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A control system and control method for a cloth palletizing robot based on behavior cloning

A technology of palletizing robot and control method, which is applied in the control system and control field of cloth palletizing robot based on behavior cloning, can solve the problems of slowing down production speed, manpower of the mechanical arm, time cost, inability to obtain position and posture, etc., to achieve Increase the stacking accuracy and realize the effect of real-time processing

Active Publication Date: 2022-03-04
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The reprogramming of the robotic arm will consume a lot of manpower and time costs, and slow down the production speed, and the cloth is a non-rigid object, and its position and posture cannot be directly obtained using the object detection algorithm

Method used

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  • A control system and control method for a cloth palletizing robot based on behavior cloning
  • A control system and control method for a cloth palletizing robot based on behavior cloning
  • A control system and control method for a cloth palletizing robot based on behavior cloning

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Effect test

Embodiment 1

[0044] Embodiment 1 of the present invention provides a method for controlling a cloth palletizing cloud-based robotic arm based on behavior cloning in a human-machine collaborative environment. Transform the three-dimensional real position of the area to be identified to a fixed position in the pixel coordinate system; obtain the cloth monomer in the area to be identified at the fixed position based on the instance segmentation algorithm; obtain the artificial fabric monomer in the area to be identified at the fixed position The moving track of the single fabric during the palletizing process; the moving track is encoded based on the behavior cloning algorithm to obtain the encoded information; the control instruction is obtained according to the encoded information, and the robotic arm of the robot is controlled to stack the individual fabric according to the control instruction.

[0045]Among them, the three-dimensional real position of the area to be recognized is obtained ...

Embodiment 2

[0086] The cloth palletizing robot control system based on the behavior cloning algorithm provided by Embodiment 2 of the present invention includes: a near-end image acquisition unit for collecting image information of the region to be identified and transmitting it to the position transformation unit; a position transformation unit for The three-dimensional real position of the area to be identified is transformed into a fixed position in the pixel coordinate system; the monomer recognition unit is used to obtain the cloth monomer in the area to be identified at a fixed position based on the instance segmentation algorithm; the near-end image acquisition unit is used to acquire Image information of artificially stacking cloth monomers in the area to be identified under a fixed position; movement track calculation unit; used to obtain the moving track of cloth monomers in the image information of artificial palletizing; encoding unit, used for behavior-based cloning The algori...

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Abstract

The invention provides a control system and control method of a cloth palletizing robot based on behavior cloning, which belongs to the technical field of cloth palletizing robots, and transforms the three-dimensional real position of the area to be identified into a fixed position under the pixel coordinate system; obtains the data based on an instance segmentation algorithm Cloth monomers in the area to be identified at a fixed position; Obtain the movement trajectory of the fabric monomers during the artificial palletizing process of the fabric monomers; Code the movement trajectory based on the behavioral cloning algorithm to obtain coding information; Obtain control instructions based on the coding information , according to the control instruction to control the robotic arm of the robot to palletize the single fabric. The present invention satisfies the need for camera movement in a fixed hand-eye system in the human-machine collaboration in the textile industry, completes the real-time detection and stacking of scattered and stacked fabrics, and realizes the cloning of external palletizing behaviors and the integration of mechanical arm action groups. Automatic coding reduces the waste of time for recoding the action group of the manipulator caused by task replacement.

Description

technical field [0001] The invention relates to the technical field of cloth palletizing robots, in particular to a control system and control method for a cloth palletizing robot based on behavior cloning. Background technique [0002] In textile tasks, it is inevitable to carry out human-machine collaborative tasks, which have strict requirements on the fixing method and placement position of the camera, and the camera needs to be moved to obtain the largest possible recognition area; the cloth is a non-rigid body and cannot pass through objects. The detection algorithm obtains the pose of the cloth instance, and the behavior cloning algorithm requires a more accurate cloth detection algorithm and the support of a position perception system; industrial robots are poorly adaptable to factors such as dynamic and changeable environmental parameters and random disturbances in the sewing process , and the development and debugging cycle of the conventional industrial robot oper...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1687B25J9/1697B25J9/1664
Inventor 周风余顾潘龙延晓辉付天宇万方尹磊杨志勇
Owner SHANDONG UNIV
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