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Multi-robot cooperative sorting method and system

A multi-robot and robot technology, applied in the field of visual sorting, can solve the problems of high miss rate, affecting sorting efficiency, unreasonable sorting strategy, etc., and achieve the effect of improving position accuracy and improving sorting efficiency

Inactive Publication Date: 2019-02-22
TIANJIN UNIV
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Problems solved by technology

[0003] However, the positioning accuracy of workpieces needs to be improved when the noise in the image is large. At the same time, when sorting the same kind of workpieces with dense distribution, a single robot has a high miss rate due to its own sorting efficiency, and the sorting strategy is unreasonable. sorting efficiency

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Embodiment Construction

[0025] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples, and detailed descriptions are as follows with accompanying drawings:

[0026] See figure 1 with figure 2 , A multi-robot collaborative sorting method of the present invention includes the following steps:

[0027] (1) The camera 1 is installed on the conveyor belt 3 and located upstream of the parallel robot 6. The camera 1 is perpendicular to the conveyor belt 3, and multiple parallel robots are installed on the conveyor downstream of the camera through brackets. Above the conveyor belt 3 and the feeding conveyor belt 4, install an encoder on the left end of the plane of the conveyor belt 3, and then start the conveyor belt 3 to drive the workpiece. The upper computer 5 converts the image of the workpiece collected by the camera 1 into a grayscale image, and then further processing Obtain the contour information of the workpiece;

[002...

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Abstract

The invention discloses a multi-robot cooperative sorting method and system. The method comprises the steps that a gray image is processed by an improved filtering algorithm to obtain the position information of workpieces, and then the position information of the workpieces is evenly distributed to each robot with a certain number of intervals to complete the multi-robot task allocation; at the same time, the order of grasping of the single robot is optimized to ensure that the workpieces in forefront of a conveyor belt are sorted firstly in the working space of the robot; and within a sorting beat, the placement order of the workpieces is determined with the goal of the shortest total travel of the horizontal movement of the single robot in order to complete the sorting efficiently. Withthe multi-robot cooperative sorting method and system, the positioning accuracy of the workpieces is improved by processing the image with the improved filtering algorithm, and the sorting efficiencyof the system is greatly improved by adopting the method of multi-machine cooperative sorting and task balanced allocation and optimizing the grasping order of the single robot.

Description

Technical field [0001] The patent of the invention relates to the technical field of visual sorting, in particular to a method and system for multi-robot collaborative sorting. Background technique [0002] With the development of industry, the combination of vision and industrial robots is widely used in the sorting industry of production lines due to its fast speed and strong flexibility. The vision-based sorting system mainly processes the images collected by the industrial camera, obtains the position information of the workpiece, transmits the information to the controller, and then controls the robot to complete the sorting of the workpiece. [0003] However, in the case of large noise in the image, the positioning accuracy of the workpiece needs to be improved. At the same time, when the same kind of workpiece is sorted with dense distribution, a single robot has a large missed grasp rate due to its own sorting efficiency problem, and the sorting strategy is unreasonable. S...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B07C5/34B07C5/36
CPCB07C5/34B07C5/361
Inventor 李策梅江平刘海涛张舵王浩张帆
Owner TIANJIN UNIV
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