Man-machine collaborative sorting system and method for obtaining grabbing position of robot

Abstract

The invention discloses a robot grabbing position acquisition method of a man-machine cooperative sorting system, comprising: receiving an image transmitted by a camera, obtaining the outline of each material therein from the image; receiving selected position information transmitted by a display, and searching for the material corresponding to the selected position Outline and convert the selected position into a preset position in the area where the outline of the material is located; send the preset position as the grabbing position to the robot to grab the material. The present invention combines the material contour to correct the selected position to determine the grasping position of the robot, which can avoid the failure of grasping caused by the discrepancy between the actual selected position and the optimal grasping position and the repeated selection of the same material contour area caused by the robot multiple times The problem of grabbing (empty grabbing) improves the grabbing efficiency of the robot. In addition, the present invention also discloses a human-machine cooperative sorting system that corrects the selected position by adopting the method for obtaining the grasping position of the robot.

Description

technical field [0001] The invention relates to the technical field of material sorting, in particular to a human-machine cooperative sorting system and a method for acquiring a grabbing position of a robot. Background technique [0002] The environment of the waste sorting site is extremely harsh, full of dust and noise, and the sorting workers are in the harsh environment for a long time, which is likely to cause irreversible health problems to the sorting workers. [0003] In order to solve the above problems, Chinese patent application CN201710649904.0 proposes a method for artificial intelligence robots to sort large-sized organic light objects in construction waste, which puts the waste on the conveying line, collects images of the waste through the camera and sorts them Select a monitor outside the site to display it, and then judge the location of each garbage by recognizing the garbage image displayed on the monitor with human eyes, and then manually operate the mon...

AI Technical Summary

Problems solved by technology

[0004] However, when the display is manually operated, there will be a deviation in the selected position, which will cause the actual selected position P1' obtained by the display to be inconsistent with the desired selected position P2' (such as figure 1 shown); in addition, if the picture is refreshed when operating the display, it will also cause a deviation between the actual selected position P1' and the expected selected position P2'; it may even happen that the same garbage position is operated multiple times, causing the robot to Perform multiple grasping (empty grasping) actions on the same garbage, which will greatly reduce the grasping efficiency of the sorting robot, and eventually lead to low garbage sorting efficiency

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