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A method for robot grasping order optimization

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

Inactive Publication Date: 2021-03-12
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 object from entering the robot grabbing space to running out of the grabbing space, and can improve the robot's missing grasp while increasing the grabbing rate. question

Method used

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  • A method for robot grasping order optimization
  • A method for robot grasping order optimization
  • A method for robot grasping order optimization

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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 grabbing order of a robot, which comprises the following steps: collecting an image of a target object, then extracting the outline information of the object and obtaining position coordinates; analyzing the obtained coordinates of the target object, and analyzing the image Perform deduplication and integration; according to the obtained coordinates, randomly sort all target objects and calculate the path S of all sorted combinations; for the obtained path S i Sorting from small to large; corresponding to the sorting method obtained, calculate the time ti required for the robot to grab each object to the placement area; calculate the time T for each object in the target area from entering the robot working area to running out of the working area i ; Judging from the sorting method corresponding to S1, when the i-th object is caught, if Ti>t1+t2+...+ti is established, it is met, and the condition S will be met i The ordering of the objects is fed back to the robot, and the order is grasped. If it is not established, the order of grasping corresponding to the path of the next sorting method is grasped.

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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 胡寒肖明
Owner GUANGDONG UNIV OF TECH
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