Encasement method and encasement control system

Abstract

The invention provides an encasement method and an encasement control system. The method and the system are used for encasement of a target object through a clamping jaw. The encasement method comprises the following steps that at least a first data set of the target object in a working space and a second data set representing an obstacle are obtained; mass point data and a third data set is determined based on the first data set and the second data set; the mass point data is used for representing the clamping jaw and the target object carried by the clamping jaw; the third data set is used for representing a space coordinate set after the corresponding obstacle is expanded; the third data set and the mass point data are mutually exclusive; a track route set is determined according to the third data set; and based on the track route set, the clamping jaw is controlled to convey the target object from the starting point to the ending point, and encasement is completed. According to the method and system, an optimal boxing path can be found for different target objects, the boxing time of the target object is shortened, the working efficiency is improved, and the working rhythm of an automatic production line is met.

Description

Technical field [0001] The present invention relates to the field of industrial control technology, in particular to a method of packing, the packing control system. Background technique [0002] With the rapid development of modern industrial production, control systems not only need to implement a single motor control, also we need to complete the linkage control of multiple motors. Position servo system performance is also widely used in motion control, motion control system is moving towards miniaturization, and intelligent network direction. [0003] Currently the target object automatic packing operation, since the target object is more types, shapes and sizes, in order to secure the packing, often manually set a safer packing path, but the path is often a long stroke and means unitary tank has a motion, e.g., translation and rotation of the jaws jaw often separately; Thus, packing a long time, more labor and time consuming. [0004] Therefore, it is necessary to provide a ...

AI Technical Summary

Problems solved by technology

[0003]At present, for the fully automatic boxing operation of target objects, since there are many types of target objects with different shapes and sizes, it is often safer to manually set up a box for safe boxing. However, this path often has a long stroke and the movement of the box is single. For example, the translation of the jaws and the rotation of the jaws are often carried out separately; therefore, the boxing time is long and consumes more manpower.

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