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A multi-robot collaborative sorting method and system

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

Inactive Publication Date: 2021-05-04
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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  • A multi-robot collaborative sorting method and system
  • A multi-robot collaborative sorting method and system
  • A multi-robot collaborative sorting method and system

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Embodiment Construction

[0025]In order to further understand the content, characteristics, and efficacy of the present invention, it will be described in detail with reference to the accompanying drawings:

[0026]Seefigure 1 withfigure 2 A multi-robot cooperative sorting method, including the following steps:

[0027](1) Install the camera 1 on the transfer belt 3 and at the upstream of the parallel robot 6, the camera 1 is perpendicular to the conveyor belt 3, and the plurality of parallel robots are mounted downstream of the camera before and after the bracket. Above the conveyor belt 3 and the feed conveyor belt 4, the coder is mounted at the leftmost end of the transfer belt 3, and then activates the transfer belt 3 to convert the workpiece image collected by the camera 1 into a grayscale image through the hostile 5, and then further proceed Get workpiece profile information;

[0028]As a preferred embodiment, the workpiece image collected by the camera 1 is converted into a gradation image by the host compute...

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Abstract

The invention discloses a multi-robot collaborative sorting method and system. The method includes processing the grayscale image by using an improved filtering algorithm to obtain workpiece position information, and then distribute the workpiece position information to each robot at a certain interval in a balanced manner to complete multiple tasks. Robot task assignment; at the same time, optimize the grabbing sequence of a single robot to ensure that the workpiece at the front of the conveyor belt is sorted first in the robot workspace; within a sorting cycle, the goal of the shortest total horizontal movement of a single robot is to determine the position of the workpiece Placement sequence, and then complete sorting efficiently. The invention improves the positioning accuracy of workpieces by using an improved filtering algorithm to process images, adopts multi-machine collaborative sorting, balanced task distribution methods, and optimizes the pick-and-place sequence of a single machine, greatly improving the sorting efficiency of the system.

Description

Technical field[0001]The present invention relates to the technical field of visual sorting, and more particularly to a multi-robot cooperative sorting method and system.Background technique[0002]With the development of industrial development, the visual and industrial robots are widely used in the production line sorting industry with fast, flexibility and so on. The visually-based sorting system mainly processes the image collected by the industrial camera to obtain the location information of the workpiece, and transmit information to the controller, and then control the robot to complete the sorting of the workpiece.[0003]However, for the case where the noise in the image is large, the positioning accuracy of the workpiece is to be improved. At the same time, when sorting the same workpiece, a single robot is large due to the problem of self-picked efficiency, and the sorting strategy is unreasonable. Sorting efficiency.Inventive content[0004]In order to solve the above problems...

Claims

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Application Information

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Patent Type & Authority Patents(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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