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Conveyor belt synchronous tracking method, device and system for robot

A technology of synchronous tracking and robotics, which is applied in the direction of conveyor control devices, conveyors, manipulators, etc., and can solve problems such as the increase in the movement distance of the error target object, the error, and the speed fluctuation of the conveyor belt.

Active Publication Date: 2018-10-19
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Abstract
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Problems solved by technology

In addition, the traditional method assumes that the movement of the conveyor belt is uniform, but the speed of the conveyor belt fluctuates and is not completely uniform, so there will be a certain error in the direct grasping, and the error will increase with the distance of the target object. increased speed of movement

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  • Conveyor belt synchronous tracking method, device and system for robot
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Embodiment Construction

[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the present invention is not limited to the drawings and the following embodiments.

[0048] As used herein, the term "comprising" and its variations may be understood as open-ended terms meaning "including but not limited to". The term "based on" may be understood as "based at least in part on". The term "one embodiment" can be read as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".

[0049] As mentioned above, the existing operations such as grasping the target object on the conveyor belt have the defect that the operation purpose cannot be accurately and quickly realized. The embodiment of the present invention pr...

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Abstract

The invention relates to a conveyor belt synchronous tracking method, device and system for a robot. The method comprises the following steps that initial position information of a target object on aconveyor belt is acquired, and the position and speed of the target object are estimated in real time; based on the start position of the robot, the preset start tracking limit and the estimated position and speed of the target object, the motion trajectory of the robot is planned so that when the target object reaches the first position, the robot can move from the start position to the start tracking position at the same time as the target object and have the same motion speed as the target object at the start tracking position; the robot is controlled to move in the planned motion trajectory in response to the target object reaching the first position; and based on the real-time positions of the robot and the target object, the robot is controlled to synchronously track the target object from the starting tracking position. By the adoption of the conveyor belt synchronous tracking method, device and system for the robot, fast target object positioning and tracking can be realized, the speed fluctuation is reduced, and the accuracy and work efficiency of an industrial system are improved.

Description

technical field [0001] The disclosure belongs to the technical field of robot control, and in particular relates to a conveyor belt synchronous tracking method, device and system for a robot. Background technique [0002] In order to improve work efficiency, reduce production costs, and ensure product quality, the combination of machine vision and industrial robots has been gradually applied to sorting, packaging, and online inspection on the assembly line. In practical applications, the conveyor belt is moving, and the industrial robot needs to synchronize and track the position of the target object in real time according to the position obtained by the vision system and sensors, and finally complete the work of sorting, packaging and online inspection. [0003] The general method of dynamic grasping of the conveyor belt is to use machine vision technology to obtain the position information of the target object on the conveyor belt, and obtain the position and speed of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G43/08B65G47/90B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1697B65G43/08B65G47/90B65G2203/0266B65G2203/0291
Inventor 曹永
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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