The application discloses a leakage-proof picking method and system, a robot picking system and a medium, and relates to the field of robot picking.

Abstract

The application relates to the technical field of industrial automation, in particular to a leakage prevention picking method and system applied to a mineral aggregate picking robot, a robot picking system and a medium. Coupling leakage detection judgment is performed on coordinate interval judgment and missing of a picking state signal, and further analysis is performed on causes of the leakage detection phenomenon. Emergency braking is triggered due to the leakage detection caused by the inability to pick. In addition, secondary impurity identification is arranged to identify the impurities in the mineral aggregate on the conveying belt again, and the leakage detection probability is reduced through multiple picking and identification. The application aims to solve the problem of how to reduce the leakage detection risk in the robot picking process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation, in particular to a leakage prevention picking method applied to a mineral aggregate picking robot, a leakage prevention picking system, a robot picking system and a medium. BACKGROUND

[0002] Traditional manual picking is performed by picking personnel visually observing foreign matter and manually cleaning, and the missed detection rate is easily affected by worker fatigue and distraction, etc., and thus fluctuates. Therefore, a robot picking system is used to replace manual work to pick the mineral aggregate conveyor belt.

[0003] However, the robot picking relies on the machine vision module in the system to identify the mineral aggregate on the conveyor belt, and the machine identification inevitably has misjudgment phenomenon in the running process, which leads to missed detection, and further causes safety hazards or even accidents on the entire production line.

[0004] Therefore, it is necessary to develop a missed detection prevention and emergency handling scheme for the robot picking system, so as to reduce or eliminate the damage caused by the missed detection phenomenon to the production line. SUMMARY

[0005] The main purpose of the present application is to provide a leakage prevention picking method applied to a mineral aggregate picking robot, which aims to solve the problem of how to reduce the missed detection risk in the robot picking process.

[0006] To achieve the above purpose, the present application provides a leakage prevention picking method applied to a mineral aggregate picking robot, which is applied to a leakage prevention picking system, the leakage prevention picking system comprises a grabbing and identifying module arranged on the mineral aggregate picking robot, and a missed detection identifying module arranged on the belt behind the mineral aggregate picking robot, and the method comprises the following steps:

[0007] S10, when the actual coordinates of the foreign matter in the mineral aggregate on the conveyor belt enter the preset grabbing coordinate interval, but the grabbing success signal sent by the mineral aggregate picking robot is not received, the grabbing and identifying module identifies whether the volume of the foreign matter in the foreign matter image is greater than or equal to a preset volume threshold, and outputs an emergency braking instruction if yes;

[0008] S20, when the actual coordinates of the mineral aggregate enter the preset secondary identification coordinate interval, the missed detection identifying module collects the image of the mineral aggregate and performs secondary foreign matter identification on the foreign matter in the mineral aggregate according to the image, wherein a coordinate compensation algorithm is introduced in the secondary foreign matter identification process to determine the foreign matter grabbing coordinates.

[0009] Optionally, the leakage prevention picking system further comprises a foreign matter identifying module arranged on the belt in front of the mineral aggregate picking robot, and before S10, the method further comprises:

[0010] The foreign matter recognition module collects an image of the mineral aggregate and performs primary foreign matter recognition on the foreign matter in the mineral aggregate according to the image when it is detected that the actual coordinates corresponding to the mineral aggregate enter a preset primary recognition coordinate interval.

[0011] When it is recognized that there is foreign matter in the image, the image coordinates of the foreign matter are converted into actual coordinates, and the actual coordinates are output to the grabbing recognition module.

[0012] Optionally, the mineral aggregate foreign matter picking robot further comprises a second mechanical arm arranged behind the grabbing recognition module, and the S10 further comprises:

[0013] If the grabbing recognition module recognizes that the volume of the foreign matter is less than the preset volume threshold, a missed detection instruction is output to the missed detection recognition module, so that the missed detection recognition module outputs the actual coordinates corresponding to the foreign matter to the second mechanical arm, so that the second mechanical arm performs secondary grabbing on the foreign matter when it is detected that the actual coordinates of the foreign matter enter a secondary grabbing coordinate interval.

[0014] Optionally, the inlet direction of the conveying belt is the front of the mineral aggregate foreign matter picking robot, and the outlet direction of the conveying belt is the rear of the mineral aggregate foreign matter picking robot.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a leak-proof picking system, which is in communication connection with the mineral aggregate foreign matter picking robot, and the leak-proof picking system comprises:

[0016] The grabbing recognition module arranged on the mineral aggregate foreign matter picking robot is used to collect an image of the foreign matter and recognize whether the volume of the foreign matter is greater than or equal to a preset volume threshold when it is detected that the actual coordinates corresponding to the foreign matter in the mineral aggregate on the conveying belt enter a preset grabbing coordinate interval, but no grabbing success signal sent by the mineral aggregate foreign matter picking robot is received, and an emergency braking instruction is output if the volume of the foreign matter is greater than or equal to the preset volume threshold.

[0017] The missed detection recognition module arranged on the belt behind the mineral aggregate foreign matter picking robot is used to collect an image of the mineral aggregate and perform secondary recognition on the foreign matter in the mineral aggregate according to the image when it is detected that the actual coordinates corresponding to the mineral aggregate enter a preset recognition coordinate interval.

[0018] Optionally, the leak-proof detection system further comprises:

[0019] The foreign matter recognition module arranged on the belt in front of the mineral aggregate foreign matter picking robot is used to collect an image of the mineral aggregate and perform primary foreign matter recognition on the foreign matter in the mineral aggregate according to the image when it is detected that the actual coordinates corresponding to the mineral aggregate enter a preset primary recognition coordinate interval, and when it is recognized that there is foreign matter in the image, the image coordinates of the foreign matter are converted into actual coordinates, and the actual coordinates are output to the grabbing recognition module.

[0020] Optionally, the grabbing identification module further comprises:

[0021] The missing detection instruction sending unit is configured to, when the volume of the sundry is less than the preset volume threshold, output a missing detection instruction to the missing detection identification module, so that the missing detection identification module outputs the actual coordinates corresponding to the sundry to the second mechanical arm, so that the second mechanical arm performs secondary grabbing on the sundry when it is detected that the actual coordinates of the sundry enter the secondary grabbing coordinate interval.

[0022] In addition, to achieve the above-mentioned purpose, the present application also provides a robot sundry picking system, which comprises:

[0023] A mineral aggregate picking robot;

[0024] The missing detection prevention system comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program implements the steps of the missing detection prevention method applied to the mineral aggregate picking robot when executed by the processor.

[0025] In addition, to achieve the above-mentioned purpose, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the missing detection prevention method applied to the mineral aggregate picking robot when executed by the processor.

[0026] The present application has at least the following beneficial effects:

[0027] 1. Coupling missing detection judgment of coordinate interval determination and missing of grabbing state signal, and further analyzing the cause of missing detection phenomenon, triggering emergency braking caused by missing detection which cannot be grabbed.

[0028] 2. Setting secondary sundry identification to identify the sundry in the conveying belt again, reducing the probability of occurrence of missing detection phenomenon through multiple sundry picking identification. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The figure is a schematic diagram of the setting position architecture of each module in the missing detection prevention system related to the first embodiment of the present application;

[0030] Figure 2 The figure is a flowchart of the missing detection prevention method applied to the mineral aggregate picking robot of the first embodiment of the present application;

[0031] Figure 3 The figure is a schematic diagram of the setting position architecture of each module in the missing detection prevention system related to the second embodiment of the present application;

[0032] Figure 4 FIG. 1 shows a schematic diagram of the setting position architecture of each module of the anti-missed detection system according to the third embodiment of the present application;

[0033] Figure 5 FIG. 2 shows a schematic diagram of the hardware running environment architecture of the anti-missed detection system according to the embodiment of the present application.

[0034] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solutions, the exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] First embodiment

[0037] The present embodiment provides an anti-missed picking method applied to a mineral picking robot, which is applied to an anti-missed picking system, referring to Figure 1 FIG. 1 shows a schematic diagram of the setting position architecture of each module of the anti-missed picking system, Figure 1 In FIG. 1, the solid line completely encloses the anti-missed picking system, which includes a grabbing and identifying module 100 arranged on the mineral picking robot, and a missed detection identifying module 200 arranged on the belt behind the mineral picking robot.

[0038] Optionally, in the present embodiment, the inlet direction of the conveyor belt is regarded as the front of the mineral picking robot, and the outlet direction of the conveyor belt is regarded as the rear of the mineral picking robot.

[0039] Referring to Figure 2 , the method comprises the following steps:

[0040] S10, when the grabbing and identifying module detects that the actual coordinates of the impurities in the mineral on the conveyor belt enter the preset grabbing coordinate interval, but does not receive the grabbing success signal sent by the mineral picking robot, it identifies whether the impurity volume in the impurity image is greater than or equal to the preset volume threshold, and outputs an emergency braking instruction if so;

[0041] In the present embodiment, the grabbing and identifying module is used to judge whether the mineral picking robot successfully grabs the impurities in the mineral.

[0042] It is worth noting that the grabbing identification module does not participate in the identification of the impurities in the mineral aggregate. When the manipulator completes the impurity picking action, the mineral aggregate picking robot sends a grabbing success signal to the grabbing identification module, indicating that the impurity is grabbed, and the grabbing identification module no longer performs subsequent actions.

[0043] Optionally, the actual coordinates of the impurity are obtained by converting the image coordinates through visual nine-point calibration, and the specific calibration steps are as follows:

[0044] First step: make 9 points, which can be all taken by the camera when taking pictures.

[0045] Second step: keep the 9 dots still, use the working tool of the manipulator to align the center positions of the 9 circles, and save the manipulator coordinates. Then save the coordinates of the 9 points in a one-dimensional array variable according to the sequence number of the circle. (Make sure the sequence number is the sequence number after sorting in the first step, and the array elements are one-to-one corresponding)

[0046] Third step: use the center of the image row and column and the one-dimensional array variable of the manipulator to generate a matrix relationship.

[0047] Fourth step: use matrix operation to perform coordinate conversion, for example:

[0048] (1, X, Y, Z, A)→(0, X, Y, Z, A)

[0049] In this embodiment, after the grabbing identification module obtains the actual coordinates of the impurity, the position change of the impurity can be calculated based on the fixed transportation rate of the conveyor. When the actual coordinates fall within the preset grabbing coordinate interval, it means that the impurity has entered the grabbable range of the robot at this time. At this time, the module should normally receive a grabbing success signal. If it is not received, it means that a missed detection phenomenon occurs.

[0050] When the grabbing identification module judges that a missed detection phenomenon occurs, it is further analyzed whether the missed detection phenomenon is caused by the fact that the volume of the impurity is too large, so that the manipulator cannot grab or falls after grabbing. Based on this, it is judged whether the volume of the impurity in the image is greater than or equal to a preset volume threshold. If yes, an emergency braking instruction is output to stop the operation of the entire mineral aggregate picking production line. At this time, manual intervention is considered to remove the impurity with too large volume to avoid damage to the production line caused by the impurity with too large volume.

[0051] In this embodiment, if it is judged that the volume of the impurity is not too large, the missed detection phenomenon may be caused by the fact that the robot itself has not been identified or has not been successfully grabbed after identification. Therefore, in this embodiment, the missed detection identification module on the belt behind the mineral aggregate picking robot performs the following actions in S20:

[0052] S20, when the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, the missed detection identification module collects the image of the mineral material and performs secondary impurity identification on the impurities in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary impurity identification process to determine the impurity grabbing coordinates.

[0053] The missed detection identification module performs secondary impurity identification on the mineral material entering the secondary identification coordinate interval. The execution of this identification action is independent of whether the missed detection phenomenon occurs in S10, that is, whether there is missed detection in the previous primary impurity identification, the secondary impurity identification is performed in this step.

[0054] It is worth noting that, compared with the grabbing identification module, the missed detection identification module not only identifies but also includes image collection, which is equivalent to assigning the image collection and impurity identification functions of the vision module in the mineral material picking robot to the missed detection identification module of the missed detection prevention system. The purpose of this is to reduce the computational overhead of the mineral material picking robot itself.

[0055] In addition, for objects that are difficult to grab near the trough belt, the missed detection identification module will perform algorithm compensation and operation in the PLC to give the correct impurity grabbing coordinates.

[0056] In the technical solution provided in this embodiment, the coordinate interval determination and the absence of the grabbing state signal are coupled for missed detection judgment, and the causes of the missed detection phenomenon are further analyzed. The missed detection caused by the inability to grab triggers an emergency brake. In addition, secondary impurity identification is provided to identify the impurities in the mineral material on the conveying belt again, and the occurrence probability of the missed detection phenomenon is reduced through multiple picking and identification.

[0057] Second embodiment

[0058] Based on the first embodiment, with reference to Figure 3 The missed detection prevention system further includes an impurity identification module arranged in front of the belt of the mineral material picking robot.

[0059] Before S10, it further includes:

[0060] S30, when the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, the missed detection identification module collects the image of the mineral material and performs secondary impurity identification on the impurities in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary impurity identification process to determine the impurity grabbing coordinates.

[0061] S40, when the image is identified to contain impurities, the image coordinates of the impurities are converted into actual coordinates and output to the grabbing identification module.

[0062] In the embodiment, the collection of the mineral aggregate image and the identification of the impurities in the mineral aggregate are realized by the impurity identification module of the false detection prevention system. The image pixel coordinates of the impurities are converted into actual coordinates of the impurities on the belt through nine-point coordinate conversion, and are transmitted to the mineral aggregate picking robot through the wired communication protocol TCP / IP. After the robot analyzes the coordinates, a tracking coordinate system is established according to the nine-point calibration coordinate format, and a storage area is established in the background. The parsed impurity coordinates are arranged in order. After the impurities reach the grabbing interval, the robot accurately grabs the objects according to the tracking parameters and the coordinates.

[0063] Optionally, the impurity types include wood, plastic paper, plastic bottles and iron blocks.

[0064] Third embodiment

[0065] Based on the first embodiment, with reference to Figure 4 The mineral aggregate picking robot further comprises a second mechanical hand arranged behind the grabbing identification module, and the S10 further comprises:

[0066] If the grabbing identification module identifies that the volume of the impurity is less than the preset volume threshold, a false detection instruction is output to the false detection identification module, so that the false detection identification module outputs the actual coordinates corresponding to the impurity to the second mechanical hand, so that the second mechanical hand performs secondary grabbing on the impurity when it is detected that the actual coordinates of the impurity enter the secondary grabbing coordinate interval.

[0067] In the embodiment, if the grabbing identification module identifies that the volume of the impurity is less than the preset volume threshold, it means that the false detection caused by non-structural factors occurs in the first impurity identification. The false detection identification module omits the first collection and identification action, and directly outputs the actual coordinates corresponding to the impurity to the second mechanical hand, so that the second mechanical hand performs secondary grabbing on the impurity when it is detected that the actual coordinates of the impurity enter the secondary grabbing coordinate interval, thereby reducing the computing power consumption of the picking process.

[0068] In addition, as an implementation scheme, the embodiment of the application further provides a false detection prevention picking system, which is in communication connection with the mineral aggregate picking robot. The false detection prevention picking system comprises:

[0069] A grabbing identification module arranged on the mineral aggregate picking robot is configured to collect an image of an impurity in the mineral aggregate on the conveying belt and identify whether the volume of the impurity is greater than or equal to a preset volume threshold when it is detected that the actual coordinates corresponding to the impurity enter a preset grabbing coordinate interval, but no grabbing success signal sent by the mineral aggregate picking robot is received. If yes, an emergency braking instruction is output.

[0070] The missed detection module, located on the belt behind the ore picking robot, is used to collect an image of the ore and perform secondary identification of the debris in the ore based on the image when the actual coordinates of the ore are detected to enter the preset identification coordinate range.

[0071] Optionally, the system for preventing missed detections further includes:

[0072] The debris recognition module, located on the front belt of the ore-collecting robot, is used to acquire an image of the ore and perform debris recognition on the ore based on the image when the actual coordinates of the ore are detected to enter a preset recognition coordinate range. When debris is detected in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module.

[0073] Optionally, the grasping and recognition module further includes:

[0074] The missed detection instruction sending unit is used to output a missed detection instruction to the missed detection identification module when the volume of the debris is identified to be less than the preset volume threshold, so that the missed detection identification module outputs the actual coordinates of the debris to the second robot arm, so that the second robot arm can perform a second grasping of the debris when it detects that the actual coordinates of the debris have entered the secondary grasping coordinate range.

[0075] As one implementation, this application embodiment also provides a robot picking system, wherein the robot picking system includes: a mineral picking robot and an anti-missing picking system.

[0076] Figure 5 This is a schematic diagram of the hardware operating environment of the anti-missed detection system involved in the embodiments of this application.

[0077] like Figure 5 As shown, the leak detection prevention system includes a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0078] Those skilled in the art will understand that Figure 5 The architecture of the anti-missed detection system shown does not constitute a limitation on the anti-missed detection system. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0079] like Figure 5 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and computer programs. The operating system is a program that manages and controls the hardware and software resources of the leak detection system, as well as the computer programs and the execution of other software or programs.

[0080] exist Figure 5 In the leak detection system shown, the user interface 1003 is mainly used to connect to the terminal and communicate with the terminal; the network interface 1004 is mainly used to communicate with the backend server; and the processor 1001 can be used to call the computer program stored in the memory 1005.

[0081] In this embodiment, the anti-missed detection system includes: a memory 1005, a processor 1001, and a computer program stored in the memory and executable on the processor, wherein:

[0082] When processor 1001 calls a computer program stored in memory 1005, it performs the following operations:

[0083] S10, when the grasping and recognition module detects that the actual coordinates of the debris in the ore on the conveyor belt have entered the preset grasping coordinate range, but has not received the grasping success signal sent by the ore picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold. If so, it outputs an emergency braking command.

[0084] S20, when the missed detection identification module detects that the actual coordinates corresponding to the ore material have entered the preset secondary identification coordinate range, it acquires an image of the ore material and performs secondary debris identification on the debris in the ore material based on the image. In the secondary debris identification process, a coordinate compensation algorithm is introduced to determine the debris grabbing coordinates.

[0085] When processor 1001 calls a computer program stored in memory 1005, it performs the following operations:

[0086] When the debris recognition module detects that the actual coordinates corresponding to the ore material have entered the preset first recognition coordinate range, it acquires an image of the ore material and performs a debris recognition on the debris in the ore material based on the image.

[0087] When it is identified that the foreign matter exists in the image, the image coordinates of the foreign matter are converted into actual coordinates, and output to the grabbing identification module.

[0088] When the processor 1001 invokes the computer program stored in the memory 1005, the following operations are performed:

[0089] If the grabbing identification module identifies that the volume of the foreign matter is less than the preset volume threshold, a missed detection instruction is output to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates corresponding to the foreign matter to the second mechanical arm, so that the second mechanical arm performs secondary grabbing on the foreign matter when it is detected that the actual coordinates of the foreign matter enter the secondary grabbing coordinate interval.

[0090] In addition, those skilled in the art can understand that all or part of the processes in the method for implementing the above-mentioned embodiments can be completed by instructing related hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer readable storage medium. The program instructions are executed by at least one processor in the robot foreign matter picking system to realize the process steps of the above-mentioned method embodiments.

[0091] Therefore, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize each step of the anti-missing picking method applied to the mineral material picking robot as described in the above embodiments.

[0092] The computer readable storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0093] It should be noted that the storage medium provided by the embodiments of the present application is a storage medium used to implement the method of the embodiments of the present application. Therefore, based on the method introduced in the embodiments of the present application, those skilled in the art can understand the specific structure and modification of the storage medium, and therefore it is not repeated here. Any storage medium used by the method of the embodiments of the present application belongs to the scope of protection of the present application.

[0094] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0099] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0100] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A method for preventing missed picking in a mineral picking robot, characterized in that, An anti-missed-picking system is applied, the anti-missed-picking system including a grasping and identification module installed on the ore picking robot, and a missed detection identification module installed on the rear belt of the ore picking robot, the method including the following steps: S10, when the grasping and recognition module detects that the actual coordinates of the debris in the ore on the conveyor belt have entered the preset grasping coordinate range, but has not received the grasping success signal sent by the ore picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold. If so, it outputs an emergency braking command. S20, when the missed detection identification module detects that the actual coordinates corresponding to the ore material enter the preset secondary identification coordinate range, it acquires an image of the ore material and performs secondary debris identification on the debris in the ore material based on the image. In the secondary debris identification process, a coordinate compensation algorithm is introduced to determine the debris grabbing coordinates. The anti-missing-collection system also includes a debris recognition module installed on the front belt of the ore-collecting robot. Before step S10, it also includes: When the debris recognition module detects that the actual coordinates corresponding to the ore material have entered the preset first recognition coordinate range, it acquires an image of the ore material and performs a debris recognition on the debris in the ore material based on the image. When debris is detected in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module; The ore picking robot also includes a second robotic arm located behind the grasping and recognition module, and S10 further includes: If the grasping and identification module identifies that the volume of the debris is less than the preset volume threshold, it outputs a missed detection instruction to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates of the debris to the second robot arm, so that the second robot arm can perform a second grasping of the debris when it detects that the actual coordinates of the debris have entered the secondary grasping coordinate range.

2. The method as described in claim 1, characterized in that, The direction of the conveyor belt's inlet is considered the front of the ore-collecting robot, and the direction of the conveyor belt's outlet is considered the rear of the ore-collecting robot.

3. The method as described in claim 1, characterized in that, The anti-missing-collection system is connected to the ore-collecting robot via communication. The anti-missing-collection system includes: The grasping and recognition module installed on the mineral picking robot is used to collect an image of the debris and identify whether the volume of the debris is greater than or equal to a preset volume threshold when the actual coordinates of the debris in the mineral on the conveyor belt enter the preset grasping coordinate range, but no grasping success signal is received from the mineral picking robot. If so, an emergency braking command is output. The missed detection module, located on the belt behind the ore picking robot, is used to collect an image of the ore and perform secondary identification of the debris in the ore based on the image when the actual coordinates of the ore are detected to enter the preset identification coordinate range.

4. The method as described in claim 3, characterized in that, The system for preventing missed inspections also includes: The debris recognition module, located on the front belt of the ore-collecting robot, is used to acquire an image of the ore and perform debris recognition on the ore based on the image when the actual coordinates of the ore are detected to enter a preset recognition coordinate range. When debris is detected in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module.

5. The method as described in claim 3, characterized in that, The grasping and recognition module also includes: The missed detection instruction sending unit is used to output a missed detection instruction to the missed detection identification module when the volume of the debris is identified to be less than the preset volume threshold, so that the missed detection identification module outputs the actual coordinates of the debris to the second robot arm, so that the second robot arm can perform a second grasping of the debris when it detects that the actual coordinates of the debris have entered the secondary grasping coordinate range.

6. A robotic picking system, characterized in that, The robotic debris-collecting system includes: Mineral material sorting robot; An anti-missing-picking system, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the anti-missing-picking method for a mineral picking robot as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for preventing missed picking applied to a mineral picking robot as described in any one of claims 1 to 4.

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