Visual tracking real-time guiding robot and conveying belt following method

Abstract

The invention discloses a visual tracking and real-time guiding robot and conveying belt following method, and belongs to the technical field of book packaging, the visual tracking and real-time guiding robot and conveying belt following method comprises a conveying belt device used for conveying articles and having adjustable running speed and direction control functions; the robot main body is arranged on one side of the conveying belt device; the fixed vision device is connected with the robot main body; through cooperative work of the robot vision module and the independent fixed vision device on the robot body, all-directional vision coverage of the conveying belt and the surrounding environment is achieved, and the robot vision module focuses on local detail information of the robot and objects on the conveying belt; the relative position and posture change of the robot and an object can be captured in a close-range and high-precision mode in the operation process of the robot, and the fixed vision device continuously monitors the overall condition of the conveying belt from the overall perspective.

Description

Technical Field

[0001] The invention belongs to the technical field of book packaging, and in particular relates to a robot and a conveyor belt following method guided by visual tracking in real time. Background Art

[0002] In modern industrial production, logistics distribution and many other fields, the collaborative operation of robots and conveyor belts is the key to achieving efficient automation processes. However, the traditional robot and conveyor belt following and operation methods have limitations and cannot meet the growing production efficiency, precision and intelligence requirements.

[0003] When traditional robots cooperate with conveyor belts, their visual systems are often relatively simple and single, usually relying only on the limited-angle camera equipped by the robot itself for visual acquisition, which limits the robot's observation range of the conveyor belt and objects. For example, when the robot is operating, it may not be able to timely and comprehensively observe the position and state changes of objects on the conveyor belt due to changes in its own position or posture. Especially in some complex working scenes, such as when objects are placed irregularly, or when there are curved or blocked parts on the conveyor belt, it is more likely to have visual blind spots, which will affect the robot's accurate judgment of the timing and method of operation, reducing work efficiency and accuracy. Therefore, a robot and conveyor belt following method with real-time guidance of visual tracking is needed to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a robot and conveyor belt following method with visual tracking and real-time guidance to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a robot and conveyor belt following method with visual tracking and real-time guidance, comprising:

[0006] A conveyor belt device, which is used to transport items and has adjustable running speed and direction control functions;

[0007] A robot body, wherein the robot body is arranged on one side of the conveyor belt device;

[0008] A fixed vision device is connected to the robot body.

[0009] The robot body is configured with:

[0010] Robot vision module, used to collect image information of the robot's surrounding environment and conveyor belt area;

[0011] Motion actuators enable the robot to move and operate in different directions;

[0012] The control unit is connected to the robot vision module and the motion actuator, and is used to receive and process image data, and control the movement and operation of the robot according to the processing results.

[0013] Through the coordinated work of the robot vision module on the robot body and the independent fixed vision device, all-round visual coverage of the conveyor belt and the surrounding environment is achieved. The robot vision module focuses on the local detail information of the robot itself and the items on the conveyor belt, and can capture the relative position and posture changes of the robot and the items at close range and with high precision during the robot operation. The fixed vision device continuously monitors the overall condition of the conveyor belt from a global perspective, including the distribution of items on the conveyor belt, the movement status, and the position of the robot in the entire scene. This combination effectively eliminates the visual blind spots of the traditional single vision system. Whether it is the curved part of the conveyor belt, the irregular placement of items, or the working area of ​​the robot in different postures, they can all be observed in real time and accurately, providing comprehensive and reliable visual information for the robot's operation, greatly improving the accuracy of the robot's judgment on the timing and method of operation, thereby improving work efficiency.

[0014] As a preferred embodiment, the motion actuator includes a first servo motor, which is fixedly arranged on a control unit, and the first servo motor is fixedly arranged on the control unit, and a first driving arm is fixedly arranged on the output shaft of the first servo motor, a second driving arm is rotatably arranged at one end of the first driving arm, and a second servo motor is arranged at the rotation point of the second driving arm, and the second servo motor is fixedly arranged on the first driving arm through a first fixed block, and a connecting block is rotatably arranged at one end of the second driving arm, and an electric lifting rod is fixedly arranged on the connecting block.

[0015] As a preferred embodiment, a third servo motor is provided at the rotation part of one side of the connection block, the third servo motor is fixedly provided on the second driving arm through a second fixing block, and the electric lifting rod is fixedly provided with an adsorption block.

[0016] By setting up the actuator, the robot's motion actuator design has high flexibility and multiple degrees of freedom. Through the coordinated work of the first servo motor, the second servo motor and the third servo motor, the robot's precise movement and action operations in different directions are realized. The combination of the first driving arm and the second driving arm and the servo motor control at each joint enable the robot to flexibly adjust its posture and position in three-dimensional space and adapt to various complex working scenarios and operating requirements. For example, when grasping objects of different positions and shapes, the robot can accurately reach the location of the object by adjusting the angle and length of the driving arm, and perform the grasping operation with a suitable posture. The setting of the electric lifting rod further increases the robot's operating dimension, which can realize the height adjustment and precise placement of objects, and improves the robot's adaptability and operating accuracy in collaborative work with the conveyor belt.

[0017] As a preferred implementation, the robot vision module is fixedly arranged on one side of the connecting block.

[0018] As a preferred implementation, a fixed frame is fixedly arranged on the conveyor belt device, the fixed visual device is fixedly arranged on the fixed frame, and the fixed visual device is connected to the control unit.

[0019] As a preferred implementation, a system controller is fixedly disposed on the front side of the conveyor belt device, and the system controller is communicatively connected with a control unit on the robot body and a control module of the conveyor belt device respectively.

[0020] The present invention discloses a robot and conveyor belt following method guided by visual tracking in real time, which is characterized by comprising the following steps:

[0021] S1. Image acquisition and transmission: The robot vision module and the fixed vision device simultaneously acquire image data at a preset frame rate and resolution. The robot vision module focuses on acquiring local detail information such as the relative position and posture of the robot itself and the items on the conveyor belt, while the fixed vision device comprehensively monitors global information such as the distribution of items on the conveyor belt, the motion state, and the position of the robot in the overall scene. The acquired image data is transmitted to the control unit and system controller of the robot body in real time through the corresponding transmission line. During the transmission process, the data is checked for integrity and processed for real-time performance to ensure the accuracy and timeliness of the data.

[0022] S2. Conveyor belt status analysis: Using the image data collected by the fixed visual device, the edge and texture features of the conveyor belt are identified through the image processing algorithm to determine the position and movement direction of the conveyor belt; at the same time, the speed of the conveyor belt is monitored, and the real-time running speed is calculated by analyzing the displacement of the characteristic points of the conveyor belt in the continuous image frames, and compared with the preset standard speed. When the speed deviation exceeds the allowable range, an alarm is issued or an adjustment signal is issued. In addition, the distribution and spacing of the objects on the conveyor belt are detected to provide a basis for the robot's operation decision;

[0023] S3. Robot following control: Based on the image data collected by the robot vision module and the fixed vision device, the system controller formulates the robot's following control strategy. When the robot is in the normal working position, it comprehensively analyzes the image data of the two vision modules, calculates the relative position and motion relationship between the robot and the items on the conveyor belt, and generates control instructions to control the robot to follow the conveyor belt at an appropriate speed and direction, and accurately operate the items; when the robot turns around to unload, it makes control decisions mainly based on the data from the fixed vision device, adjusts the robot's unloading movement speed and angle to ensure safe and accurate unloading, and adjusts the robot's return speed and preparatory movements after unloading in a timely manner according to the situation of subsequent items on the conveyor belt; a closed-loop control algorithm is used to continuously adjust the robot's movement based on real-time image data feedback to ensure the following accuracy and stability of the robot and the conveyor belt, for example, a PID control algorithm is used to adjust the movement speed and direction in real time according to the deviation between the robot and the target position.

[0024] S4, system calibration and synchronization: when the system starts, the robot vision module and the fixed vision device are initially calibrated to determine the relative position relationship and internal parameters of the two vision modules, including height difference, horizontal offset angle, focal length, aperture, etc., so that the acquired images are consistent in spatial position. During operation, calibration checks and error corrections are performed regularly. By collecting image data of specific calibration marks or feature points, the difference between the current data and the initial calibration data is compared. When the deviation exceeds the threshold, the parameters of the vision module are automatically fine-tuned and corrected. At the same time, the image acquisition time synchronization of the robot vision module and the fixed vision device is ensured through synchronization signals or timestamp technology. In the process of image data processing, the images acquired at the same time are accurately matched and analyzed according to the timestamp to achieve precise follow-up control and object operation decision-making;

[0025] S5. Data fusion and decision optimization: The system controller fuses the image data collected by the robot vision module and the fixed vision device, and uses feature-level or decision-level fusion algorithms for the image data of the same target or scene. For example, in feature-level fusion, feature information such as shape, color, and texture of the object is extracted for comprehensive analysis. In decision-level fusion, the recognition results of the object are comprehensively judged based on the two vision modules, and the final recognition result is determined by voting method, weighted average method, etc. Data fusion is used to improve the recognition accuracy and position accuracy of the object, reduce misjudgment and error, and make more optimized decisions based on the fused data, including robot motion planning, conveyor belt speed adjustment, and collaborative work strategies with other equipment or systems. For example, the conveyor belt speed or robot working mode is adjusted according to the object flow and robot workload, and task allocation and action coordination are coordinated in multi-robot collaborative work scenarios to improve overall work efficiency.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention realizes all-round visual coverage of the conveyor belt and the surrounding environment through the coordinated work of the robot vision module on the robot body and the independent fixed vision device. The robot vision module focuses on the local detail information of the robot itself and the objects on the conveyor belt, and can capture the relative position and posture changes of the robot and the objects at close range and with high precision during the robot operation process, while the fixed vision device continuously monitors the overall condition of the conveyor belt from a global perspective, including the distribution of objects on the conveyor belt, the movement state, and the position of the robot in the entire scene. Such a combination method effectively eliminates the visual blind spots existing in the traditional single vision system. Whether it is the curved part of the conveyor belt, the irregular placement of objects, or the working area of ​​the robot in different postures, they can be observed in real time and accurately, providing comprehensive and reliable visual information for the operation of the robot, greatly improving the accuracy of the robot's judgment on the timing and method of operation, and thus improving work efficiency.

[0028] In the present invention, for fast-moving objects on the conveyor belt, the robot vision module and the fixed vision device can quickly capture their image information, and timely track the position and motion state changes of the objects through real-time data processing, so that the robot can achieve more accurate matching with the running speed of the conveyor belt, and can accurately operate the objects on the high-speed production line, avoiding the operation lag problem caused by the delay of visual processing, and ensuring the continuity and stability of the entire production process;

[0029] The present invention has a motion actuator design with high flexibility and multiple degrees of freedom. Through the coordinated work of the first servo motor, the second servo motor and the third servo motor, the robot can achieve precise movement and action operations in different directions. The combination of the first driving arm and the second driving arm and the control of the servo motors at each joint enable the robot to flexibly adjust its posture and position in three-dimensional space and adapt to various complex working scenes and operating requirements. For example, when grabbing objects of different positions and shapes, the robot can accurately reach the location of the object by adjusting the angle and length of the driving arm and perform the grabbing operation in a suitable posture. The setting of the electric lifting rod further increases the operating dimension of the robot, which can achieve height adjustment and precise placement of the object, and improves the adaptability and operating accuracy of the robot in working in coordination with the conveyor belt.

[0030] In the present invention, the adsorption block at the end of the motion actuator provides a stable and reliable way for the robot's grasping operation. The adsorption block can firmly grasp the objects on the conveyor belt by vacuum adsorption or electromagnetic adsorption. During the adsorption process, combined with the accurate recognition of the position and posture of the object by the robot vision module and the precise control of the motion actuator, it can ensure that the adsorption block accurately contacts the object and exerts appropriate adsorption force to prevent the object from slipping or being damaged. At the same time, during the movement and operation of the robot, the adsorption block can maintain a stable adsorption state to ensure that the object safely follows the robot to perform corresponding actions, thereby improving the reliability and stability of the entire grasping and operation process and reducing production interruptions and object losses caused by grasping errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the rear-view stereoscopic structure of the present invention;

[0033] Figure 3 It is a schematic diagram of a local three-dimensional structure of the present invention;

[0034] Figure 4 It is a schematic diagram of a top view of a three-dimensional structure of the present invention.

[0035] In the figure: 10, conveyor belt device; 20, robot body; 21, robot vision module; 22, motion actuator; 23, control unit; 221, first servo motor; 222, first drive arm; 223, second drive arm; 224, second servo motor; 225, first fixed block; 226, connecting block; 227, electric lifting rod; 228, third servo motor; 229, second fixed block; 2210, adsorption block; 30, fixed vision device; 40, fixed frame; 50, system controller. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the embodiments.

[0037] The following examples are used to illustrate the present invention, but they cannot be used to limit the scope of protection of the present invention. The conditions in the examples can be further adjusted according to specific conditions. Simple improvements to the method of the present invention under the premise of the concept of the present invention belong to the scope of protection claimed in the present invention.

[0038] See also Figure 1-4 The present invention provides a robot and conveyor belt following method with visual tracking and real-time guidance, comprising:

[0039] A conveyor belt device 10, which is used to convey items and has adjustable running speed and direction control functions;

[0040] A robot body 20, which is disposed on one side of the conveyor belt device 10;

[0041] The fixed vision device 30 is connected to the robot body 20 .

[0042] The robot body 20 is configured with:

[0043] The robot vision module 21 is used to collect image information of the robot's surrounding environment and the conveyor belt area;

[0044] The motion actuator 22 can realize the movement and action operation of the robot in different directions;

[0045] The control unit 23 is connected to the robot vision module 21 and the motion actuator 22, and is used to receive and process image data, and control the movement and operation of the robot according to the processing results.

[0046] Through the coordinated work of the robot vision module 21 on the robot body 20 and the independent fixed vision device 30, all-round visual coverage of the conveyor belt and the surrounding environment is achieved. The robot vision module 21 focuses on the local detail information of the robot itself and the items on the conveyor belt, and can capture the relative position and posture changes of the robot and the items at close range and with high precision during the robot operation, while the fixed vision device 30 continuously monitors the overall condition of the conveyor belt from a global perspective, including the distribution of items on the conveyor belt, the movement state, and the position of the robot in the entire scene. This combination effectively eliminates the visual blind spots existing in traditional single vision systems. Whether it is the curved part of the conveyor belt, the irregular placement of items, or the working area of ​​the robot in different postures, they can all be observed in real time and accurately, providing comprehensive and reliable visual information for the operation of the robot, greatly improving the accuracy of the robot's judgment on the timing and method of operation, and thus improving work efficiency.

[0047] As a preferred embodiment, the motion actuator 22 includes a first servo motor 221, which is fixedly arranged on the control unit 23. The first servo motor 221 is fixedly arranged on the control unit 23, and the output shaft of the first servo motor 221 is fixedly arranged with a first driving arm 222, and a second driving arm 223 is rotatably arranged at one end of the first driving arm 222, and a second servo motor 224 is arranged at the rotation point of the second driving arm 223. The second servo motor 224 is fixedly arranged on the first driving arm 222 through a first fixed block 225, and a connecting block 226 is rotatably arranged at one end of the second driving arm 223, and an electric lifting rod 227 is fixedly arranged on the connecting block 226.

[0048] As a preferred embodiment, a third servo motor 228 is provided at the rotation part of one side of the connecting block 226 , and the third servo motor 228 is fixedly provided on the second driving arm 223 through a second fixing block 229 , and the electric lifting rod 227 is fixedly provided with the adsorption block 2210 .

[0049] By setting the actuator 22, the robot's motion actuator 22 is designed to have high flexibility and multiple degrees of freedom. Through the coordinated work of the first servo motor 221, the second servo motor 224 and the third servo motor 228, the robot's precise movement and action operations in different directions are achieved. The combination of the first drive arm 222 and the second drive arm 223 and the servo motor control at each joint enable the robot to flexibly adjust its posture and position in three-dimensional space and adapt to various complex working scenarios and operating requirements. For example, when grabbing objects of different positions and shapes, the robot can accurately reach the location of the object by adjusting the angle and length of the drive arm, and perform the grabbing operation in a suitable posture. The setting of the electric lifting rod 227 further increases the robot's operating dimension, which can achieve height adjustment and precise placement of objects, and improve the robot's adaptability and operating accuracy in working in coordination with the conveyor belt.

[0050] As a preferred implementation, the robot vision module 21 is fixedly disposed on one side of the connecting block 226 .

[0051] As a preferred embodiment, a fixed frame 40 is fixedly disposed on the conveyor belt device 10 , and the fixed visual device 30 is fixedly disposed on the fixed frame 40 , and the fixed visual device 30 is connected to the control unit 23 .

[0052] As a preferred embodiment, a system controller 50 is fixedly disposed on the front side of the conveyor belt device 10 , and the system controller 50 is communicatively connected with the control unit 23 on the robot body 20 and the control module of the conveyor belt device 10 , respectively.

[0053] The present invention discloses a robot and conveyor belt following method guided by visual tracking in real time, which is characterized by comprising the following steps:

[0054] S1. Image acquisition and transmission: The robot vision module 21 and the fixed vision device 30 simultaneously acquire image data at a preset frame rate and resolution, wherein the robot vision module 21 focuses on acquiring local detail information such as the relative position and posture of the robot itself and the items on the conveyor belt, and the fixed vision device 30 comprehensively monitors global information such as the distribution of items on the conveyor belt, the motion state, and the position of the robot in the overall scene; the acquired image data is transmitted in real time to the control unit 23 of the robot body 20 and the system controller 50 through the corresponding transmission line, and the data is subjected to integrity verification and real-time guarantee processing during the transmission process to ensure the accuracy and timeliness of the data;

[0055] S2, conveyor belt state analysis: using the image data collected by the fixed visual device 30, the edge and texture features of the conveyor belt are identified through the image processing algorithm to determine the position and movement direction of the conveyor belt; at the same time, the speed of the conveyor belt is monitored, and the real-time running speed is calculated by analyzing the displacement of the characteristic points of the conveyor belt in the continuous image frames, and compared with the preset standard speed. When the speed deviation exceeds the allowable range, an alarm is issued or an adjustment signal is issued. In addition, the distribution and spacing of the objects on the conveyor belt are detected to provide a basis for the operation decision of the robot;

[0056] S3. Robot following control: Based on the image data collected by the robot vision module 21 and the fixed vision device 30, the system controller 50 formulates the robot's following control strategy. When the robot is in the normal working position, it comprehensively analyzes the image data of the two vision modules, calculates the relative position and movement relationship between the robot and the items on the conveyor belt, and generates control instructions to control the robot to follow the conveyor belt at an appropriate speed and direction and accurately operate the items; when the robot turns around to unload, it mainly makes control decisions based on the data of the fixed vision device 30, adjusts the robot's unloading action speed and angle to ensure safe and accurate unloading, and adjusts the robot's return speed and preparatory action after unloading in time according to the subsequent items on the conveyor belt; adopts a closed-loop control algorithm to continuously adjust the robot's movement according to real-time image data feedback to ensure the following accuracy and stability of the robot and the conveyor belt, for example, using a PID control algorithm to adjust the movement speed and direction in real time according to the deviation between the robot and the target position

[0057] S4, system calibration and synchronization: when the system starts, the robot vision module 21 and the fixed vision device 30 are initially calibrated to determine the relative position relationship and internal parameters of the two vision modules, including height difference, horizontal offset angle, focal length, aperture, etc., so that the collected images are consistent in spatial position. During operation, calibration checks and error corrections are performed regularly. By collecting image data of specific calibration marks or feature points, the difference between the current data and the initial calibration data is compared. When the deviation exceeds the threshold, the parameters of the vision module are automatically fine-tuned and corrected. At the same time, the image acquisition time synchronization of the robot vision module 21 and the fixed vision device 30 is ensured through synchronization signals or timestamp technology. In the process of image data processing, the images collected at the same time are accurately matched and analyzed according to the timestamps to achieve precise follow-up control and object operation decisions;

[0058] S5. Data fusion and decision optimization: The system controller 50 performs fusion processing on the image data collected by the robot vision module 21 and the fixed vision device 30, and adopts a feature-level or decision-level fusion algorithm for the image data of the same target or scene. For example, in the feature-level fusion, feature information such as shape, color, texture, etc. of the object is extracted for comprehensive analysis. In the decision-level fusion, the recognition results of the object are comprehensively judged based on the two vision modules, and the final recognition result is determined by voting method, weighted average method, etc. Data fusion is used to improve the recognition accuracy and position accuracy of the object, reduce misjudgment and error, and make more optimized decisions based on the fused data, including robot motion planning, conveyor belt speed adjustment, and collaborative work strategies with other equipment or systems. For example, the conveyor belt speed or robot working mode is adjusted according to the object flow and robot workload, and task allocation and action coordination are coordinated in multi-robot collaborative work scenarios to improve overall work efficiency.

[0059] The working principle and use process of the present invention are as follows: First, through the coordinated work of the robot vision module 21 on the robot body 20 and the independent fixed vision device 30, all-round visual coverage of the conveyor belt and the surrounding environment is achieved. The robot vision module 21 focuses on the local detail information of the robot itself and the objects on the conveyor belt, and can capture the relative position and posture changes of the robot and the objects at close range and with high precision during the robot operation process, while the fixed vision device 30 continuously monitors the overall condition of the conveyor belt from a global perspective, including the distribution of objects on the conveyor belt, the movement state, and the position of the robot in the entire scene. This combination effectively eliminates the visual blind spots existing in the traditional single vision system, whether it is the curved part of the conveyor belt, the objects Whether it is the irregular placement of products or the working area of ​​the robot in different postures, they can be observed in real time and accurately, providing comprehensive and reliable visual information for the operation of the robot, greatly improving the accuracy of the robot's judgment on the timing and method of operation, thereby improving work efficiency. In addition, for fast-moving items on the conveyor belt, the robot vision module 21 and the fixed vision device 30 can quickly capture their image information, and through real-time data processing, timely track the position and motion state changes of the items, which enables the robot to achieve more accurate matching with the running speed of the conveyor belt, and can accurately operate items on high-speed production lines, avoiding the operation lag caused by visual processing delays, and ensuring the continuity and stability of the entire production process. Then, the robot's motion actuator 22 is designed with high flexibility and multiple degrees of freedom. Through the coordinated work of the first servo motor 221, the second servo motor 224 and the third servo motor 228, the robot can move accurately and operate in different directions. The combination of the first drive arm 222 and the second drive arm 223 and the servo motor control at each joint enable the robot to flexibly adjust its posture and position in three-dimensional space and adapt to various complex working scenes and operating requirements. For example, when grabbing objects of different positions and shapes, the robot can accurately reach the location of the object by adjusting the angle and length of the drive arm and perform the grabbing operation in a suitable posture. The setting of the electric lifting rod 227 further increases the robot's The operating dimension can realize the height adjustment and precise placement of objects, which improves the adaptability and operating accuracy of the robot in working with the conveyor belt. The adsorption block 2210 at the end of the motion actuator 22 provides a stable and reliable way for the robot's grasping operation. The adsorption block 2210 can firmly grasp the objects on the conveyor belt through vacuum adsorption or electromagnetic adsorption. During the adsorption process, combined with the accurate recognition of the position and posture of the object by the robot vision module 21 and the precise control of the motion actuator 22, it can ensure that the adsorption block 2210 accurately contacts the object and applies appropriate adsorption force to prevent the object from slipping or being damaged. At the same time, during the movement and operation of the robot, the adsorption block 2210 can maintain a stable adsorption state.It ensures that the objects safely follow the robot to perform corresponding actions, improves the reliability and stability of the entire grasping and operation process, and reduces production interruptions and object losses caused by grasping errors.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot and conveyor belt following system with visual tracking and real-time guidance, characterized in that: include: A conveyor belt device (10), the conveyor belt device (10) is used to convey articles and has adjustable running speed and direction control functions; A robot body (20), wherein the robot body (20) is arranged on one side of the conveyor belt device (10); A fixed visual device (30), wherein the fixed visual device (30) is connected to the robot body (20); The robot body (20) is configured with: A robot vision module (21), used for collecting image information of the robot's surrounding environment and the conveyor belt area; A motion actuator (22) is capable of realizing movement and motion operation of the robot in different directions; A control unit (23) is connected to the robot vision module (21) and the motion execution mechanism (22), and is used to receive and process image data, and control the movement and operation of the robot according to the processing results.

2. A robot and conveyor belt following system with visual tracking and real-time guidance according to claim 1, characterized in that: The motion actuator (22) comprises a first servo motor (221), the first servo motor (221) is fixedly arranged on a control unit (23), the first servo motor (221) is fixedly arranged on the control unit (23), a first driving arm (222) is fixedly arranged on the output shaft of the first servo motor (221), a second driving arm (223) is rotatably arranged at one end of the first driving arm (222), a second servo motor (224) is arranged at the rotation point of the second driving arm (223), the second servo motor (224) is fixedly arranged on the first driving arm (222) through a first fixing block (225), a connecting block (226) is rotatably arranged at one end of the second driving arm (223), and an electric lifting rod (227) is fixedly arranged on the connecting block (226).

3. The robot and conveyor belt following system with visual tracking and real-time guidance according to claim 2, characterized in that: A third servo motor (228) is provided at a rotation point on one side of the connection block (226); the third servo motor (228) is fixedly provided on the second driving arm (223) via a second fixing block (229); and the electric lifting rod (227) is fixedly provided with an adsorption block (2210).

4. The robot and conveyor belt following system with visual tracking and real-time guidance according to claim 2, characterized in that: The robot vision module (21) is fixedly arranged on one side of the connection block (226).

5. The robot and conveyor belt following system with visual tracking and real-time guidance according to claim 1, characterized in that: A fixed frame (40) is fixedly arranged on the conveyor belt device (10), the fixed visual device (30) is fixedly arranged on the fixed frame (40), and the fixed visual device (30) is connected to the control unit (23).

6. The robot and conveyor belt following system with visual tracking and real-time guidance according to claim 1, characterized in that: A system controller (50) is fixedly arranged on the front side of the conveyor belt device (10), and the system controller (50) is communicatively connected with a control unit (23) on the robot body (20) and a control module of the conveyor belt device (10).

7. A robot and conveyor belt following method based on visual tracking and real-time guidance according to claims 1-6, characterized in that: The following steps are involved: S1, image acquisition and transmission: the robot vision module (21) and the fixed vision device (30) simultaneously acquire image data at a preset frame rate and resolution, wherein the robot vision module (21) focuses on acquiring local detail information such as the relative position and posture of the robot itself and the items on the conveyor belt, and the fixed vision device (30) comprehensively monitors global information such as the distribution of items on the conveyor belt, the movement state, and the position of the robot in the overall scene; the acquired image data is transmitted in real time to the control unit (23) of the robot body (20) and the system controller (50) through the corresponding transmission line, and the data is subjected to integrity verification and real-time guarantee processing during the transmission process to ensure the accuracy and timeliness of the data; S2, conveyor belt state analysis: using the image data collected by the fixed visual device (30), the edge and texture features of the conveyor belt are identified through an image processing algorithm to determine the position and movement direction of the conveyor belt; at the same time, the speed of the conveyor belt is monitored, and the real-time running speed is calculated by analyzing the displacement of the characteristic points of the conveyor belt in continuous image frames, and compared with the preset standard speed. When the speed deviation exceeds the allowable range, an alarm is issued or an adjustment signal is sent. In addition, the distribution and spacing of the objects on the conveyor belt are detected to provide a basis for the operation decision of the robot; S3. Robot following control: Based on the image data collected by the robot vision module (21) and the fixed vision device (30), the system controller (50) formulates the robot following control strategy. When the robot is in the normal working position, it comprehensively analyzes the image data of the two vision modules, calculates the relative position and movement relationship between the robot and the items on the conveyor belt, and generates control instructions to control the robot to follow the conveyor belt at an appropriate speed and direction and accurately operate the items. When the robot turns around to unload, it mainly makes control decisions based on the data of the fixed vision device (30), adjusts the speed and angle of the robot's unloading action to ensure safe and accurate unloading, and adjusts the robot's return speed and preparation action after unloading in a timely manner according to the situation of subsequent items on the conveyor belt. A closed-loop control algorithm is used to continuously adjust the robot's movement according to real-time image data feedback to ensure the following accuracy and stability of the robot and the conveyor belt. For example, a PID control algorithm is used to adjust the movement speed and direction in real time according to the deviation between the robot and the target position. S4, system calibration and synchronization: when the system is started, the robot vision module (21) and the fixed vision device (30) are initially calibrated to determine the relative position relationship and internal parameters of the two vision modules, including height difference, horizontal offset angle, focal length, aperture, etc., so that the collected images have consistency in spatial position. During operation, calibration checks and error corrections are performed regularly. By collecting image data of specific calibration marks or feature points, the difference between the current data and the initial calibration data is compared. When it is found that the deviation exceeds the threshold, the parameters of the vision module are automatically fine-tuned and corrected. At the same time, the image acquisition time of the robot vision module (21) and the fixed vision device (30) is synchronized through synchronization signals or timestamp technology. In the process of image data processing, the images collected at the same time are accurately matched and analyzed according to the timestamps to achieve precise follow-up control and object operation decision-making; S5. Data fusion and decision optimization: The system controller (50) performs fusion processing on the image data collected by the robot vision module (21) and the fixed vision device (30), and adopts a feature-level or decision-level fusion algorithm for the image data of the same target or scene. For example, in the feature-level fusion, feature information such as shape, color, texture, etc. of the object is extracted for comprehensive analysis. In the decision-level fusion, the recognition results of the object are comprehensively judged based on the two vision modules, and the final recognition result is determined by voting method, weighted average method, etc. The recognition accuracy and position accuracy of the object are improved through data fusion, and misjudgment and error are reduced. More optimized decision-making is performed based on the fused data, including robot motion planning, conveyor belt running speed adjustment, and collaborative work strategies with other equipment or systems. For example, the conveyor belt speed or robot working mode is adjusted according to the object flow and robot workload, and task allocation and action coordination are coordinated in multi-robot collaborative work scenarios to improve overall work efficiency.

Images