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Conveyor belt tracking method, robot and computer-readable storage medium

A conveyor belt and robot technology, applied in the field of robotics, can solve problems such as large errors, failure to grasp objects, and inaccurate robot tracking of conveyor belts.

Inactive Publication Date: 2017-10-20
SHANGHAI SIGRINER STEP ELECTRIC
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The inventors found that in practical applications, even if the above-mentioned calibration method is used, the robot will still generate large errors when tracking the conveyor belt, causing the robot to fail to grasp the target object. The speed varies, making the robot still not accurate enough when tracking the conveyor belt

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  • Conveyor belt tracking method, robot and computer-readable storage medium

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Embodiment Construction

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0022] The first embodiment of the present invention relates to a conveyor belt tracking method. The conveyor belt is equipped with an encoder and a robot correspondingly. Its process is as follows figure 1 As shown, the details are as follows:

[0023] In step 101, the robot acquires encoder values ​​fro...

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Abstract

The embodiment of the invention relates to the field of robots, and discloses a conveyor belt tracking method, a robot and a computer-readable storage medium. According to the conveyor belt tracking method provided by the invention, an encoder and a robot are correspondingly arranged on a conveyor belt. The method comprises the steps that the robot acquires encoder values from the encoder at different times; the robot converts each encoder value into the displacement value of the conveyor belt; the robot calculates the relationship between the displacement value based on the conveyor belt and the displacement time according to each displacement value and the corresponding acquisition time; and the robot calculates the displacement value of the conveyor belt through the relationship. According to the conveyor belt tracking method, the robot and the computer-readable storage medium, the robot can acquire a more accurate target position when tracking the conveyor belt.

Description

technical field [0001] Embodiments of the present invention relate to the field of robots, and in particular to a calibration technology for conveyor belt tracking. Background technique [0002] Conveyor belts are widely used in conjunction with robots, and one of the main performance requirements is to enable the robot to accurately track the conveyor belt. [0003] The current solution is mainly to use the encoder and camera on the conveyor belt to calculate the current position information of the object and the moving distance of the conveyor belt, and feed these data back to the controller to track the conveyor belt. The specific calibration scheme is: first, at the initial position of the conveyor belt, use the camera to obtain the coordinates (X1, Y1) of several groups of points; then, the aforementioned several groups of points enter the robot coordinate system, and the conveyor belt displacement L1 (the displacement distance of the conveyor belt is determined by the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0276
Inventor 丁信忠王科李虎修孙喜庆
Owner SHANGHAI SIGRINER STEP ELECTRIC
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