Automatic hoop feeding method based on circle center positioning

Abstract

The automatic hoop feeding method based on circle center positioning comprises the steps that hoops are placed on a tray in a layered mode according to a preset arrangement mode, and the tray carries the hoops and conveys the hoops to a fixed position; a mechanical arm clamping jaw carrying a distance sensor moves in the vertical direction to scan the hoops, and the number of layers of the hoops is identified to be N; if N is equal to 0, no hoop is arranged on the tray, and feeding is ended; if N is larger than or equal to 1, the number J of the current layers to be fed is recorded to be equal to N, the circle center positions of all the hoops on the layer are recognized from the J layer, and the mechanical arm clamping jaw moves to the circle center positions of all the hoops to clamp the hoops from the interior for feeding till all the hoops on the J layer are fed; and the feeding process of each layer is repeated until feeding of all layers of hoops is completed. The hoops are arranged on the tray in the preset arrangement mode, and the circle center of each layer of hoops can be positioned only by matching the distance sensor with the mechanical arm clamping jaw, so that automatic feeding of the hoops is realized, manual carrying is replaced, and the labor cost is saved.

Description

Technical Field

[0001] The present application provides a method for automatically feeding a ferrule based on circle center positioning, which relates to the technical field of construction engineering. Background Art

[0002] The pipe pile is composed of concrete and cage reinforcement, which is composed of round steel bars, straight steel bars, spiral steel bars, etc. After the cage reinforcement is rolled by the roll welding machine, the cage reinforcement enters the next riveting process.

[0003] The current process is to manually put the ferrule into the two ends of the cage reinforcement, and the cage reinforcement is sent to the rotary riveting equipment by the transplanting equipment for riveting at both ends. Among them, the ferrule is made of 3mm thick sheet metal rolled and welded, and the outer surface is sharp. Manual feeding is easy to scratch the arm, which poses certain safety hazards to workers during operation.

[0004] Currently, it is expected that robots can be used on site to replace manual loading. Since the ferrules are delivered by AGV on whole pallets, robots are required to grab the ferrules and complete the loading. The robot grabbing process needs to detect and identify the center of the circle and the number of layers of the ferrule, otherwise a robot collision will occur. Summary of the invention

[0005] The technical problem to be solved by the present application is how to realize automatic feeding of the ferrule.

[0006] In order to solve the above technical problems, the present application provides a method for automatically feeding a ferrule based on circle center positioning, comprising the following steps:

[0007] S1 places the ferrules in layers on a pallet according to a preset arrangement, and the pallet carries the ferrules to a fixed position;

[0008] S2 uses the mechanical arm gripper carrying the distance sensor to move in the vertical direction to scan the ferrule and recognizes that the number of ferrule layers is N;

[0009] S3 If N = 0, there is no ferrule on the tray and the loading is terminated;

[0010] If N≥1 in S4, there is at least one layer of ferrules that need to be loaded. The current number of layers to be loaded is recorded as J=N. Starting from the Jth layer, the center positions of all ferrules in this layer are identified, and the robot arm clamps are moved to the center positions of each ferrule to clamp the ferrules from the inside for loading until all ferrules of the Jth layer are loaded. After the loading of the Jth layer of ferrules is completed, the number of layers to be loaded is J=J-1, and the loading process of each layer is repeated until J=0, and the loading of all layers of ferrules is completed.

[0011] Preferably, the ferrule is a standard product with a diameter of R and a height of H, and the tray is a square tray with a width of D*D, and the tray specification is set to 2.5R <D<3R。

[0012] Preferably, the preset arrangement in step S1 includes a first preset arrangement and a second preset arrangement, the first preset arrangement being a layer of four hoops distributed at the four corners of the pallet, the second preset arrangement being a layer of four hoops distributed in a cross-distribution at the center of the pallet; multiple layers of hoops are arranged on the pallet in an alternating manner of the first preset arrangement and the second preset arrangement.

[0013] Preferably, the distance sensor is arranged on the robot arm clamp, the initial positions of the robot arm clamp and the pallet carrying the hoop are relatively fixed, the robot arm clamp and the pallet surface are at the same height, the pallet surface height is taken as the Z-axis zero point, the spatial coordinates of the initial position of the distance sensor are (0,0,0), and the spatial coordinates of the corner point of the pallet closest to the robot arm clamp are (0,S,0), S represents the distance between the initial distance sensor and the pallet, the distance sensor measurement direction points to the Y direction, and the horizontal plane formed by the X direction and the Y direction is the same horizontal plane as the pallet surface.

[0014] Preferably, the specific process of step S2 includes:

[0015] S2.1 The robot gripper carrying the distance sensor rises to the spatial coordinate (0,0,NM*H-0.5H); NM represents the maximum number of stacked layers of ferrules;

[0016] S2.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,NM*H-0.5H) to the spatial coordinate (D,0,NM*H-0.5H);

[0017] S2.3 obtains the distance sensor data Dis during the reciprocating motion; if the distance sensor data Dis does not collect valid data, then there is no hoop at the height of the NM layer, that is, there is no NM layer;

[0018] S2.3.1 After the robot arm gripper carrying the distance sensor descends H, it continues to make a reciprocating motion in the X direction to identify whether there is a hoop. If there is a hoop, the current number of hoop layers N is fed back. If there is no hoop, it continues to descend H and repeats the reciprocating motion to identify whether there is a hoop until the hoop is identified and the number of hoop layers N is fed back, or until the hoop is still not identified at the bottom layer, the number of hoop layers is fed back as 0.

[0019] Optionally, in step S3, if the number of ferrule layers N=0, there is no ferrule on the pallet, and feedback that there is no ferrule is given to the technician through a reminder or warning device.

[0020] Preferably, if the number of ferrule layers N is not 0, then step S4 is entered. At this time, it can be confirmed that there is at least one layer of ferrule that needs to be loaded, 1≤N≤NM, and the current number of layers to be loaded J=N is recorded. The loading process is layered loading, which specifically includes:

[0021] S4.1 Identify the center position of all ferrules in this layer from layer J and load all ferrules in this layer

[0022] S4.1.1 The robot gripper carrying the distance sensor moves to the spatial coordinate (0,0,J*H-0.5H);

[0023] S4.1.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H);

[0024] S4.1.3 obtains the distance sensor data Dis during the reciprocating motion; the data of the distance sensor data Dis between S and S+D are valid data, and each minimum value Dmin of the valid data distributed along the X-axis corresponds to a ferrule. The X-axis position corresponding to each minimum value Dmin is recorded as Xmin, and the center position of the ferrule corresponding to the minimum value Dmin is (Xmin, Dmin+0.5R, J*H-0.5H). The robot arm gripper moves from above to the center position of the ferrule (Xmin, Dmin+0.5R, J*H-0.5H), expands the gripper from the inside to clamp the ferrule, carries the ferrule off the pallet, and moves to the loading station for loading.

[0025] Preferably, the same layer of ferrules can identify all ferrule positions after at most three reciprocating movements, so step S4 also includes:

[0026] S4.1.4 Repeat steps S4.1.2 and S4.1.3, the robot gripper carrying the distance sensor continues to make a second reciprocating motion in the X direction from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H) to identify the position of the hoop for loading, and continues to make a third reciprocating motion to identify the position of the hoop for loading, thereby completing the loading of all the hoop of the J layer;

[0027] S4.2 As the loading of the J-layer ferrule is completed, the robot arm gripper moves down one layer, and the number of layers to be loaded J=J-1 is recorded, and the loading process of step S4.1 is repeated until J=0, thereby completing the loading of all layers of ferrules.

[0028] The present application also provides an automatic ferrule feeding system based on circle center positioning, which serves as an execution device to execute the aforementioned automatic ferrule feeding method based on circle center positioning.

[0029] The present application also provides a non-transitory computer-readable storage medium storing computer program instructions, wherein the computer program instructions are configured to execute the aforementioned automatic ferrule feeding method based on circle center positioning when running.

[0030] The technical solution of the present application arranges the ferrules on the pallet in a preset arrangement manner, and only uses a distance sensor in conjunction with a robotic arm gripper to locate the center of each layer of ferrules, thereby automating the loading of the ferrules, replacing manual handling, and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the placement of the hoop tray;

[0032] Figure 2 A schematic diagram of a first preset arrangement of ferrules;

[0033] Figure 3 A schematic diagram of a second preset arrangement of ferrules;

[0034] Figure 4 A schematic diagram of arranging the ferrules alternately in a first preset arrangement and a second preset arrangement to form a multi-layer pattern;

[0035] Figure 5 It is a top view schematic diagram of the position of the distance sensor and the robot arm gripper relative to the hoop;

[0036] Figure 6 It is a side view schematic diagram of the position of the distance sensor and the robot arm gripper relative to the hoop;

[0037] Figure 7 The first case is the data of the distance sensor scanning the ferrule distance in the X direction;

[0038] Figure 8 The second case is the data of the distance sensor scanning the ferrule distance in the X direction;

[0039] Fig. 9 A schematic diagram of the result of the first X-direction reciprocating motion recognition of the ferrule for the first preset arrangement of the ferrules;

[0040] Fig.10 It is a schematic diagram of the result of the second X-direction reciprocating motion recognition of the ferrule for the first preset arrangement of the ferrule;

[0041] Fig.11 It is a schematic diagram of the result of the third X-direction reciprocating motion recognition of the ferrule for the first preset arrangement of the ferrule;

[0042] Fig.12 A schematic diagram of the result of the first X-direction reciprocating motion recognition of the ferrule for the second preset arrangement of the ferrules;

[0043] Fig.13 It is a schematic diagram of the result of the second X-direction reciprocating motion recognition of the ferrule for the second preset arrangement of the ferrule;

[0044] Fig.14It is a schematic diagram of the result of the third X-direction reciprocating motion recognition of the ferrule for the second preset arrangement of the ferrule;

[0045] Description of the reference numerals: ferrule 100 , tray 200 , distance sensor 300 , robot arm gripper 400 . DETAILED DESCRIPTION

[0046] To make the application more obvious and easy to understand, various exemplary embodiments will be introduced below. These examples are non-limiting, and it should be understood that they are used for the more general application aspects of the illustrative device, system and method. Without departing from the substantive content and scope of the application, these embodiments can be subjected to multiple changes, and can be replaced by equivalents. In addition, multiple changes can be carried out to adapt to the purpose, content or scope of the application in order to adapt to special situations, materials, material components, treatment types, treatment actions or steps. All these changes will be within the protection scope of the application.

[0047] For any materials, dimensions, quantities introduced in the overview or detailed description, they will be examples only and are not intended to limit the subject matter of the present application. Moreover, the various implementations of the embodiments described herein will complement each other, rather than purely interchangeably, unless otherwise indicated. In other words, implementations from one embodiment can be freely combined with implementations of other embodiments, as those of ordinary skill in the art will readily appreciate, unless it is indicated that these implementations are only for replacement.

[0048] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] Example

[0051] The embodiment of the present application provides a method for automatically feeding a ferrule based on circle center positioning, comprising the following steps:

[0052] S1 Place the collars of fixed specifications on the tray layer by layer according to the preset arrangement method, and the tray carrying the collars is transported by the AGV to a fixed position at a fixed point;

[0053] S2 Use the robotic arm gripper equipped with a distance sensor to move vertically to scan the collars and identify the number of layers of collars as N;

[0054] S3 If N = 0, there are no collars on the tray. Feedback the absence of collars to the technician through a reminder or warning device, and the feeding is terminated;

[0055] S4 If N≥1, there is at least one layer of collars that need to be fed. Denote the current layer to be fed as J = N. Start from layer J to identify the center positions of all collars in this layer, and move the robotic arm gripper to the center positions of each collar to pick up the collars from the inside for feeding until all collars in layer J are fed. After the feeding of layer J collars is completed, the layer to be fed J = J - 1, and repeat the feeding process for each layer until J = 0, and the feeding of all layers of collars is completed.

[0056] The automatic feeding method of collars based on center positioning provided by this application arranges the collars on the tray through a preset arrangement method, and only uses a distance sensor in cooperation with a robotic arm gripper to perform the center positioning of each layer of collars, thereby realizing the automation of collar feeding, replacing manual handling, and saving labor costs.

[0057] See Figure 1 , in the embodiment of this application, the collar 100 is a standard specification product with a diameter of R and a height of H, and the tray 200 is a square tray of D*D. To maintain the compactness of the collar placement and prevent the instability of multiple layers caused by too many collars placed in the same layer, the tray specification is set to 2.5R < D < 3R. There are two preset arrangement methods described in step S1, see Figure 2 and Figure 3 , the first preset arrangement method is: four collars in one layer are distributed at the four corners of the tray; the second preset arrangement method is: four collars in one layer are distributed in a cross form at the center of the tray. Multiple layers of collars are arranged on the tray in an alternating form of the first preset arrangement method and the second preset arrangement method, see Figure 4 , and the stacking is generally up to 5 layers at most.

[0058] It can be understood that the stacking layer number is not necessarily not more than 5 layers, but the higher the layer number, the worse the stability. It is generally recommended to stack 5 layers.

[0059] In a further embodiment, see Figure 5 , Figure 6 , the distance sensor 300 is arranged on the robotic arm gripper 400 to Figure 5Taking the coordinate direction shown as an example, the measuring direction of the distance sensor 300 points to the Y direction, the initial positions of the robotic arm gripper and the pallet carrying the hoop are relatively fixed, the robotic arm gripper is at the same height as the pallet surface, and the height of the pallet surface is taken as the Z-axis zero point. The spatial coordinates of the initial position of the distance sensor 300 are (0,0,0), and the spatial coordinates of the corner point of the pallet closest to the robotic arm gripper are (0,S,0), where S represents the distance between the initial distance sensor 300 and the pallet 200.

[0060] In the method for automatic hoop feeding based on circle center positioning provided in the present application, it is known that the standard height of the hoop is H. The specific process of using the mechanical arm clamp carrying the distance sensor to move in the vertical direction to scan the hoop and identify the number of hoop layers N is as follows (the number of layers N does not exceed the maximum number of stacked layers NM, NM is generally 5, and can be set as a parameter in the control program by the technician):

[0061] S2.1 The robot gripper carrying the distance sensor rises to the spatial coordinate (0,0,NM*H-0.5H);

[0062] S2.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,NM*H-0.5H) to the spatial coordinate (D,0,NM*H-0.5H);

[0063] S2.3 obtains distance sensor data Dis during the reciprocating motion;

[0064] If there are NM layers of ferrules, the distance sensor data Dis can collect valid data. The valid data means that the distance data collected by the distance sensor is between S and S+D, which means that there are ferrules above the tray. Since the ferrule placement method in this application adopts a preset method, the valid data that may be collected by the distance sensor data Dis can be found in Figure 7 , Figure 8 , corresponding to the first preset arrangement mode and the second preset arrangement mode of the ferrule, respectively, then the number of ferrule layers N=NM, and the identification of the number of ferrule layers ends;

[0065] If the distance sensor data Dis does not collect valid data, and the distance data is always greater than S+D, there is no hoop at the height of the NM layer, that is, there is no NM layer;

[0066] S2.3.1 After the robot arm gripper carrying the distance sensor descends H, it continues to make a reciprocating motion in the X direction to identify whether there is a hoop. If there is a hoop, the current number of hoop layers N is fed back. If there is no hoop, it continues to descend H and repeats the reciprocating motion to identify whether there is a hoop until the hoop is identified and the number of hoop layers N is fed back, or until the hoop is still not identified at the bottom layer, the number of hoop layers is fed back as 0.

[0067] It is understandable that the movement process, control program and equipment of the robotic arm gripper are all implemented using existing technologies and are not covered by the technical solution of this application.

[0068] Based on the above identification process, in step S3, if the number of ferrule layers N=0, there is no ferrule on the pallet, and feedback is given to the technician through a reminder or early warning device that there is no ferrule, and the loading is terminated.

[0069] If the number of ferrule layers N is not 0, then enter step S4. At this time, it can be confirmed that there is at least one layer of ferrule that needs to be loaded, 1≤N≤NM, and the current number of layers to be loaded J=N is recorded. The loading process is layered loading, which specifically includes:

[0070] S4.1 Identify the center position of all ferrules in this layer from layer J and load all ferrules in this layer

[0071] S4.1.1 The robot gripper carrying the distance sensor moves to the spatial coordinate (0,0,J*H-0.5H);

[0072] S4.1.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H);

[0073] S4.1.3 obtains the distance sensor data Dis during the reciprocating motion; the data of the distance sensor data Dis between S and S+D are valid data, and each minimum value Dmin (one or two) of the valid data distributed along the X-axis corresponds to a ferrule, and the X-axis position corresponding to each minimum value Dmin is recorded as Xmin. The center position of the ferrule corresponding to the minimum value Dmin is (Xmin, Dmin+0.5R, J*H-0.5H), and the robot arm gripper moves from above to the center position of the ferrule (Xmin, Dmin+0.5R, J*H-0.5H), expands the gripper from the inside to clamp the ferrule, carries the ferrule off the pallet, and moves to the loading station for loading.

[0074] It can be understood that the spatial movement of the robot arm gripper is a conventional technology, the position of the loading station is fixed, and the process of the robot arm gripper grabbing the ferrule and moving it to the loading station for loading is easy to implement for technicians in this field, and there is no obstacle to implementation.

[0075] It should be noted that the spatial movement of the robot arm's gripper should be lifted up and then dropped from the vertical direction to the target position, and it should avoid touching other objects during the movement; the loading action should also carry the ferrule and then move it to the loading station to avoid changing the position of the remaining ferrule due to friction or touch.

[0076] In addition, for the two preset arrangement modes provided in the present application, the positions of all the ferrules in the same layer can be identified after a maximum of three reciprocating movements, so step S4 also includes:

[0077] S4.1.4 Repeat steps S4.1.2 and S4.1.3, the robot gripper carrying the distance sensor continues to make a second reciprocating motion in the X direction from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H) to identify the position of the hoop for loading, and continues to make a third reciprocating motion to identify the position of the hoop for loading, thereby completing the loading of all the hoop of the J layer;

[0078] For the two preset arrangement modes provided in this application, for the first preset arrangement mode, the distance sensor data Dis of the first two reciprocating motions for identifying the hoop are two valid situations, and there is no valid data for the third reciprocating motion, respectively, see Fig. 9 , Fig.10 , Fig.11 For the second preset arrangement, there are three valid situations for the distance sensor data Dis of the reciprocating motion recognition hoop, see Fig.12 , Fig.13 , Fig.14 , where each minimum corresponds to a hoop.

[0079] Therefore, after three reciprocating movements, all ferrule positions of the same layer of ferrules can be identified and loading can be completed.

[0080] S4.2 As the loading of the J-layer ferrule is completed, the robot arm gripper moves down one layer, and the number of layers to be loaded J=J-1 is recorded, and the loading process of step S4.1 is repeated until J=0, thereby completing the loading of all layers of ferrules.

[0081] It can be understood that the implementation of the method for automatically feeding a ferrule based on circle center positioning provided in the embodiment of the present application depends on the hardware system. The present application also provides an automatic ferrule feeding system based on circle center positioning, which is used to execute the aforementioned automatic ferrule feeding method based on circle center positioning. At the same time, a non-transitory computer-readable storage medium is also provided, including a memory of computer program instructions. The above-mentioned computer program instructions can be executed by the processing component of the hardware system when running the automatic ferrule feeding method based on circle center positioning.

[0082] The above is only a preferred embodiment of the present application, and is not any formal or substantial limitation to the present application. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present application, and these improvements and supplements should also be regarded as the protection scope of the present application. Any technician familiar with this profession, without departing from the content and scope of the present application, can make some changes, modifications and evolutions of the technical content disclosed above, which are equivalent embodiments of the present application; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above-mentioned implementation methods based on the substantial technology of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for automatic ferrule feeding based on circle center positioning, characterized in that: The following steps are involved: S1 places the ferrules in layers on a pallet according to a preset arrangement, and the pallet carries the ferrules to a fixed position; S2 uses a mechanical arm gripper carrying a distance sensor to move in a vertical direction to scan the ferrules and recognize that the number of ferrule layers is N; S3 If N = 0, there is no ferrule on the tray and the loading is terminated; If N≥1 in S4, there is at least one layer of ferrules that need to be loaded. The current number of layers to be loaded is recorded as J=N. Starting from the Jth layer, the center positions of all ferrules in this layer are identified, and the robot arm clamps are moved to the center positions of each ferrule to clamp the ferrules from the inside for loading until all ferrules of the Jth layer are loaded. After the loading of the Jth layer of ferrules is completed, the number of layers to be loaded is J=J-1, and the loading process of each layer is repeated until J=0, and the loading of all layers of ferrules is completed.

2. The method for automatically feeding a ferrule based on center positioning according to claim 1, characterized in that: The ferrule is a standard product with a diameter of R and a height of H. The tray is a square tray with a width of D*D. The tray specification is set to 2.5R <D<3R。 3. The method for automatically feeding a ferrule based on center positioning according to claim 2, characterized in that: The preset arrangement in step S1 includes a first preset arrangement and a second preset arrangement. The first preset arrangement is a layer of four hoops distributed at the four corners of the pallet, and the second preset arrangement is a layer of four hoops distributed in a cross distribution at the center of the pallet; multiple layers of hoops are arranged on the pallet in an alternating manner of the first preset arrangement and the second preset arrangement.

4. The method for automatically feeding a ferrule based on center positioning according to claim 3, characterized in that: The distance sensor is arranged on the robot arm clamp. Initially, the positions of the robot arm clamp and the pallet carrying the hoop are relatively fixed. The robot arm clamp and the pallet surface are at the same height. The height of the pallet surface is taken as the Z-axis zero point. The spatial coordinates of the initial position of the distance sensor are (0,0,0). The spatial coordinates of the corner point of the pallet closest to the robot arm clamp are (0,S,0). S represents the distance between the initial distance sensor and the pallet. The measuring direction of the distance sensor points to the Y direction. The horizontal plane formed by the X direction and the Y direction is the same horizontal plane as the pallet surface.

5. The method for automatically feeding a ferrule based on center positioning according to claim 4, characterized in that: The specific process of step S2 includes: S2.1 The robot gripper carrying the distance sensor rises to the spatial coordinate (0,0,NM*H-0.5H); NM represents the maximum number of stacked layers of ferrules; S2.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,NM*H-0.5H) to the spatial coordinate (D,0,NM*H-0.5H); S2.3 obtains the distance sensor data Dis during the reciprocating motion; if the distance sensor data Dis does not collect valid data, then there is no hoop at the height of the NM layer, that is, there is no NM layer; S2.3.1 After the robot arm gripper carrying the distance sensor descends H, it continues to make a reciprocating motion in the X direction to identify whether there is a hoop. If there is a hoop, the current number of hoop layers N is fed back. If there is no hoop, it continues to descend H and repeats the reciprocating motion to identify whether there is a hoop until the hoop is identified and the number of hoop layers N is fed back, or until the hoop is still not identified at the bottom layer, the number of hoop layers is fed back as 0.

6. A method for automatically feeding a ferrule based on circle center positioning according to any one of claims 1 to 5, characterized in that: In step S3, if the number of ferrule layers N=0, there is no ferrule on the pallet, and feedback that there is no ferrule is given to the technician through a reminder or warning device.

7. The method for automatically feeding a ferrule based on circle center positioning according to claim 5, characterized in that: If the number of ferrule layers N is not 0, then enter step S4. At this time, it can be confirmed that there is at least one layer of ferrule that needs to be loaded, 1≤N≤NM, and the current number of layers to be loaded J=N. The loading process is layered loading, which specifically includes: S4.1 starts from layer J and identifies the center position of all ferrules in this layer and loads all ferrules in this layer. S4.1.1 The robot gripper carrying the distance sensor moves to the space coordinate (0,0,J*H-0.5H); S4.1.2 The robot gripper carrying the distance sensor makes a reciprocating motion in the X direction from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H); S4.1.3 obtains the distance sensor data Dis during the reciprocating motion; the data of the distance sensor data Dis between S and S+D are valid data, and each minimum value Dmin of the valid data distributed along the X-axis corresponds to a ferrule. The X-axis position corresponding to each minimum value Dmin is recorded as Xmin, and the center position of the ferrule corresponding to the minimum value Dmin is (Xmin, Dmin+0.5R, J*H-0.5H). The robot arm gripper moves from above to the center position of the ferrule (Xmin, Dmin+0.5R, J*H-0.5H), expands the gripper from the inside to clamp the ferrule, carries the ferrule off the pallet, and moves to the loading station for loading.

8. The method for automatically feeding a ferrule based on circle center positioning according to claim 7, characterized in that: The positions of all ferrules in the same layer can be identified after a maximum of three reciprocating movements, so step S4 also includes: S4.1.4 repeats steps S4.1.2 and S4.1.3, and the robot arm gripper carries the distance sensor to continue to make a second reciprocating movement from the spatial coordinate (0,0,J*H-0.5H) to the spatial coordinate (D,0,J*H-0.5H) in the X direction to identify the ferrule position for loading, and continues to make a third reciprocating movement to identify the ferrule position for loading, thereby completing the loading of all ferrules in the J layer; S4.2 As the loading of the J-layer ferrule is completed, the robot arm gripper moves down one layer, and the number of layers to be loaded J=J-1 is recorded, and the loading process of step S4.1 is repeated until J=0, thereby completing the loading of all layers of ferrules.

9. An automatic ferrule feeding system based on circle center positioning, characterized in that: Used to execute the automatic ferrule feeding method based on circle center positioning as described in any one of claims 1-8.

10. A non-transitory computer-readable storage medium, characterized in that: The storage is provided with computer program instructions, and the computer program instructions are configured to execute the automatic ferrule feeding method based on circle center positioning according to any one of claims 1-8 when running.

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