Disordered collection associated tagging system for industrial manipulator

Abstract

The invention discloses a disordered acquisition associated tagging system for an industrial manipulator, which realizes disordered acquisition of two-dimensional codes of a product and a box body through an industrial camera and a photoelectric sensor of a data acquisition module without depending on a specific sequence, and a logic control module uses a PLC algorithm to determine whether the two-dimensional codes of the product and the box body are successfully grabbed on the basis of a successful grabbing signal. Product and box body two-dimensional codes are dynamically bound, an association instruction is generated, it is ensured that physical arrangement and data association are consistent, the system has a dynamic correction mechanism, the situations of two-dimensional code damage, reading errors or product replacement and the like can be handled, the product and box body two-dimensional codes are matched again, data accuracy is ensured, production interruption and manual intervention are reduced, and production efficiency is improved. The industrial camera has the functions of high resolution, high frame rate, automatic focusing and exposure adjustment, adapts to different illumination conditions and reduces identification errors, the system realizes automation of grabbing detection, data acquisition, logic control and assembly uploading and improves the production efficiency, in addition, whole-course tracing is realized through two-dimensional code association, and problem positioning and processing are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a disordered collection and association coding system for industrial robots. Background Art

[0002] With the rapid development of intelligent manufacturing and industrial automation technologies, robotic packing systems have been widely used in the packaging links of food, medicine, 3C electronics and other industries. During the packing process, the precise association of product traceability information has become a key link in quality control. It is usually necessary to dynamically bind a single product identifier (such as a QR code) with the packaging box identifier.

[0003] The traditional association method mainly adopts an ordered positioning mode, that is, the products are arranged in order through preset tooling fixtures, and then the QR code information of the products and boxes is collected in sequence by a fixed-position scanning device for association and binding. This method has significant defects: First, the dynamic and disordered grasping characteristics of the robot during the packing process lead to large randomness in the spatial position of the products, and the consistency between the scanning order and the physical arrangement cannot be guaranteed; secondly, when products fall and are reloaded or abnormally removed, it is difficult for the existing system to dynamically correct the association relationship; thirdly, the existing visual system has a low recognition rate for QR codes under complex lighting conditions (especially in high-speed motion scenarios, the recognition success rate is less than 85%), and lacks an effective fault-tolerant compensation mechanism. Summary of the Invention

[0004] In view of this, the present invention proposes a disordered collection and association coding system for industrial robots, which can effectively solve the defects of the existing technology, such as the inability to ensure the consistency of the scanning order and the physical arrangement, the difficulty in dynamically correcting the association relationship, and the low recognition rate of QR codes under complex lighting conditions.

[0005] The technical solution of the present invention is achieved as follows:

[0006] A disordered collection and associative coding system for an industrial robot, comprising:

[0007] The grasping detection module is used to locate the coordinates of the industrial robot using an encoder and combine it with a pressure sensor to determine whether the product has been grasped successfully;

[0008] The data acquisition module is used to scan product QR codes and box QR codes in real time through an industrial camera, and the photoelectric sensor triggers data acquisition synchronously;

[0009] The logic control module is used to use the PLC algorithm to bind the product QR code with the corresponding box QR code based on the capture success signal and generate dynamic association instructions;

[0010] The set upload module is used for receiving binding data from the host computer, automatically associating the product QR code with the box QR code set, and uploading it to the background management system.

[0011] As a further optional solution of the disordered collection and associative coding system for industrial robots, the grasping detection module uses an encoder to locate the coordinates of the industrial robot and combines a pressure sensor to determine whether the product is grasped successfully, specifically including:

[0012] During the movement of the industrial robot, the coordinate data of the barcode data is fed back in real time through an external rotary encoder;

[0013] The PLC controller receives the encoder data and adds a timestamp to it, and creates a position and time mapping table;

[0014] When the product moves to the packing position, the sensor installed at the rear end of the robot detects whether the product is successfully grasped.

[0015] As a further optional solution of the disordered collection and associative coding system for industrial robots, the data acquisition module uses an industrial camera to scan product QR codes and box QR codes in real time, and a photoelectric sensor synchronously triggers data acquisition, specifically including:

[0016] When the product enters the industrial robot's grasping station or packaging position, the photoelectric sensor detects the presence of the product and triggers the industrial camera to scan the QR code in real time;

[0017] The industrial camera sends the read QR code raw data to the PLC controller in real time through the RS232 serial port or TCP communication.

[0018] As a further optional solution of the disordered collection and association coding system for industrial robots, the logic control module uses a PLC algorithm to bind the product QR code with the corresponding box QR code based on the grasping success signal to generate a dynamic association instruction, specifically including:

[0019] The PLC controller performs basic verification on the received QR code data, including verifying whether the QR code length meets the preset standard, filtering out unrecognizable garbled data, and storing valid data in a temporary buffer area;

[0020] When the capture is successful, the PLC controller binds the current product QR code with the corresponding box QR code, generates a dynamic association instruction and sends it to the host computer;

[0021] When the grabbing fails, the PLC controller transfers the product QR code in the buffer area to the processing module corresponding to the next station.

[0022] As a further optional solution of the disordered collection and association coding system for industrial robots, the PLC controller binds the current product QR code with the corresponding box QR code, specifically including:

[0023] Combined with the industrial robot coordinate data fed back by the encoder, the specific location of the product when it is grasped is determined;

[0024] When the product is grabbed and moved to the packing location, the PLC controller performs a dual spatial and temporal correlation judgment based on the timestamp and location information of the product QR code and the timestamp of the box QR code of the current packing operation;

[0025] If the timestamp of the product QR code matches the timestamp of the box QR code of the current packing operation, and the product location information matches the packing location, the PLC controller determines that the product QR code and the current box QR code are in a corresponding relationship;

[0026] Based on the judgment result, the PLC controller binds the product QR code with the corresponding cabinet QR code, and generates a dynamic association instruction including the product QR code, cabinet QR code and binding time.

[0027] As a further optional solution to the disordered collection and association coding system for industrial robots, the set uploading module receives binding data from the host computer, automatically associates the product QR code with the box QR code set, and uploads it to the background management system, specifically including:

[0028] The host computer receives the associated data packet from the PLC and sorts all the product QR codes under the same cabinet QR code in the order of the capture time;

[0029] Associating the box QR code with multiple product QR code sets to generate a structured data table containing the box QR code, product QR code, and crawling time;

[0030] The structured data table generated by the set is uploaded to the backend management system. The upload logic includes triggering the upload immediately after each box is captured, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

[0031] A method for associating and coding disordered data collection for an industrial robot, specifically comprising:

[0032] Grasping detection steps: Use encoders to locate the coordinates of the industrial robot, and combine with pressure sensors to determine whether the product is successfully grasped;

[0033] Data collection steps: A photoelectric sensor is used as a trigger device. When it detects that a product is placed in the designated scanning area, it synchronously triggers the industrial camera to scan the product QR code and the box QR code in real time;

[0034] Logical control steps: Based on the timestamp information of the product QR code and the box QR code, the QR code data collected within the same time period is filtered out. Combined with the motion trajectory planning of the industrial robot and the production process logic, the corresponding relationship between the product QR code and the box QR code is determined. If a corresponding relationship is determined, the PLC controller is used to bind the product QR code with the corresponding box QR code, generating a dynamic association instruction containing the product QR code, box QR code, and binding time;

[0035] Set uploading steps: The upper computer receives dynamic association instruction data, processes the received data, classifies and groups the product QR codes according to the box QR code, associates and integrates all product QR codes and crawling times under the same box QR code, generates a structured set association data table, and uploads the completed association data to the background management system.

[0036] As a further optional step of the disordered collection and association coding method for industrial robots, when uploading the completed set of associated data to the background management system, the upload logic includes immediately triggering the upload after each box is grabbed, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

[0037] A computing device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor implements any one of the steps of the above-mentioned method for associating coding of disordered collection for an industrial robot.

[0038] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any one of the steps of the above-mentioned method for associating coding of disordered collection for an industrial robot.

[0039] The beneficial effects of the present invention are as follows: through the industrial camera and photoelectric sensor of the data acquisition module, the product QR code and the box QR code can be scanned in real time and randomly, without relying on a specific order, thus realizing disordered acquisition; the logic control module uses the PLC algorithm to dynamically bind the product QR code with the corresponding box QR code based on the capture success signal, and generates an association instruction; this process is not affected by the scanning order, thus ensuring the consistency of the physical arrangement and data association; during the production process, if the QR code is damaged, read incorrectly, or the product is replaced, the system can dynamically correct the association relationship through real-time data acquisition and logic control modules; the logic control module can identify the erroneous association and re-match the product QR code with the box QR code to ensure data accuracy; the dynamic correction mechanism reduces the Production interruptions and manual intervention caused by association errors have improved production efficiency and stability. The industrial camera of the data acquisition module has high resolution, high frame rate, automatic focus and exposure adjustment functions, which can adapt to QR code scanning under different lighting conditions and reduce recognition errors caused by lighting problems. In addition, the system realizes the automation of grasping detection, data acquisition, logic control and set uploading, reduces manual operation and improves production efficiency. The real-time scanning of the industrial camera and the synchronous triggering of the photoelectric sensor ensure the real-time acquisition and processing of data. Through QR code association, the system can realize the traceability of products from production to sales, which is convenient for problem location and processing. The background management system can monitor and analyze the uploaded data, timely discover production anomalies, and adjust production parameters and process flows. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is a schematic diagram of the composition of a disordered collection and association coding system for an industrial robot according to the present invention;

[0042] Figure 2 This is a flow chart of a method for associating and coding disordered data collection for an industrial robot according to the present invention;

[0043] Figure 3 A schematic diagram of the composition of a computing device according to the present invention;

[0044] Figure 4 Schematic diagram of the format of the structured data table in the present invention. DETAILED DESCRIPTION

[0045] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] refer to Figures 1 to 4 , a disordered collection and associative coding system for industrial robots, comprising:

[0047] The grasping detection module is used to locate the coordinates of the industrial robot using an encoder and combine it with a pressure sensor to determine whether the product has been grasped successfully;

[0048] The data acquisition module is used to scan product QR codes and box QR codes in real time through an industrial camera, and the photoelectric sensor triggers data acquisition synchronously;

[0049] The logic control module is used to use the PLC algorithm to bind the product QR code with the corresponding box QR code based on the capture success signal and generate dynamic association instructions;

[0050] The set upload module is used for receiving binding data from the host computer, automatically associating the product QR code with the box QR code set, and uploading it to the background management system.

[0051] In this embodiment, the industrial camera and photoelectric sensor of the data acquisition module can be used to scan the product QR code and the box QR code in real time and randomly, without relying on a specific order, thus realizing disordered acquisition. The logic control module uses the PLC algorithm to dynamically bind the product QR code with the corresponding box QR code based on the capture success signal to generate association instructions. This process is not affected by the scanning order, ensuring the consistency of physical arrangement and data association. During the production process, if the QR code is damaged, read incorrectly, or the product is replaced, the system can dynamically correct the association relationship through real-time data acquisition and logic control modules. The logic control module can identify erroneous associations and re-match the product QR code with the box QR code to ensure data accuracy. The dynamic correction mechanism reduces the error caused by association. Production interruptions and manual intervention caused by errors have improved production efficiency and stability. The industrial camera of the data acquisition module has high resolution, high frame rate, automatic focus and exposure adjustment functions, which can adapt to QR code scanning under different lighting conditions and reduce recognition errors caused by lighting problems. In addition, the system realizes the automation of grasping detection, data acquisition, logic control and set uploading, reducing manual operation and improving production efficiency. The real-time scanning of the industrial camera and the synchronous triggering of the photoelectric sensor ensure the real-time acquisition and processing of data. Through QR code association, the system can realize the traceability of products from production to sales, which is convenient for problem location and processing. The background management system can monitor and analyze the uploaded data, timely discover production anomalies, and adjust production parameters and process flows.

[0052] Preferably, the grasping detection module uses an encoder to locate the coordinates of the industrial robot and combines a pressure sensor to determine whether the product is grasped successfully, specifically including:

[0053] During the movement of the industrial robot, the coordinate data of the barcode data is fed back in real time through an external rotary encoder;

[0054] The PLC controller receives the encoder data and adds a timestamp to it, and creates a position and time mapping table;

[0055] When the product moves to the packing position, the sensor installed at the rear end of the robot detects whether the product is successfully grasped.

[0056] In this embodiment, the coordinate data of the industrial robot is fed back in real time through an external rotary encoder. The rotary encoder has high resolution and high precision, and can accurately measure the movement distance and angle of the robot, thereby achieving high-precision positioning of the end effector of the robot. The encoder feeds back data in real time, so that the system can instantly obtain the current position of the robot and provide accurate position information for subsequent grasping operations; the PLC controller receives the encoder data and marks the timestamp to establish a position and time mapping table. This mechanism not only records the movement trajectory of the robot, but also provides strong support for subsequent data analysis and troubleshooting. Based on the position and time mapping table, the system can dynamically adjust the movement parameters of the robot, optimize the grasping path, and improve production efficiency; the sensor installed at the back end of the robot (such as a pressure sensor) can monitor in real time whether the product is successfully grasped. When the product moves to the packing position, the sensor immediately detects the grasping status and feeds back the signal to the PLC controller. After receiving the sensor signal, the PLC controller can quickly respond and process, such as stopping the robot movement, recording the grasping results, etc., to ensure the continuity and stability of the production process; this technical solution realizes the automation of grasping detection, reduces the need for manual intervention, and improves production efficiency. By adjusting the parameters of the encoder and the threshold of the sensor, the system can adapt to the grasping needs of products of different sizes, shapes and weights, and enhance the flexibility of the production line; since the system can obtain the position and grasping status information of the robot in real time, it can optimize the waiting time in the production process, improve the overall efficiency of the production line, and improve equipment utilization and production benefits by reducing equipment downtime due to grasping failure or inaccurate positioning.

[0057] Preferably, the data acquisition module uses an industrial camera to scan the product QR code and the box QR code in real time, and the photoelectric sensor synchronously triggers data acquisition, specifically including:

[0058] When the product enters the industrial robot's grasping station or packaging position, the photoelectric sensor detects the presence of the product and triggers the industrial camera to scan the QR code in real time;

[0059] The industrial camera sends the read QR code raw data to the PLC controller in real time through the RS232 serial port or TCP communication.

[0060] In this embodiment, when the product enters the industrial robot's grasping station or packing position, the photoelectric sensor can quickly and accurately detect the presence of the product. This non-contact detection method not only has a fast response speed, but also can avoid any physical damage to the product. After the photoelectric sensor detects the product, it immediately triggers the industrial camera to perform real-time scanning of the QR code. This synchronous triggering mechanism ensures the timeliness and accuracy of data collection and avoids data errors caused by delays or missed detections; the industrial camera has high resolution and fast reading capabilities, and can accurately capture the image information of the product QR code and the box QR code in a short time. The industrial camera sends the read QR code raw data to the PLC controller in real time through the RS232 serial port or TCP communication. These two communication methods are very convenient. Both models have a broad application base and good compatibility, which facilitates the system to be integrated and communicate with other equipment. The use of standardized communication interfaces and protocols makes the system easy to expand and upgrade, and can adapt to changes in future production needs. Through real-time scanning and synchronous triggering mechanisms, the system can quickly complete the data collection and processing of QR codes, reducing waiting time in the production process. The fast data collection and processing capabilities enable the production line to maintain efficient operation and improve overall production efficiency. The system records the QR code information of each product and the associated box QR code information in real time, providing a complete data foundation for product traceability. When quality problems or recall incidents occur, companies can quickly locate specific products and batches through the traceability system and take effective countermeasures.

[0061] Preferably, the logic control module uses a PLC algorithm to bind the product QR code with the corresponding box QR code based on the capture success signal, and generates a dynamic association instruction, specifically including:

[0062] The PLC controller performs basic verification on the received QR code data, including verifying whether the QR code length meets the preset standard, filtering out unrecognizable garbled data, and storing valid data in a temporary buffer area;

[0063] When the capture is successful, the PLC controller binds the current product QR code with the corresponding box QR code, generates a dynamic association instruction and sends it to the host computer;

[0064] When the grabbing fails, the PLC controller transfers the product QR code in the buffer area to the processing module corresponding to the next station.

[0065] In this embodiment, the PLC controller performs basic verification on the received QR code data, including verifying whether the QR code length meets the preset standard and filtering out unrecognizable garbled data. This step ensures that only valid data that meets the specifications can enter the subsequent processing flow, thereby improving the accuracy and reliability of the data. The valid data is stored in a temporary cache area, providing a stable data source for subsequent data processing, avoiding association errors caused by data loss or damage; the PLC controller will bind the current product QR code with the corresponding box QR code only when the capture is successful. This binding method based on the actual capture result ensures the accuracy and real-time nature of the association. After the binding is successful, the PLC controller generates a dynamic association instruction and sends it to the host computer, realizing the accurate association and dynamic management of the product and the box; when the capture is successful, the PLC controller generates a dynamic association instruction and sends it to the host computer, realizing the accurate association and dynamic management of the product and the box; when the capture is successful, the PLC controller generates a dynamic association instruction and sends it to the host computer, realizing the accurate association and dynamic management of the product and the box; when the capture is successful, the PLC controller generates a dynamic association instruction and sends it to the host computer, realizing the accurate association and dynamic management of the product and the box When the grabbing fails, the PLC controller will not discard or ignore the product QR code, but transfer it to the processing module corresponding to the next workstation. This processing method enables the system to flexibly respond to the situation of grabbing failure and continue subsequent processing, improving the system's adaptability and fault tolerance. By timely transferring and processing the product QR code that failed to be grabbed, the system can avoid production interruptions caused by a single grabbing failure, ensuring the continuity and stability of the production line; the upper computer receives the dynamic association instructions sent by the PLC controller, and monitors and processes the bound data in real time. This real-time monitoring and feedback mechanism enables enterprises to understand the production situation in a timely manner, make quick responses and adjustments, and based on real-time monitoring and feedback data, enterprises can optimize production decisions, such as adjusting production plans, optimizing inventory management, etc., to improve production efficiency and market competitiveness.

[0066] Preferably, the PLC controller binds the current product QR code with the corresponding box QR code, specifically including:

[0067] Combined with the industrial robot coordinate data fed back by the encoder, the specific location of the product when it is grasped is determined;

[0068] When the product is grabbed and moved to the packing location, the PLC controller performs a dual spatial and temporal correlation judgment based on the timestamp and location information of the product QR code and the timestamp of the box QR code of the current packing operation;

[0069] If the timestamp of the product QR code matches the timestamp of the box QR code of the current packing operation, and the product location information matches the packing location, the PLC controller determines that the product QR code and the current box QR code are in a corresponding relationship;

[0070] Based on the judgment result, the PLC controller binds the product QR code with the corresponding cabinet QR code, and generates a dynamic association instruction including the product QR code, cabinet QR code and binding time.

[0071] In this embodiment, the PLC controller not only considers whether the timestamps of the product QR code and the box QR code match, but also combines the industrial robot coordinate data fed back by the encoder to determine the specific position of the product when it is grabbed and compares it with the packing position. This dual association judgment method of space and time greatly improves the accuracy and reliability of data association. Through double verification, the system can effectively avoid misassociation caused by a single factor (such as similar timestamps but inconsistent positions), and ensure that each product QR code can be accurately bound to the corresponding box QR code. During the production process, various factors (such as mechanical vibration, product size differences, etc.) may cause slight deviations in product position or timestamps. This technical solution comprehensively considers spatial and temporal information. , which can dynamically adapt to these changes and maintain the accuracy of data association; the dynamic association instructions generated by the PLC controller contain detailed information such as the product QR code, the box QR code and the binding time. This information constitutes a complete data chain, which provides strong support for the traceability of the production process. When quality problems occur or products need to be recalled, companies can query these binding information to quickly locate specific products and boxes, thereby improving the efficiency and accuracy of problem handling; by real-time recording and updating of binding information, companies can monitor the data association in the production process in real time to ensure that each product can be accurately tracked and managed. Based on this data, companies can also analyze bottlenecks and problem points in the production process, optimize production processes, and improve production efficiency and quality.

[0072] Preferably, the set uploading module receives the binding data from the host computer, automatically associates the product QR code with the box QR code set, and uploads it to the background management system, specifically including:

[0073] The host computer receives the associated data packet from the PLC and sorts all the product QR codes under the same cabinet QR code in the order of the capture time;

[0074] Associating the box QR code with multiple product QR code sets to generate a structured data table containing the box QR code, product QR code, and crawling time;

[0075] The structured data table generated by the set is uploaded to the backend management system. The upload logic includes triggering the upload immediately after each box is captured, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

[0076] In this embodiment, after the host computer receives the associated data packet from the PLC, it sorts all the product QR codes under the same box QR code in the order of the capture time. This sorting method is helpful for subsequent data processing and analysis, making the data more orderly and easy to manage. By grouping the box QR code with multiple product QR code sets, a structured data table containing the box QR code, product QR code and capture time is generated. This structured data table is not only convenient for storage and transmission, but also improves the readability and usability of the data. After each box is captured, the host computer immediately triggers the upload operation and uploads the structured data table generated by the group to the background management system. This real-time upload mechanism ensures The backend management system can obtain the latest production data in a timely manner. Real-time uploading improves the timeliness of data, enabling enterprises to quickly respond to market changes and production needs, and adjust production plans and strategies. In the event of a network interruption, the host computer automatically stores the data temporarily on the local hard disk to avoid data loss and damage. When the network is restored and the upload is successful, the host computer clears the local cache, freeing up storage space to provide conditions for subsequent data processing. Through the set upload module, enterprises can achieve full data tracking and management of the production process, understand the production progress and status of each product, and based on the analysis of real-time data and structured data tables, enterprises can optimize production processes and improve production efficiency and quality.

[0077] A method for associating and coding disordered data collection for an industrial robot, specifically comprising:

[0078] Grasping detection steps: Use encoders to locate the coordinates of the industrial robot, and combine with pressure sensors to determine whether the product is successfully grasped;

[0079] Data collection steps: A photoelectric sensor is used as a trigger device. When it detects that a product is placed in the designated scanning area, it synchronously triggers the industrial camera to scan the product QR code and the box QR code in real time;

[0080] Logical control steps: Based on the timestamp information of the product QR code and the box QR code, the QR code data collected within the same time period is filtered out. Combined with the motion trajectory planning of the industrial robot and the production process logic, the corresponding relationship between the product QR code and the box QR code is determined. If a corresponding relationship is determined, the PLC controller is used to bind the product QR code with the corresponding box QR code, generating a dynamic association instruction containing the product QR code, box QR code, and binding time;

[0081] Set uploading steps: The upper computer receives dynamic association instruction data, processes the received data, classifies and groups the product QR codes according to the box QR code, associates and integrates all product QR codes and crawling times under the same box QR code, generates a structured set association data table, and uploads the completed association data to the background management system.

[0082] Preferably, when uploading the associated data of the completed set to the background management system, the uploading logic includes triggering the upload immediately after each box is captured, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

[0083] A computing device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor implements any one of the steps of the above-mentioned method for associating coding of disordered collection for an industrial robot.

[0084] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any one of the steps of the above-mentioned method for associating coding of disordered collection for an industrial robot.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A disorderly collection and association coding system for industrial robots, characterized in that: include: The grasping detection module is used to locate the coordinates of the industrial robot using an encoder and combine it with a pressure sensor to determine whether the product has been grasped successfully; The data acquisition module is used to scan product QR codes and box QR codes in real time through an industrial camera, and the photoelectric sensor triggers data acquisition synchronously; The logic control module is used to use the PLC algorithm to bind the product QR code with the corresponding box QR code based on the capture success signal and generate dynamic association instructions; The set upload module is used for receiving binding data from the host computer, automatically associating the product QR code with the box QR code set, and uploading it to the background management system.

2. The disordered collection and association coding system for industrial robots according to claim 1 is characterized in that: The grasping detection module uses an encoder to locate the coordinates of the industrial robot and combines it with a pressure sensor to determine whether the product has been grasped successfully. Specifically, it includes: During the movement of the industrial robot, the coordinate data of the barcode data is fed back in real time through an external rotary encoder; The PLC controller receives the encoder data and adds a timestamp to it, and creates a position and time mapping table; When the product moves to the packing position, the sensor installed at the rear end of the robot detects whether the product is successfully grasped.

3. The disordered collection and association coding system for industrial robots according to claim 2 is characterized in that: The data acquisition module uses an industrial camera to scan the product QR code and the box QR code in real time, and the photoelectric sensor synchronously triggers data acquisition, specifically including: When the product enters the industrial robot's grasping station or packaging position, the photoelectric sensor detects the presence of the product and triggers the industrial camera to scan the QR code in real time; The industrial camera sends the read QR code raw data to the PLC controller in real time through the RS232 serial port or TCP communication.

4. The disordered collection and association coding system for industrial robots according to claim 3 is characterized in that: The logic control module uses the PLC algorithm to bind the product QR code with the corresponding box QR code based on the capture success signal, and generates a dynamic association instruction, specifically including: The PLC controller performs basic verification on the received QR code data, including verifying whether the QR code length meets the preset standard, filtering out unrecognizable garbled data, and storing valid data in a temporary buffer area; When the capture is successful, the PLC controller binds the current product QR code with the corresponding box QR code, generates a dynamic association instruction and sends it to the host computer; When the grabbing fails, the PLC controller transfers the product QR code in the buffer area to the processing module corresponding to the next station.

5. The disordered collection and associating coding system for industrial robots according to claim 4 is characterized in that: The PLC controller binds the current product QR code with the corresponding cabinet QR code, specifically including: Combined with the industrial robot coordinate data fed back by the encoder, the specific location of the product when it is grasped is determined; When the product is grabbed and moved to the packing location, the PLC controller performs a dual spatial and temporal correlation judgment based on the timestamp and location information of the product QR code and the timestamp of the box QR code of the current packing operation; If the timestamp of the product QR code matches the timestamp of the box QR code of the current packing operation, and the product location information matches the packing location, the PLC controller determines that the product QR code and the current box QR code are in a corresponding relationship; Based on the judgment result, the PLC controller binds the product QR code with the corresponding cabinet QR code, and generates a dynamic association instruction including the product QR code, cabinet QR code and binding time.

6. The disordered collection and associating coding system for industrial robots according to claim 5 is characterized in that: The set uploading module receives the binding data from the host computer, automatically associates the product QR code with the box QR code set, and uploads it to the background management system, specifically including: The host computer receives the associated data packet from the PLC and sorts all the product QR codes under the same cabinet QR code in the order of the capture time; Associating the box QR code with multiple product QR code sets to generate a structured data table containing the box QR code, product QR code, and crawling time; The structured data table generated by the set is uploaded to the backend management system. The upload logic includes triggering the upload immediately after each box is captured, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

7. A method for associating and coding disordered data collection for an industrial robot, characterized in that: Specifically include: Grasping detection steps: Use encoders to locate the coordinates of the industrial robot, and combine with pressure sensors to determine whether the product is successfully grasped; Data collection steps: A photoelectric sensor is used as a trigger device. When it detects that a product is placed in the designated scanning area, it synchronously triggers the industrial camera to scan the product QR code and the box QR code in real time; Logical control steps: Based on the timestamp information of the product QR code and the box QR code, the QR code data collected within the same time period is filtered out. Combined with the motion trajectory planning of the industrial robot and the production process logic, the corresponding relationship between the product QR code and the box QR code is determined. If a corresponding relationship is determined, the PLC controller is used to bind the product QR code with the corresponding box QR code, generating a dynamic association instruction containing the product QR code, box QR code, and binding time; Set uploading steps: The upper computer receives dynamic association instruction data, processes the received data, classifies and groups the product QR codes according to the box QR code, associates and integrates all product QR codes and crawling times under the same box QR code, generates a structured set association data table, and uploads the completed association data to the background management system.

8. The method for associating and coding disordered data for an industrial robot according to claim 7, characterized in that: When uploading the completed associated data to the background management system, the upload logic includes triggering the upload immediately after each box is captured, automatically temporarily storing the data to the local hard disk when the network is interrupted, and clearing the local cache after the upload is successful.

9. A computing device, characterized in that The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method implements the steps of the disordered collection association coding method for an industrial robot as described in any one of claims 7 to 8.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the steps of the disordered collection association coding method for an industrial robot as described in any one of claims 7-8.

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