot tracking device according to an embodiment of the present invention. As shown in fig. 4, the robotic belt tracking device 60 includes a processor 61 and a memory 62 coupled to the processor 61.
The memory 62 stores program instructions for implementing the robotic conveyor belt tracking method described in any of the embodiments above.
The processor 61 is adapted to execute program instructions stored in the memory 62 for tracking the workpiece to be processed by said industrial robot.
The processor 61 may also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip having signal processing capabilities. The processor 61 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a memory device according to an embodiment of the invention. The storage device of the embodiment of the present invention stores a program file 71 capable of implementing all the above-mentioned robot belt tracking methods, wherein the program file 71 may be stored in the storage device in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods according to the embodiments of the present application. The aforementioned storage device includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A method of robotic conveyor belt tracking, comprising:
acquiring a first track of the movement of the robot, wherein the first track is a motion track of the robot for processing a workpiece to be processed, which is set according to a workpiece coordinate system of the workpiece to be processed;
acquiring a first interpolation point stored in a data cache region, wherein the first interpolation point is at least one intermediate point moving along the first track according to the robot;
judging whether the number of the first interpolation points stored in the data cache region reaches a preset threshold value or not;
when the number of the first interpolation points does not reach the preset threshold value, acquiring the current coordinate of the workpiece to be processed according to the moving position information of the conveyor belt;
generating second interpolation points according to the current coordinates of the workpiece to be machined, and storing the second interpolation points into the data cache region, so that the total number of the first interpolation points and the second interpolation points in the data cache region reaches the preset threshold value;
and controlling the robot to process the workpiece to be processed according to the first interpolation point and the second interpolation point in the data cache region.
2. The robot conveyor belt tracking method according to claim 1, wherein the obtaining of the current coordinates of the workpiece to be processed from the position information of the movement of the conveyor belt comprises:
acquiring feedback pulses corresponding to the movement of the conveyor belt, wherein the feedback pulses are pulse information for recording the movement of the conveyor belt;
and acquiring the moving position information of the conveyor belt under a first coordinate system according to the feedback pulse, wherein the first coordinate system is a reference coordinate system of the moving position information of the conveyor belt.
3. The robot conveyor belt tracking method according to claim 2, wherein the acquiring of the current coordinates of the workpiece to be processed from the position information of the movement of the conveyor belt further comprises:
and associating the moving position information of the conveyor belt with a second coordinate system of the workpiece to be processed from the first coordinate system to obtain the current coordinate of the workpiece to be processed, wherein the second coordinate system is a reference coordinate system of the workpiece to be processed.
4. The robotic conveyor belt tracking method of claim 3 wherein the first coordinate system is a base coordinate system and the second coordinate system is a workpiece coordinate system.
5. The method for tracking a robot-carried belt according to claim 3, wherein after generating the second interpolation point according to the current coordinates of the workpiece to be processed, the method further comprises:
converting the second interpolation point from the second coordinate system to a third coordinate system of the robot motion, wherein the third coordinate system is used for describing the movement angle of the joint axis of the robot;
and obtaining the position of the joint axis of the robot according to the result of the second interpolation point after the conversion in the third coordinate system.
6. The robotic conveyor belt tracking method of claim 3, wherein said obtaining a first trajectory of movement of the robot comprises:
acquiring a track queue of the workpiece to be processed, wherein the track queue is a set of multiple sections of moving tracks for processing the workpiece to be processed, which are preset for the robot under a second coordinate system, and comprises at least one member, the member is a section of moving track of the robot, and the moving track comprises track starting point, track end point, moving speed and moving angle information;
and acquiring a first member in the track queue as the first track.
7. The method according to claim 1, wherein the predetermined threshold is a number of interpolation points calculated in each interpolation period, and the interpolation period is a time interval for performing interpolation point calculation.
8. The robotic conveyor belt tracking method of claim 1, wherein prior to storing the second interpolation point in the data buffer, comprising:
and converting the second interpolation point into pulse information, storing the pulse information into the data cache region, and controlling the robot to move according to the pulse information.
9. A robotic conveyor belt tracking device comprising a processor, and a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the robotic conveyor belt tracking method of any of claims 1-8;
the processor is configured to execute the program instructions stored by the memory to control movement of the robot to track a workpiece to be processed on a conveyor belt.
10. A storage device, characterized in that a program file enabling the robot conveyor tracking method according to any one of claims 1-8 to be implemented is stored.
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| CN112589793A (en) * | 2020-11-16 | 2021-04-02 | 北京配天技术有限公司 | Workpiece tracking method, robot, workpiece tracking system, and storage device |
| CN114536336A (en) * | 2022-02-24 | 2022-05-27 | 宁波九纵智能科技有限公司 | Visual calibration method for manipulator flowing along production line |
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