Robot kiln loading and unloading system suitable for pottery jar production

Abstract

The invention provides a robot kiln loading and unloading system suitable for pottery jar production, and belongs to the technical field of robot control, and the robot kiln loading and unloading system comprises an image obtaining module which is used for positioning and photographing a kiln car at a preset position, and obtaining a kiln car image; the visual positioning module is used for determining the relative position of an opening of the pottery jar and the tail end of the robot according to the kiln car image, guiding the robot to grab the pottery jar and perform visual positioning on the pottery jar in the grabbing process, and generating a pottery jar grabbing path and pottery jar correction data; and the pottery jar feeding and discharging module is used for carrying the pottery jar to the designated feeding and discharging position according to the robot matched with the special clamp in combination with the pottery jar grabbing path and the pottery jar correction data. Intelligent loading and unloading of the pottery jars are effectively achieved, low loading and unloading efficiency is avoided, and safety accidents are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly relates to a robot loading and unloading kiln system suitable for pottery jar production. Background Art

[0002] In the high-temperature and high-humidity environment of the ceramic industry, especially during the process of loading and unloading kilns, there are many problems. For example, the loading and unloading efficiency is low, the labor intensity of workers is high, and the pottery jars are prone to being squeezed, collided and other external forces during handling and firing, resulting in breakage or deformation, affecting the product quality; in addition, workers are prone to being scalded and other injuries during the loading and unloading operations in the high-temperature environment, posing safety hazards.

[0003] Therefore, the present invention provides a robot loading and unloading kiln system suitable for pottery jar production. Summary of the Invention

[0004] The present invention provides a robot loading and unloading kiln system suitable for pottery jar production, which is used to obtain the image of the kiln car to determine the relative position between the mouth of the pottery jar and the end of the robot, guide the robot to grab the pottery jar, generate the grabbing path of the pottery jar and the correction data of the pottery jar through visual positioning, and combine a special fixture to transport the pottery jar to the designated loading and unloading position, effectively realizing the intelligent loading and unloading of the pottery jar for the kiln, not only avoiding the low loading and unloading efficiency, but also effectively avoiding the occurrence of safety accidents.

[0005] The present invention provides a robot loading and unloading kiln system suitable for pottery jar production, including:

[0006] An image acquisition module, which is used to locate and photograph the kiln car at a predetermined position to obtain the image of the kiln car;

[0007] A visual positioning module, which is used to determine the relative position between the mouth of the pottery jar and the end of the robot according to the image of the kiln car, guide the robot to grab the pottery jar and perform visual positioning on the pottery jar during the grabbing process, and generate the grabbing path of the pottery jar and the correction data of the pottery jar;

[0008] A pottery jar loading and unloading module, which is used to transport the pottery jar to the designated loading and unloading position according to the cooperation of the robot and the special fixture, combined with the grabbing path of the pottery jar and the correction data of the pottery jar.

[0009] Preferably, the image acquisition module includes:

[0010] A predetermined position setting unit, which is used to determine the predetermined position of the robot loading and unloading kiln according to the working range of the robot and the kiln car track;

[0011] A kiln car detection unit, which is used to deploy infrared sensors at the corresponding positions at both ends of the predetermined position to detect the kiln car;

[0012] The kiln car positioning unit is used to position and photograph the kiln car according to the 3D camera at the end of the robot when it detects that the kiln car arrives at the predetermined position for the robot to load and unload the kiln, and obtain the kiln car image.

[0013] Preferably, it further includes:

[0014] The pottery jar identification module is used to identify the type and quantity of pottery jars according to the kiln car image. Among them, the types of pottery jars include: finished pottery jars and jar embryos;

[0015] The pottery jar handling module is used to control the robot to move the finished pottery jar to the station at the blanking position when the type of the identified pottery jar is a finished pottery jar;

[0016] When the type of the identified pottery jar is a jar embryo, control the robot to move the jar embryo in the station at the feeding position to the kiln car.

[0017] Preferably, the vision positioning module includes:

[0018] The relative position unit is used to perform image preprocessing on the kiln car image and calibrate the position of the end of the robot in the preprocessed image as the image origin;

[0019] Establish a kiln car image coordinate system based on the image origin to determine the relative position between the mouth of each pottery jar and the end of the robot;

[0020] The pottery jar grasping path unit is used to plan the movement path of the robot according to the relative position between the mouth of each pottery jar and the end of the robot, and generate a pottery jar grasping path;

[0021] Generate a pottery jar grasping instruction according to the pottery jar grasping path, and send it to the robot to guide the robot to grasp the pottery jar;

[0022] The vision positioning unit is used to perform vision positioning on the pottery jar according to the sensing module when the robot is grasping, and real-time monitor and identify the position and posture of the pottery jar, generate pottery jar correction data, and perform grasping control on the pottery jar.

[0023] Preferably, the vision positioning unit includes:

[0024] The vision positioning block is used to obtain the pottery jar grasping image according to the real-time monitoring result and identify the current position of the pottery jar according to the image origin calibrated for the position of the end of the robot;

[0025] The image splitting block is used to split the pottery jar grasping image at the corresponding monitoring moment and the standard pottery jar image at the process stage at the corresponding monitoring moment according to the set image orientations respectively, and combine the image origin to identify the actual posture and standard posture of the pottery jar in each image orientation;

[0026] A coefficient determination block is used to uniformly select n1 pottery jar pixel points along the pose edges from the actual pose and the standard pose in the same image orientation, and determine the pottery jar correction coefficient of the pottery jar in the corresponding image orientation;

[0027]

[0028] Among them, Dj represents the pottery jar correction coefficient in the jth image orientation; A i1 represents the difference function of the i1th randomly selected point in the jth image orientation; e represents a constant with a value of 2.7; pj represents the credibility of the jth image orientation, and m1 represents the total number of pottery jar pixel points in the split pottery jar grasping image in the jth image orientation; h1 represents the total number of image pixel points in the split pottery jar grasping image in the jth image orientation; n1 represents the total number of selected points in the jth image orientation; x i1 represents the x-axis coordinate value of the i1th selected point in the actual pose in the jth image orientation; y i1 represents the y-axis coordinate value of the i1th selected point in the actual pose in the jth image orientation; x′ i1 represents the x-axis coordinate value of the i1th selected point in the standard pose in the jth image orientation; y′ i1 represents the y-axis coordinate value of the i1th selected point in the standard pose in the jth image orientation; d1 ≠i1 represents the fine-tuning function of the i1th selected point in the jth image orientation;

[0029] A grasping control block is used to perform grasping control on the pottery jar according to the pottery jar correction coefficient in each image orientation at the corresponding monitoring moment, and in combination with the position difference between the current position of the pottery jar and the standard placement position of the process stage at the corresponding monitoring moment. Among them, the pottery jar correction data includes the pottery jar correction coefficients in different image orientations and the position differences at each monitoring moment.

[0030] Preferably, the pottery jar loading and unloading module includes:

[0031] A pottery jar loading unit is used to transport the pottery jar from the work station at the loading position to the designated loading position according to the six-axis robot cooperating with a special fixture, in combination with the pottery jar grasping path and the pottery jar correction data. Among them, the designated loading position refers to the kiln car position;

[0032] A pottery jar unloading unit is used to transport the pottery jar from the kiln car position to the designated unloading position according to the high-temperature resistant robot cooperating with a special fixture, in combination with the pottery jar grasping path and the pottery jar correction data. Among them, the designated unloading position refers to the work station at the unloading position.

[0033] Preferably, it further includes:

[0034]

[0035] Among them, represents the variance of the remaining selected points except the i1-th selected point under the j-th image orientation of the object based on .

[0036] Preferably, it further includes:

[0037] A rough determination module, configured to obtain an actual image of the mouth of the pottery jar to be grasped based on the vision module, and determine the surface roughness increase coefficient Cc of the mouth of the pottery jar;

[0038]

[0039] Among them, τ represents the scale of finite element division of the actual mouth image of the pottery jar and the standard mouth image; N1(ε) and N2(ε) respectively represent the number of boxes required to cover the object surface in the corresponding ε-th finite element block of the actual mouth image of the pottery jar and the standard mouth image; M(ε) represents a quantity judgment function; τ×τ represents the size of the finite element; s0 represents the area of the mouth of the pottery jar;

[0040] An optimization module, configured to determine the weight of the pottery jar according to the size and type of the pottery jar, and optimize and determine the adsorption force in combination with the surface roughness increase coefficient Cc;

[0041] A switching module, configured to match the suction cup model from the force-model comparison table according to the optimized force, and switch to the corresponding gripper to grasp the pottery jar.

[0042] Compared with the prior art, the beneficial effects of the present application are as follows:

[0043] Obtain the image of the kiln car to determine the relative position between the mouth of the pottery jar and the end of the robot, guide the robot to grasp the pottery jar, generate the pottery jar grasping path and the pottery jar correction data through visual positioning, and combine with a special fixture to transport the pottery jar to the designated loading and unloading position, effectively realizing the intelligent loading and unloading of the pottery jar in the kiln, not only avoiding the low loading and unloading efficiency, but also effectively avoiding the occurrence of safety accidents.

[0044] Other features and advantages of the present invention will be described in the subsequent description, and part of them will become obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written description and the drawings.

[0045] Next, through the drawings and embodiments, the technical solutions of the present invention will be further described in detail. Description of the Drawings

[0046] The accompanying drawings are used to provide a further understanding of the present invention and form a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the accompanying drawings:

[0047] Figure 1 It is a structural diagram of a robot loading and unloading kiln system applicable to the production of pottery jars in an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of a 3D model of a robot loading and unloading kiln system applicable to the production of pottery jars provided by an embodiment of the present invention;

[0049] Figure 3 It is a top view schematic diagram of a robot loading and unloading kiln system applicable to the production of pottery jars provided by an embodiment of the present invention. Detailed implementation manners

[0050] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0051] The present invention provides a robot loading and unloading kiln system applicable to the production of pottery jars, as Figure 1 shown, including:

[0052] An image acquisition module, configured to position and photograph a kiln car at a predetermined position and acquire a kiln car image;

[0053] A visual positioning module, configured to determine the relative position between the mouth of the pottery jar and the end of the robot according to the kiln car image, guide the robot to grasp the pottery jar and perform visual positioning on the pottery jar during the grasping process, and generate a pottery jar grasping path and pottery jar calibration data;

[0054] A pottery jar loading and unloading module, configured to transport the pottery jar to a designated loading and unloading position according to the robot cooperating with a special fixture in combination with the pottery jar grasping path and pottery jar calibration data.

[0055] In this embodiment, the predetermined position refers to the position where the robot positions and photographs the kiln car.

[0056] In this embodiment, the kiln car image refers to the image acquired by photographing the kiln car at a predetermined position.

[0057] In this embodiment, loading and grasping means grasping the embryo of the jar onto the kiln car.

[0058] In this embodiment, unloading and grasping means grasping the finished pottery jar into the work station at the unloading position.

[0059] In this embodiment, the relative position refers to the position between the mouth of the pottery jar and the end of the robot, including the horizontal position difference and the height position difference.

[0060] In this embodiment, visual positioning refers to taking pictures and positioning the pottery jars during the grasping process, which is used to determine the position and posture of the pottery jars during the grasping process, and then realize the automatic handling and precise placement of the pottery jars subsequently.

[0061] In this embodiment, the grasping path of the pottery jar refers to the path for the robot to grasp the pottery jar, which is obtained according to the visual positioning and is used to realize the automatic handling of the pottery jar.

[0062] In this embodiment, the calibration data of the pottery jar refers to the data determined according to the visual positioning and used to realize the precise placement of the pottery jar.

[0063] In this embodiment, the special fixture refers to the fixture used to realize the handling of the pottery jar, such as a vacuum suction cup fixture.

[0064] In this embodiment, the designated loading and unloading position refers to the position for loading and unloading the pottery jars.

[0065] The beneficial effects of the above technical solution are as follows: By obtaining the kiln car image to determine the relative position between the mouth of the pottery jar and the end of the robot, guiding the robot to grasp the pottery jar, generating the grasping path and calibration data of the pottery jar through visual positioning, and combining with a special fixture to transport the pottery jar to the designated loading and unloading position, the intelligent loading and unloading of the pottery jar into and out of the kiln is effectively realized, which not only avoids the low loading and unloading efficiency but also effectively avoids the occurrence of safety accidents.

[0066] The present invention provides a robot loading and unloading kiln system applicable to the production of pottery jars, and an image acquisition module, including:

[0067] A predetermined position setting unit, which is used to determine the predetermined position of the robot for loading and unloading the kiln according to the working range of the robot and the kiln car track;

[0068] A kiln car detection unit, which is used to deploy infrared sensors at corresponding positions at both ends of the predetermined position to detect the kiln car;

[0069] A kiln car positioning unit, which is used to, when detecting that the kiln car reaches the predetermined position of the robot for loading and unloading the kiln, position and take a picture of the kiln car according to the 3D camera at the end of the robot to obtain the kiln car image.

[0070] In this embodiment, the working range refers to the range that the robot can grasp.

[0071] In this embodiment, the kiln car track refers to the track on which the kiln car travels.

[0072] In this embodiment, the kiln car refers to the vehicle used to transport the pottery jars, such as Figure 2 、 Figure 3 shown, located beside the robot, which is convenient for the robot to grasp and transport the pottery jars;

[0073] Specifically: The workstation is arranged beside the kiln car track. After the kiln car arrives at the predetermined position, the system positions the kiln car. The 3D camera at the end of the robot takes pictures of the entire kiln car to determine the positions of the mouths of each pottery jar and their heights relative to the end of the robot, and guides the robot to grasp the finished pottery jars. The finished pottery jars are alternately placed by the robot into two workstations at the blanking position and then sent to the quality inspection temporary storage area by the AGV cart. After the kiln car blanking is completed, the refractory materials of the kiln car are inspected and adjusted manually, and the process of loading the embryo jars is started: the robot performs visual positioning on the embryo jars at the loading workstation and guides the robot to grasp the embryo jars and place them on the kiln car. The robot alternately places the embryo jars at the incoming material workstation on the kiln car.

[0074] Using a robot to load and unload the kiln car avoids the bump damage to the products caused by manual loading and unloading of the kiln car, especially avoiding the bump damage to the embryo jars during loading. Using synchronous suction grippers with upper and lower vacuum suckers effectively solves the problem that the pottery jar embryos are fragile and difficult to grasp by conventional methods; it effectively avoids damage to the surface of the embryo jars (compared with the original manual method of using a lifting sling to surround them), and realizes the grasping of both the embryo jars and the finished products with the same gripper. Using a quick-change device, the gripper can be automatically and quickly replaced, realizing the loading and unloading of kiln cars for pottery jars of different sizes.

[0075] In this embodiment, an infrared sensor is used to monitor whether the kiln car has reached the predetermined position.

[0076] In this embodiment, the predetermined position refers to the position where the robot positions and takes pictures of the kiln car.

[0077] In this embodiment, the kiln car image refers to the image obtained by positioning and taking pictures of the kiln car with the 3D camera at the end of the robot.

[0078] The beneficial effects of the above technical solutions are: By positioning and taking pictures of the kiln car at the predetermined position, obtaining the kiln car image, and performing loading and unloading grasping on the pottery jars, it is beneficial to realize the intelligent loading and unloading of the pottery jars into and out of the kiln subsequently.

[0079] The present invention provides a robot loading and unloading kiln system applicable to the production of pottery jars, further including:

[0080] A pottery jar identification module for identifying the types and quantities of pottery jars according to the kiln car image, where the types of pottery jars include: finished pottery jars and embryo jars;

[0081] A pottery jar handling module for controlling the robot to transport the finished pottery jars to the workstations at the blanking position when the identified type of pottery jar is a finished pottery jar;

[0082] When the identified type of pottery jar is an embryo jar, controlling the robot to transport the embryo jars in the workstations at the loading position to the kiln car.

[0083] The beneficial effects of the above technical solution are as follows: By identifying the types and quantities of pottery jars based on the kiln car images, it is beneficial to perform different handling operations for different types and quantities of pottery jars, ensuring the safety of pottery jar handling.

[0084] The present invention provides a robot loading and unloading kiln system applicable to pottery jar production. The visual positioning module includes:

[0085] A relative position unit for performing image preprocessing on the kiln car image and calibrating the position of the robot end in the preprocessed image as the image origin;

[0086] Establish a kiln car image coordinate system based on the image origin to determine the relative position between the mouth of each pottery jar and the robot end;

[0087] A pottery jar grasping path unit for planning the movement path of the robot according to the relative position between the mouth of each pottery jar and the robot end, and generating a pottery jar grasping path;

[0088] Generate a pottery jar grasping instruction according to the pottery jar grasping path, and send it to the robot to guide the robot to grasp the pottery jar;

[0089] A visual positioning unit for performing visual positioning on the pottery jar according to the sensing module when the robot is grasping, real-time monitoring and identifying the position and posture of the pottery jar, generating pottery jar calibration data, and performing grasping control on the pottery jar.

[0090] In this embodiment, the image origin refers to the coordinate system origin used for subsequent position determination, which is calibrated according to the position of the robot end in the kiln car image completed by image preprocessing.

[0091] In this embodiment, the kiln car image coordinate system refers to the coordinate system established according to the image origin, which is used to determine the position of the pottery jar.

[0092] In this embodiment, the relative position refers to the horizontal relative position and the height relative position between the mouth of the pottery jar and the robot end.

[0093] In this embodiment, the pottery jar extraction path refers to the movement path of the robot planned according to the relative position between the mouth of each pottery jar and the robot end, which is used for the automatic handling of the pottery jar.

[0094] In this embodiment, the pottery jar grasping instruction refers to the instruction generated according to the pottery jar grasping path for guiding the robot to grasp.

[0095] In this embodiment, the sensing module refers to the module used for determining the position and posture of the pottery jar.

[0096] In this embodiment, the pottery jar calibration data refers to the data used to achieve the precise placement of the pottery jar.

[0097] The beneficial effects of the above technical solution are as follows: By performing image preprocessing on the kiln car image and generating the grabbing path of the pottery jars, it is beneficial to subsequently realize the intelligent loading and unloading of the pottery jars into and out of the kiln.

[0098] The present invention provides a robot loading and unloading kiln system applicable to pottery jar production. The visual positioning unit includes:

[0099] A visual positioning block, which is used to obtain the grabbing image of the pottery jar according to the real-time monitoring result and identify the current position of the pottery jar based on the image origin calibrated for the position of the robot end.

[0100] An image splitting block, which is used to split the grabbing image of the pottery jar at the corresponding monitoring moment and the standard pottery jar image at the process stage at the corresponding monitoring moment according to the set image orientations respectively, and combine the image origin to identify the actual posture and the standard posture of the pottery jar in each image orientation.

[0101] A coefficient determination block, which is used to uniformly select n1 pottery jar pixel points along the posture edge from the actual posture and the standard posture in the same image orientation to determine the pottery jar correction coefficient of the pottery jar in the corresponding image orientation.

[0102]

[0103] Among them, Dj represents the pottery jar correction coefficient in the jth image orientation; A i1 represents the difference function of the i1th randomly selected point in the jth image orientation; e represents a constant with a value of 2.7; pj represents the credibility of the jth image orientation, and m1 represents the total number of pottery jar pixel points in the grabbed pottery jar image split in the jth image orientation; h1 represents the total number of image pixel points in the grabbed pottery jar image split in the jth image orientation; n1 represents the total number of selected points in the jth image orientation; x i1 represents the x-axis coordinate value of the i1th selected point in the actual posture in the jth image orientation; y i1 represents the y-axis coordinate value of the i1th selected point in the actual posture in the jth image orientation; x′ i1 represents the x-axis coordinate value of the i1th selected point in the standard posture in the jth image orientation; y′ i1 represents the y-axis coordinate value of the i1th selected point in the standard posture in the jth image orientation; d1 ≠i1 represents the fine-tuning function for the i1th selected point in the jth image orientation.

[0104] The grasping control block is used to perform grasping control on the pottery jar according to the pottery jar calibration coefficients in each image orientation at the corresponding monitoring moment, and in combination with the position difference between the current position of the pottery jar and the standard placement position in the process stage at the corresponding monitoring moment. The pottery jar calibration data includes the pottery jar calibration coefficients and position differences in different image orientations at each monitoring moment.

[0105] Preferably, it further includes:

[0106]

[0107] Among them, represents the variance of the remaining selected points except the i1-th selected point in the j-th image orientation based on the variance.

[0108] In this embodiment, the grasping process refers to the process in which the robot grasps the pottery jar.

[0109] In this embodiment, the grasping process is divided to enable the robot to precisely grasp and transport the pottery jar and safely grasp and transport it subsequently.

[0110] In this embodiment, the grasping preparation process refers to the process from when the robot receives the pottery jar grasping instruction to when the end of the robot moves to the position of the mouth of the pottery jar. During this process, the position of the pottery jar remains unchanged, and the grasping process of the robot is relatively safe and simple.

[0111] In this embodiment, the grasping and transporting process refers to the process from when the robot grasps the pottery jar to before placement. During this process, the posture of the pottery jar can be partially tilted without affecting the safe transportation of the pottery jar to achieve a more efficient grasping and transporting efficiency.

[0112] In this embodiment, the grasping and placing process refers to the process in which the robot places the pottery jar. During this process, the posture of the pottery jar should be kept horizontal to ensure the safe placement of the pottery jar.

[0113] In this embodiment, the grasping and placing height refers to the height at which the posture of the pottery jar is finally adjusted during the grasping and placing process. For example, the grasping and placing height a1. When the robot grasps the pottery jar to the grasping and placing height a1 at the placement position, the posture of the pottery jar is corrected to a horizontal posture.

[0114] In this embodiment, the sensing module refers to the module used by the robot to monitor and identify the position and posture of the pottery jar in real time, which is realized by the 3D camera at the end of the robot.

[0115] In this embodiment, visual positioning refers to the positioning operation performed on the pottery jar according to the sensing module to determine the position and posture of the pottery jar.

[0116] In this embodiment, based on the correction coefficient and the position difference, it can be achieved that, for example, when the inclination angle of the pottery jar during the grasping and handling process is not higher than angle b1, the grasping and handling of the pottery jar is safe, and it is necessary to ensure that the inclination angle of the pottery jar during the grasping and handling process is never higher than angle b1.

[0117] In this embodiment, the image of the pottery jar being grasped refers to the image of the actual pottery jar obtained according to the real-time monitoring results. The image of the pottery jar being grasped includes the position and attitude information of the pottery jar at the moment of real-time monitoring, that is, the image of the pottery jar being grasped and handled under actual conditions.

[0118] In this embodiment, the image orientations, such as the front image orientation, the left-side image orientation, the right-side image orientation, and the rear-side image orientation, and the credibility of different orientations can be respectively: 1, 0.8, 0.6, 1.

[0119] In this embodiment, the image of the pottery jar being grasped is split according to the image orientation to achieve precise analysis of the image of the pottery jar being grasped, and further achieve precise handling of the pottery jar.

[0120] In this embodiment, the standard image of the pottery jar refers to the standard image in the corresponding handling stage, that is, the image of the pottery jar being grasped and handled under ideal conditions.

[0121] In this embodiment, the pixel points of the pottery jar refer to the pixel points corresponding to the image of the pottery jar in the image of the pottery jar being grasped and the standard image of the pottery jar.

[0122] In this embodiment, the image pixel points refer to the pixel points existing in the image of the pottery jar being grasped or the standard image of the pottery jar, that is, all the pixel points of the image.

[0123] In this embodiment, the correction data of the pottery jar refers to the data used to ensure the safe and precise grasping and handling of the pottery jar.

[0124] In this embodiment, selecting n1 number of pixel points of the pottery jar from the split image of the pottery jar being grasped and the corresponding split standard image of the pottery jar means evenly screening n1 number of pixel points of the pottery jar based on the edge of the pottery jar from the two images. The edge of the pottery jar can be directly obtained based on the image edge algorithm, which belongs to the prior art. And after locking, based on the center point on the leftmost side, equal-distance screening is performed in the counterclockwise direction along the edge. For example, it is 10 cm, and then n1 points are respectively screened on each image.

[0125] The beneficial effects of the above technical solution are: By determining the relative position between the mouth of the pottery jar and the end of the robot according to the image of the kiln car, guiding the robot to grasp the pottery jar and performing visual positioning on the pottery jar during the grasping process, generating the grasping path of the pottery jar and the correction data of the pottery jar, which is beneficial to improving the production efficiency and production quality of the pottery jar.

[0126] The present invention provides a robot loading and unloading kiln system applicable to the production of pottery jars. The pottery jar loading and unloading module includes:

[0127] A pottery jar loading unit, which is used to transport the pottery jar from the station at the loading position to the designated loading position according to the six-axis robot cooperating with a special fixture in combination with the pottery jar grasping path and the pottery jar calibration data. Herein, the designated loading position refers to the position of the kiln car.

[0128] A pottery jar unloading unit, which is used to transport the pottery jar from the kiln car position to the designated unloading position according to the high-temperature resistant robot cooperating with a special fixture in combination with the pottery jar grasping path and the pottery jar calibration data. Herein, the designated unloading position refers to the station at the unloading position.

[0129] In this embodiment, the special fixture refers to a tool that safely clamps the pottery jar to achieve the loading and unloading of the pottery jar in the kiln.

[0130] In this embodiment, a six-axis robot is used in cooperation with a special fixture to achieve the automatic handling and precise placement of the pottery blank.

[0131] In this embodiment, a high-temperature resistant robot is used in cooperation with a special fixture to achieve the automatic unloading and handling of the finished pottery jar.

[0132] In this embodiment, in the loading link: a six-axis robot is used in cooperation with a special fixture to achieve the automatic handling and precise placement of the pottery blank. The robot identifies the position and posture of the pottery blank through the sensing system, and then uses the fixture to clamp and transport the pottery blank to the entrance of the tunnel kiln. During the placement process, the robot uses the vision system to monitor the position and posture of the pottery blank in real time to ensure that the pottery blank can be placed on the kiln car smoothly and accurately.

[0133] In the unloading link: in the unloading process, a high-temperature resistant robot is used in cooperation with a special fixture to achieve the automatic unloading and handling of the pottery blank. The robot identifies the position and posture of the pottery blank through the sensing system, and then uses the fixture to clamp and transport the pottery blank to the designated position. During the handling process, the robot uses the vision system to monitor the position and posture of the pottery blank in real time to ensure that the pottery blank can be placed on the designated position smoothly and accurately. At the same time, the robot also has an automatic obstacle avoidance function to avoid collisions with surrounding equipment and personnel.

[0134] The beneficial effects of the above technical solution are: by transporting the pottery jar to the designated loading and unloading positions according to the robot cooperating with the special fixture in combination with the pottery jar grasping path and the pottery jar calibration data, the intelligent loading and unloading of the pottery jar in the kiln is effectively achieved.

[0135] The present invention provides a robot loading and unloading kiln system applicable to the production of pottery jars, and further includes:

[0136] A rough determination module, which is used to determine the surface roughness increase coefficient Cc of the pottery jar mouth based on the actual image of the pottery jar mouth of the pottery jar to be grasped obtained by the vision module.

[0137]

[0138]

[0139] Among them, τ represents the scale for finite element division of the actual altar mouth image and the standard altar mouth image; N1(ε) and N2(ε) respectively represent the number of boxes required to cover the object surface in the corresponding ε-th finite element block of the actual altar mouth image and the standard altar mouth image; M(ε) represents the quantity judgment function; τ×τ represents the size of the finite element; s0 represents the area of the altar mouth;

[0140] An optimization module, configured to determine the weight of the pottery jar according to the size and type of the pottery jar, and optimize and determine the adsorption force in combination with the surface roughness increase coefficient Cc;

[0141] A switching module, configured to match the suction cup model from the force-model comparison table according to the optimized force, and switch to the corresponding gripper to grasp the pottery jar.

[0142] In this embodiment, the actual altar mouth image refers to the altar mouth image of the pottery jar that the robot needs to grasp. Since the pottery jar is manufactured according to a known process during production, at this time, there will be a standard manufacturing result diagram for the altar mouth of the pottery jar, that is, the standard altar mouth image, which can be directly used.

[0143] In this embodiment, the altar mouth area refers to the size, dimensions, etc. that have been determined by a known process during the production of the pottery jar. Therefore, the altar mouth area is known. For example, it is 0.5 square centimeters.

[0144] In this embodiment, the adsorption force is obtained by matching based on the weight-force comparison table, which contains the weights of different pottery jars and the required adsorption force magnitudes for such weights.

[0145] In this embodiment, the weight of the pottery jar is obtained by matching based on the size-type-weight comparison table, which contains the sizes of the pottery jars under different types and their corresponding weights, and can be directly matched.

[0146] In this embodiment, the optimized force = adsorption force × (1 + Cc).

[0147] In this embodiment, the force-model comparison table contains different required adsorption forces and the suction cup models matched with them, and can be directly matched.

[0148] The beneficial effects of the above technical solution are: by obtaining the actual altar mouth image to perform a roughness comparison with the standard altar mouth image to obtain the surface roughness increase coefficient, and then optimizing the adsorption force, it is ensured that the pottery jar can be grasped successfully at one time, avoiding the situation of grasping failure caused by grasping according to the standard force.

[0149] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and its equivalent technologies, the present invention also intends to include these changes and modifications therein.

Claims

1. A robot loading and unloading kiln system applicable to the production of pottery jars, characterized in that, Including: An image acquisition module, which is used to locate and photograph the kiln car at a predetermined position to obtain a kiln car image; A visual positioning module, which is used to determine the relative position between the mouth of the pottery jar and the end of the robot according to the kiln car image, guide the robot to grasp the pottery jar and perform visual positioning on the pottery jar during the grasping process, and generate a pottery jar grasping path and pottery jar calibration data; A pottery jar loading and unloading module, which is used to move the pottery jar to the designated loading and unloading position according to the robot cooperating with a special fixture, the pottery jar grasping path and the pottery jar calibration data.

2. The robot loading and unloading kiln system applicable to the production of pottery jars according to claim 1, wherein, The image acquisition module includes: A predetermined position setting unit, which is used to determine the predetermined position of the robot for loading and unloading the kiln according to the working range of the robot and the kiln car track; A kiln car detection unit, which is used to deploy infrared sensors at corresponding positions at both ends of the predetermined position to detect the kiln car; A kiln car positioning unit, which is used to, when it is detected that the kiln car reaches the predetermined position of the robot for loading and unloading the kiln, position and photograph the kiln car according to the 3D camera at the end of the robot to obtain a kiln car image.

3. The robot loading and unloading kiln system applicable to the production of pottery jars according to claim 2, characterized in that, It also includes: A pottery jar identification module, which is used to identify the type and quantity of the pottery jar according to the kiln car image, wherein the types of the pottery jar include: finished pottery jars and jar embryos; A pottery jar handling module, which is used to, when the type of the identified pottery jar is a finished pottery jar, control the robot to move the finished pottery jar to the working station at the unloading position; When the type of the identified pottery jar is a jar embryo, control the robot to move the jar embryo in the working station at the loading position to the kiln car.

4. A robot loading and unloading kiln system applicable to the production of pottery jars, characterized in that, The visual positioning module includes: A relative position unit, which is used to perform image preprocessing on the kiln car image and calibrate the position of the end of the robot in the preprocessed image as the image origin; Establish a kiln car image coordinate system according to the image origin to determine the relative position between the mouth of each pottery jar and the end of the robot; A pottery jar grasping path unit, which is used to plan the movement path of the robot according to the relative position between the mouth of each pottery jar and the end of the robot and generate a pottery jar grasping path; Generate a pottery jar grasping instruction according to the pottery jar grasping path and send it to the robot to guide the robot to grasp the pottery jar; A visual positioning unit, which is used to, when the robot is in the grasping process, perform visual positioning on the pottery jar according to the sensing module, real-time monitor and identify the position and posture of the pottery jar, generate pottery jar calibration data, and perform grasping control on the pottery jar.

5. A robot loading and unloading kiln system applicable to the production of pottery jars, characterized in that The visual positioning unit includes: A visual positioning block, which is used to obtain a pottery jar grasping image according to the real-time monitoring result and identify the current position of the pottery jar according to the image origin calibrated for the position of the end of the robot; An image splitting block, which is used to split the pottery jar grasping image at the corresponding monitoring moment and the standard pottery jar image at the process stage at the corresponding monitoring moment according to the set respective image orientations, and identify the actual posture and standard posture of the pottery jar in each image orientation in combination with the image origin; A coefficient determination block, which is used to uniformly select n1 pottery jar pixel points along the posture edge from the actual posture and the standard posture in the same image orientation to determine the pottery jar calibration coefficient of the pottery jar in the corresponding image orientation. Among them, Dj represents the correction coefficient of the pottery jar in the j-th image orientation; A i1 represents the difference function of the i1-th randomly selected point in the j-th image orientation; e represents a constant with a value of 2.7; pj represents the credibility of the j-th image orientation, and m1 represents the total number of pottery jar pixel points in the split pottery jar grasping image in the j-th image orientation; h1 represents the total number of image pixel points in the split pottery jar grasping image in the j-th image orientation; n1 represents the total number of selected points in the j-th image orientation; x i1 represents the x-axis coordinate value of the i1-th selected point in the actual pose in the j-th image orientation; y i1 represents the y-axis coordinate value of the i1-th selected point in the actual pose in the j-th image orientation; x′ i1 represents the x-axis coordinate value of the i1-th selected point in the standard pose in the j-th image orientation; y′ i1 represents the y-axis coordinate value of the i1-th selected point in the standard pose in the j-th image orientation; d1 ≠i1 represents the fine-tuning function of the i1-th selected point in the j-th image orientation; The grasping control block is used to perform grasping control on the pottery jar according to the pottery jar calibration coefficients at each image orientation at the corresponding monitoring moment, and in combination with the position difference between the current position of the pottery jar and the standard placement position at the process stage at the corresponding monitoring moment. The pottery jar calibration data includes the pottery jar calibration coefficients at different image orientations at each monitoring moment and the position difference.

6. The robot loading and unloading kiln system applicable to the production of pottery jars according to claim 1, characterized in that, The pottery jar loading and unloading module includes: The pottery jar loading unit is used to transport the pottery jar from the working station at the loading position to the designated loading position according to the six-axis robot cooperating with the special fixture, in combination with the pottery jar grasping path and the pottery jar calibration data. The designated loading position refers to the position of the kiln car. The pottery jar unloading unit is used to transport the pottery jar from the kiln car position to the designated unloading position according to the high-temperature-resistant robot cooperating with the special fixture, in combination with the pottery jar grasping path and the pottery jar calibration data. The designated unloading position refers to the working station at the unloading position.

7. A robot loading and unloading kiln system applicable to the production of pottery jars, characterized in that, It further includes: Among them, represents the variance of the remaining selected points except the i1-th selected point in the j-th image orientation based on variance.

8. A robot loading and unloading kiln system applicable to the production of pottery jars, characterized in that It further includes: The roughness determination module is used to obtain the actual mouth image of the pottery jar to be grasped based on the vision module and determine the surface roughness increase coefficient Cc of the pottery jar mouth. Where τ represents the scale of finite element division of the actual mouth image and the standard mouth image; N1(ε) and N2(ε) respectively represent the number of boxes required to cover the object surface in the corresponding ε-th finite element block of the actual mouth image and the standard mouth image; M(ε) represents the quantity judgment function; τ×τ represents the size of the finite element; s0 represents the mouth area. The optimization module is used to determine the weight of the pottery jar according to the size and type of the pottery jar, and optimize and determine the adsorption force in combination with the surface roughness increase coefficient Cc. The switching module is used to match the suction cup model from the force-model comparison table according to the optimized force and switch to the corresponding gripper to grasp the pottery jar.

Images