Method for optimizing robot grabbing sequence

A sequence optimization and robot technology, applied in the field of robotics, can solve problems such as missed grasping by robots, achieve the effect of reducing the rate of missed grasping and improving grasping efficiency

Inactive Publication Date: 2019-06-04
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Simultaneously, the present invention only pursues the situation that the robot grabs the shortest path for the existing research, adds the time factor of the target ob

Method used

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  • Method for optimizing robot grabbing sequence
  • Method for optimizing robot grabbing sequence
  • Method for optimizing robot grabbing sequence

Examples

Experimental program
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Embodiment 1

[0029] Such as figure 1 As shown, a method for robot grasping order optimization, the method includes the following steps:

[0030] S1: if figure 2 As shown, it is the working platform for the robot to grab the target object, and the camera shooting interval of the robot's vision system is set. In this embodiment, a fixed time interval of 3000-5000 ms is used as the shooting interval, and the image of the target object is collected by the camera and uploaded to the industrial control system. computer, the industrial computer performs image processing on the image of the target object, extracts the contour information of the target object and obtains the position coordinates; then sends the coordinate information of the target object to the controller, and the controller controls the encoder according to the coordinate information of the target object and the industrial computer The feedback information is used to plan the motion trajectory of the manipulator and calculate th...

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Abstract

The invention discloses a method for optimizing the robot grabbing sequence. The method comprises the following steps: target objects are subjected to image collecting, then outline information of theobjects is extracted, and position coordinates are obtained; the obtained coordinates of the target objects are analyzed, and images are subjected to repetition removal and integration; according tothe obtained coordinates, all the target objects are sequenced at random, and routes S of all sequenced combinations are calculated; the obtained routes Si are sequenced from small to large; the needed time ti when a robot grabs all the objects to a placement area is calculated corresponding to obtained sequencing methods; the time Ti from entering a robot working interval to running out of the working interval of all the objects in a target area is calculated; and judging is started from the sequencing method corresponding to S1, when the i object is grabbed, if the relation that Ti is larger than t1+t2+...+ti is established, the condition is conformed, the object sequence conforming to the condition Si is fed back to the robot, grabbing is conducted accordingto the sequence, and if the relation is not established, grabbing is conducted according to the grabbing sequence corresponding to the route adopting the next sequencing method.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to a method for optimizing the grabbing order of a robot. Background technique [0002] At present, with the continuous improvement of the level of automation, robotic hands have been widely used in the packaging, sorting and assembly processes of food, pharmaceuticals, electronics and other industries. Through the combination of machine vision technology and industrial robots in production, it can be better applied to various assembly line operations, complete the grasping and handling of objects of various shapes and states, and greatly improve production efficiency. In the actual production process, high-density grabbing, sorting, and packaging are very common scenarios, but at present, in the actual production process, the robot grabbing sequence is generally set from top to bottom, from left to right, from Bottom to top, etc., the setting is relatively rigid, a...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 胡寒肖明
Owner GUANGDONG UNIV OF TECH
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