Control Method for Automatic Handling of Mobile Phone Covers by Robots

Abstract

The present application discloses a control method for a robot to automatically carry a mobile phone cover plate, which sequentially includes the following steps: S10, establish a coordinate system, with the suction cup on the robot as the coordinate origin, form an initial array of points based on the first array of grooves for placing the mobile phone cover plate, and form a target array of points corresponding one by one to the initial array of points based on the second array of grooves for collecting the mobile phone cover plate; S20, collect the image information of the first array of grooves, transmit the collected image information to the host computer, and compare the collected image information with the blank template image information in the host computer to obtain the specific position of the mobile phone cover plate in the first array of grooves; 30, the robot control system receives the specific position of the mobile phone cover plate that has been confirmed in the host computer, and then controls the robot to suck the mobile phone cover plate and carry the mobile phone cover plate to the corresponding target array of points. The control method provided by the present application can effectively improve the working efficiency of carrying the mobile phone cover plate and ensure the carrying quality.

Description

Technical Field

[0001] The present invention relates to the technical field of robot handling, and particularly to a control method for a robot to automatically handle a mobile phone cover plate. Background Art

[0002] During the processing of mobile phone cover plates, generally, the mobile phone cover plates need to be first placed on a tray with grooves for processing, and after processing, they are manually transferred to corresponding trays for subsequent processing. Thus, the method of manual transfer not only has low work efficiency, but also has a large labor intensity, and there is a risk of accidentally injuring or contaminating the glass cover plate during the transfer process. Summary of the Invention

[0003] An advantage of the present invention is to provide a control method for a robot to automatically handle a mobile phone cover plate, wherein the position of the suction cup of the robot is used as the coordinate origin, and a coordinate system is established based on the initial array points formed by the first array of grooves for placing the mobile phone cover plate and the target array points formed by the second array of grooves for collecting the mobile phone cover plate. When the mobile phone cover plate in the first array of grooves is detected, the robot can automatically suck the glass cover plate and transfer it to the corresponding groove in the second array of grooves, thereby greatly improving the work efficiency, reducing the labor intensity, and reducing the risk of damaging or contaminating the glass cover plate during the transfer process.

[0004] To achieve at least one of the above advantages of the present invention, the present invention provides a control method for a robot to automatically handle a mobile phone cover plate, which sequentially includes the following steps:

[0005] S10, establish a coordinate system, with the suction cup on the robot as the coordinate origin, form initial array points based on the first array of grooves for placing the mobile phone cover plate, and form target array points based on the second array of grooves for collecting the mobile phone cover plate, wherein the initial array points and the target array points correspond one by one;

[0006] S20, collect the image information of the first array of grooves, transmit the collected image information to the host computer, and compare the collected image information with the blank template image information in the host computer to obtain the specific position of the mobile phone cover plate in the first array of grooves;

[0007] S30, the robot control system receives the specific position of the mobile phone cover plate that has been confirmed in the host computer, and then controls the robot to suck the mobile phone cover plate and transport the mobile phone cover plate to the corresponding target array point.

[0008] According to an embodiment of the present invention, it is defined that the trays for the first array of grooves for placing mobile phone cover plates of different models or specifications have the same thickness, and the groove depths of the first array of grooves are equal;

[0009] Pre-store the standard image information of mobile phone covers of multiple models or specifications in the host computer, and establish a standard image information library, where the standard image information is the image information of the second array of grooves fully loaded with mobile phone covers;

[0010] After obtaining the specific position of the mobile phone cover in the first array of grooves, compare the image information of the mobile phone cover in the first array of grooves collected and the standard image information of mobile phone covers of multiple models or specifications pre-stored in the host computer, confirm and call the corresponding standard image information in the standard image information library, and transmit the coordinate system corresponding to the called standard image information to the robot control system, so that the robot executes the corresponding subroutine to suck and carry the mobile phone cover.

[0011] According to an embodiment of the present invention, when comparing the image information of the mobile phone cover in the first array of grooves and the standard image information of mobile phone covers of multiple models or specifications pre-stored in the host computer, if the collected image information is inconsistent with all the standard image information pre-stored in the standard image information library, send a confirmation instruction message to the control interface to confirm whether to establish a new image template for supplementing to the standard image information library and corresponding to the collected image information;

[0012] After receiving the instruction to confirm the establishment of a new image template, continuously collect the image information of the mobile phone cover in the first array of grooves at multiple different angles to generate sub-templates for forming the new image template;

[0013] Based on the generated new image template, establish a new coordinate system for the robot to suck and carry the mobile phone cover.

[0014] According to an embodiment of the present invention, in step S20, collect the image information of multiple first arrays of grooves, calculate the similarity between the image information of multiple first arrays of grooves and the standard image information in the standard image information library, and compare based on a predetermined similarity threshold. When it is greater than or equal to the predetermined similarity threshold, call the standard image information in the standard image information library. When it is less than the predetermined similarity threshold, it is confirmed that the collected image information is inconsistent with all the standard image information pre-stored in the standard image information library.

[0015] According to an embodiment of the present invention, the SIFT algorithm is used for similarity calculation.

[0016] According to an embodiment of the present invention, standard image information of mobile phone covers of multiple models or specifications is pre-stored in the host computer to establish a standard image information library, where the standard image information is the image information of the second array of grooves fully loaded with mobile phone covers. For mobile phone covers of different models or specifications, identifiers corresponding to the models or specifications of the mobile phone covers in the standard image information library are marked on different trays;

[0017] After obtaining the specific position of the mobile phone cover in the first array of grooves, based on the collected identifier, the corresponding standard image information in the standard image information library is confirmed and called, and the coordinate system corresponding to the called standard image information is transmitted to the robot control system, so that the robot executes the corresponding subroutine to pick up and transport the mobile phone cover.

[0018] According to an embodiment of the present invention, if the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identifier, an alarm signal is issued.

[0019] According to an embodiment of the present invention, if the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identifier, a confirmation instruction message is sent to the control interface to confirm whether a new image template for supplementing the standard image information library and corresponding to the collected identifier is to be established, so that the identifier and the new image template can be associated when the identifier is collected next time;

[0020] After receiving the instruction to confirm the establishment of a new image template, the image information of the mobile phone cover in the first array of grooves at multiple different angles is continuously collected to generate sub-templates for forming the new image template;

[0021] Based on the generated new image template, a new coordinate system for the robot to pick up and transport the mobile phone cover is established.

[0022] These and other objects, features, and advantages of the present invention are fully embodied through the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic flow chart of the control method for the robot to automatically transport mobile phone covers according to the present application is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles defined in the following description can be applied to other embodiments, variations, improvements, equivalent embodiments, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0025] Those skilled in the art should understand that in the disclosure of the specification, the orientation or positional relationships indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0026] It can be understood that the term "one" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of this element can be multiple. The term "one" should not be construed as a limitation on the quantity.

[0027] Reference Figure 1 , a control method for a robot to automatically carry a mobile phone cover according to a preferred embodiment of the present invention will be elaborated in detail below. The control method for the robot to automatically carry the mobile phone cover sequentially includes the following steps:

[0028] S10. Establish a coordinate system with the suction cup on the robot for sucking the mobile phone cover as the coordinate origin. Based on the first array of grooves for placing the mobile phone cover, form initial array points, such as A1, A2, A3, A4... An. At the same time, based on the second array of grooves for collecting the mobile phone cover, form target array points, B1, B2, B3, B4... Bn. And the initial array points and the target array points correspond one by one, so that each mobile phone cover can be accurately carried in place, that is, the mobile phone cover at position A1 is carried to position B1, and the mobile phone cover at position A2 is carried to position B2;

[0029] S20. Collect the image information of the first array of grooves, transmit the collected image information to the host computer, and compare the collected image information with the blank template image information in the host computer. The blank template image information is the image information of the first array of grooves without the mobile phone cover placed. Then, based on the compared image information, obtain the specific position of the mobile phone cover in the first array of grooves. In the case where there are multiple mobile phone covers in the first array of grooves at the same time, they are sucked and carried in sequence according to the numerical order after the letter. For example, when there are mobile phone covers at positions A1, A2, and A3 at the same time, first suck and carry the mobile phone cover at position A1, then suck and carry the mobile phone cover at position A2, and finally suck and carry the mobile phone cover at position A3;

[0030] In S30, the robot control system receives the specific position of the mobile phone cover plate that has been confirmed in the host computer, and then controls the robot to suck the mobile phone cover plate according to the previously established coordinate system, and transports the mobile phone cover plate to the corresponding target array point. In this way, based on the coordinate system established by the robot suction cup, the initial array point and the target array point, when it is recognized that there is a mobile phone cover plate in the first array groove, the mobile phone cover plate can be accurately sucked and transported to the groove corresponding to the second array groove by the robot, which can greatly improve the production efficiency, reduce the labor intensity, avoid transporting the mobile phone cover plate to the wrong groove, and also avoid damaging or contaminating the mobile phone cover plate during the transportation process.

[0031] As a preferred embodiment, the trays defining the first array of grooves for placing mobile phone cover plates of different models or specifications have the same thickness, and the groove depths of the first array of grooves are equal. At the same time, the first array of grooves may have different shapes, so as to be suitable for placing mobile phone cover plates of different models or specifications. At the same time, when having different shapes, different mobile phone cover plates may also have different heights.

[0032] In the host computer, standard image information of multiple models or specifications of mobile phone cover plates is pre-stored to establish a standard image information library, where the standard image information is the image information of the second array groove fully loaded with mobile phone cover plates.

[0033] After obtaining the specific position of the mobile phone cover plate in the first array groove, that is, after confirming that there is a mobile phone cover plate to be transported in the first array groove, compare the image information of the mobile phone cover plate in the first array groove collected and the standard image information of multiple models or specifications of mobile phone cover plates pre-stored in the host computer, so as to clarify the height of the mobile phone cover plate to be transported in the first array groove and the corresponding model or specification of the mobile phone cover plate, so as to provide an accurate position basis for the subsequent sucking and transportation of the robot. Then confirm and call the corresponding standard image information in the standard image information library, and transmit the coordinate system corresponding to the called standard image information to the robot control system, so that the robot executes the corresponding subroutine to accurately suck and transport the mobile phone cover plate.

[0034] That is to say, first use the blank template image information as the comparison object to confirm whether there is a mobile phone cover plate to be transported in the first array groove, and then use the image information of the second array groove fully loaded with mobile phone cover plates as the comparison object to confirm the height and shape of the mobile phone cover plate, so as to confirm the model or specification of the mobile phone cover plate. Finally, call the coordinate system corresponding to the standard image information as the execution basis for the robot to transport. In this way, the working reliability of the robot transporting the mobile phone cover plate can be significantly improved, the transportation quality can be ensured, and the mobile phone cover plate can be avoided from being damaged due to the robot executing the transportation action with the wrong coordinate system during the transportation process.

[0035] Further preferably, when comparing the image information of the mobile phone cover plate in the first array groove with the standard image information of multiple models or specifications of mobile phone cover plates pre-stored in the host computer, if the collected image information is inconsistent with all the standard image information pre-stored in the standard image information library, a confirmation instruction message is sent to the control interface to confirm whether to establish a new image template for supplementing to the standard image information library and corresponding to the collected image information;

[0036] After receiving the instruction to confirm the establishment of a new image template, continuously collect the image information of the mobile phone cover plate in the first array groove at multiple different angles to generate sub-templates for forming the new image template;

[0037] Based on the generated new image template, a new coordinate system for the robot to pick up and carry the mobile phone cover plate is established, so that new template data can be quickly supplemented, facilitating the robot to quickly perform accurate carrying work according to the new template data. At the same time, it is also convenient to directly call the new template data next time, enabling the robot to quickly engage in the carrying operation and ensuring that the robot has high work efficiency.

[0038] Further preferably, in step S20, collect the image information of multiple first array grooves, calculate the similarity between the image information of multiple first array grooves and the standard image information in the standard image information library (such as calculating the similarity through SIFT), and compare it based on a predetermined similarity threshold. When it is greater than or equal to the predetermined similarity threshold, call the standard image information in the standard image information library; when it is less than the predetermined similarity threshold, it is confirmed that the collected image information is inconsistent with all the standard image information pre-stored in the standard image information library, so that the appropriate standard image information can be quickly and accurately selected based on the judgment method of the similarity threshold. Generally, the collected multiple image information is simultaneously compared and calculated with the standard image information in the standard image information library, and the image information with the largest similarity collected is used as the best judgment criterion to select the corresponding standard image information. In this way, the carrying reliability of the actual robot carrying the mobile phone cover plate can be further improved, and the wrong coordinate system can be avoided from being introduced into the robot control system.

[0039] As another preferred embodiment, standard image information of mobile phone covers of various models or specifications is pre-stored in the host computer to establish a standard image information library, wherein the standard image information is image information of the second array groove fully loaded with mobile phone covers. For mobile phone covers of different models or specifications, identifiers corresponding to the models or specifications of mobile phone covers in the standard image information library are marked on different pallets. In this way, it is possible to quickly and accurately determine which coordinate system corresponding to the standard image information should be called to transport the mobile phone cover based on the pre-designed identifier, avoiding the need to collect more image features as in collecting the image information of the first array groove, thereby reducing the complexity and difficulty of collecting information, thereby improving the accuracy of the collected information, and avoiding substituting the wrong coordinate system into the robot control system;

[0040] After obtaining the specific position of the mobile phone cover in the first array groove, the corresponding standard image information in the standard image information library is confirmed and called based on the collected identification, and the coordinate system corresponding to the called standard image information is transmitted to the robot control system, so that the robot executes the corresponding subroutine to absorb and move the mobile phone cover.

[0041] Preferably, if the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identification, an alarm signal is issued to remind the staff to check the situation in time.

[0042] Preferably, if the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identifier, a confirmation instruction message is sent to the control interface to confirm whether to establish a new image template corresponding to the collected identifier for supplementing the standard image information library, so that the identifier and the new image template can be associated when the identifier is collected next time, and then the new image template can be directly called when the identifier is collected to quickly and accurately move the mobile phone cover;

[0043] After receiving the instruction to confirm the creation of the new image template, continuously collecting multiple images of the mobile phone cover in the first array groove at different angles to generate a sub-template for constituting the new image template;

[0044] A new coordinate system for the robot to absorb and carry the mobile phone cover is established based on the generated new image template.

[0045] It should be noted that the terms "first" and "second" in the present invention are only used for descriptive purposes and do not indicate any order. They cannot be understood as indicating or implying relative importance. These terms can be interpreted as names.

[0046] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively realized. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may have any variations or modifications without departing from the said principles.

Claims

1. Control method for a robot to automatically carry a mobile phone cover plate, characterized in that, The following steps are included in sequence: S10, establishing a coordinate system, with the suction cup on the robot as the coordinate origin, forming an initial array point based on the first array groove for placing the mobile phone cover, and forming a target array point based on the second array groove for collecting the mobile phone cover, wherein the initial array point and the target array point have a one-to-one correspondence; S20, collecting image information of the first array groove, transmitting the collected image information to a host computer, and comparing the collected image information with blank template image information in the host computer to obtain the specific position of the mobile phone cover in the first array groove, wherein the blank template image information is image information of the first array groove without the mobile phone cover placed therein; S30, the robot control system receives the specific position of the mobile phone cover confirmed by the host computer, and then controls the robot to pick up the mobile phone cover and move the mobile phone cover to the corresponding target array point; The trays of the first array grooves for accommodating mobile phone covers of different models or specifications have the same thickness and the groove depths of the first array grooves are equal; Pre-storing standard image information of mobile phone covers of various models or specifications in the host computer to establish a standard image information library, wherein the standard image information is image information of the second array groove fully loaded with mobile phone covers; After obtaining the specific position of the mobile phone cover in the first array groove, the collected image information of the mobile phone cover in the first array groove is compared with the standard image information of multiple models or specifications of mobile phone covers pre-stored in the host computer to clarify the height of the mobile phone cover to be transported in the first array groove and the corresponding model or specification of the mobile phone cover, so as to provide an accurate position basis for subsequent robot suction and transportation, confirm and call the corresponding standard image information in the standard image information library, and transmit the coordinate system corresponding to the called standard image information to the robot control system, so that the robot executes the corresponding subroutine to suck and transport the mobile phone cover.

2. The control method for a robot to automatically carry a mobile phone cover plate according to claim 1, wherein, When comparing the image information of the mobile phone cover in the first array groove with the standard image information of multiple models or specifications of mobile phone covers pre-stored in the host computer, if the collected image information is inconsistent with the standard image information pre-stored in the standard image information library, a confirmation instruction message is sent to the control interface to confirm whether to establish a new image template corresponding to the collected image information for supplementing the standard image information library; After receiving the instruction to confirm the creation of the new image template, continuously collecting multiple images of the mobile phone cover in the first array groove at different angles to generate a sub-template for constituting the new image template; A new coordinate system for the robot to absorb and carry the mobile phone cover is established based on the generated new image template.

3. The control method for a robot to automatically carry a mobile phone cover plate according to claim 2, wherein, In step S20, image information of multiple of the first array of grooves is collected, and the similarity between the image information of multiple of the first array of grooves and the standard image information in the standard image information library is calculated and compared based on a predetermined similarity threshold. When it is greater than or equal to the predetermined similarity threshold, the standard image information in the standard image information library is called. When it is less than the predetermined similarity threshold, it is confirmed that the collected image information is inconsistent with all the standard image information pre-stored in the standard image information library.

4. The control method for a robot to automatically carry a mobile phone cover plate according to claim 1, characterized in that, The SIFT algorithm is used for similarity calculation.

5. The control method for a robot to automatically carry a mobile phone cover plate according to claim 1, characterized in that, Standard image information of mobile phone covers of multiple models or specifications is pre-stored in the host computer to establish a standard image information library, where the standard image information is the image information of the second array of grooves fully loaded with mobile phone covers. For mobile phone covers of different models or specifications, identifiers corresponding to the models or specifications of the mobile phone covers in the standard image information library are marked on different trays; After obtaining the specific position of the mobile phone cover in the first array of grooves, the corresponding standard image information in the standard image information library is confirmed and called based on the collected identifier, and the coordinate system corresponding to the called standard image information is transmitted to the robot control system, so that the robot executes the corresponding subroutine to pick up and transport the mobile phone cover.

6. The control method for a robot to automatically carry a mobile phone cover plate according to claim 5, characterized in that, If the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identifier, an alarm signal is issued.

7. The control method for a robot to automatically carry a mobile phone cover plate according to claim 5, characterized in that, If the corresponding standard image information in the standard image information library cannot be confirmed and called based on the collected identifier, a confirmation instruction message is sent to the control interface to confirm whether to establish a new image template for supplementing to the standard image information library and corresponding to the collected identifier, so that the identifier and the new image template can be associated when the identifier is collected next time; After receiving the instruction to confirm the establishment of a new image template, image information of the mobile phone cover in the first array of grooves at multiple different angles is continuously collected to generate sub-templates for forming the new image template; A new coordinate system for the robot to pick up and transport the mobile phone cover is established based on the generated new image template.

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