Accurate positioning method and system for manipulator

Abstract

The invention provides a manipulator precise positioning method and system, and belongs to the technical field of industrial control and robot equipment. The method comprises the steps that S100, when a target product entering a sorting range is detected, the accumulated rotation frequency is determined; s200, when the accumulated number of rotation times is smaller than the corresponding target number of rotation times, entering the next step; s300, the current detection angle and the current conveying speed of the current target product are obtained; s400, the current advancing angle and the current advancing distance of the manipulator are determined; s500, the manipulator is controlled to move along the current advancing angle and the current advancing distance; s600, when the relative angle and the relative distance meet preset conditions, the manipulator is controlled to grab the current target product; and S700, after the grabbed current target product is rotated, one is added to the accumulated rotation frequency of the target product, the target product enters the sorting range again, and the step S100 is executed again. Accurate positioning and control of the manipulator can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial control and robotic equipment, and in particular relates to a method and system for accurately positioning a manipulator. Background Art

[0002] In modern industrial production, the rapid development of precision manufacturing has placed extremely high demands on the accuracy and comprehensiveness of product quality inspections. Many products (such as cubic workpieces, multi-faceted dice, and precision steel balls) require multi-angle inspection to determine their conformity. For example, verification of color matching between opposing surfaces, feature differences between different surfaces, or differences in spherical smoothness are required. Quality inspections for these products often rely on automated industrial robots, with precise gripping, positioning control, and product rotation adjustment by the robotic arm being key technologies.

[0003] Precision gripping technology relies on the synergy of vision sensors (such as 3D cameras and industrial cameras) and force control systems. Vision sensors collect real-time data on the product's shape, position, and surface features, generating gripping coordinates using image recognition algorithms. The force control system adjusts gripping force in real time upon contact with the product to prevent product damage due to excessive force or product drop due to insufficient force, ensuring stable gripping of products of varying materials and shapes (such as fragile and irregularly shaped workpieces). Positioning control technology, centered around a motion control system, utilizes encoders, laser rangefinders, and other devices to provide real-time position information from the robot's end effector. Combined with pre-set motion trajectory algorithms (such as PID control), this technology achieves millimeter- or even micron-level positioning. This technology dynamically adjusts the robot's motion path based on the product's dynamic position on the conveyor, ensuring precise alignment of the target product on high-speed production lines. Product rotation adjustment technology utilizes a rotary joint at the end of the robot arm or dedicated rotary tooling. Leveraging high-precision servo motors and real-time monitoring from angle sensors, it can rotate the product to preset angles (such as 90°, 270°, and 180°) or continuously. During the rotation process, the position feedback system continuously calibrates the rotation angle to ensure that the product presents the preset posture during the inspection or sorting process.

[0004] In traditional product inspection processes, robotic arms typically use fixed paths or preset parameters to grasp and rotate products. However, different products must meet specific target rotation times to cover all inspection angles. However, the existing process lacks a mechanism to accurately track and determine the cumulative number of product rotations. Consequently, products may enter final inspection before reaching the target number of rotations, impacting comprehensive inspection and making it difficult to adapt to real-time changes in dynamic transport scenarios. Due to varying inspection standards for different products, inaccurate robotic arm positioning, insufficient rotation times, or angle deviations can easily lead to missed inspections or misjudgments, severely impacting inspection efficiency and quality stability. Summary of the Invention

[0005] In response to the above technical problems, the present invention proposes a method and system for precise positioning of a manipulator.

[0006] In a first aspect of the present invention, a method for precise positioning of a manipulator is proposed. The method is applied to an industrial robot product sorting system and comprises the following steps: S100: When a target product entering the sorting range is detected, the cumulative number of rotations of the current target product is determined; S200: When the cumulative number of rotations of the current target product is less than the corresponding target number of rotations, proceed to the next step; S300: Obtain the current detection angle and current transmission speed of the current target product; S400: determining a current advancing angle of the manipulator based on a current detection angle of the current target product, and determining a current advancing distance of the manipulator based on a current conveying speed of the current target product; S500: Controlling the manipulator to move along the current forward angle and the current forward distance, and monitoring the relative angle and relative distance between the manipulator and the target product in real time; S600: When the relative angle and relative distance meet preset conditions, control the robot arm to grab the current target product; S700: After rotating the grabbed current target product, the cumulative number of rotations of the target product is increased by one, and the target product enters the sorting range again, and the process returns to step S100.

[0007] When implementing the method, before step S100, the method further includes: Determine the target number of rotations and target rotation angle for each target product in advance based on the quality inspection standards of each target product; The quality inspection standard includes one of a plurality of product smoothness standards, a product color standard, a product size standard corresponding to different angles, or any combination thereof.

[0008] The step S500 rotates the grasped current target product by a target rotation angle.

[0009] The target product enters the sorting range through the conveying unit; The conveying unit is a strip conveyor belt or an endless conveyor belt; When the conveying unit is a strip conveyor, the step S500 comprises: after the current target product is grasped and rotated by the target rotation angle, it is transferred to the starting area of ​​the strip conveyor and put down; When the conveying unit is an endless conveyor belt, the step S500 includes: rotating the grabbed current target product by a target rotation angle and then directly placing it back on the endless conveyor belt.

[0010] If the cumulative number of rotations of the current target product in step S200 is greater than (or not less than, depending on whether the initial value of the cumulative number of rotations is 1 or 0) the corresponding target number of rotations, the method continues to perform the following steps: Check whether the target product meets the quality inspection standard at the current angle. If not, continue to perform steps S300-S600 and sort the target product.

[0011] In a second aspect of the present invention, in order to implement the method described in the first aspect, a system for achieving precise positioning of a manipulator is also proposed, which is applied to an industrial robot product sorting device, wherein the sorting device includes a conveying unit.

[0012] The system comprises: A product detection module is used to determine the cumulative number of rotations of the current target product when a target product is detected to have entered the sorting range through the conveying unit; The number judgment module is used to judge whether the cumulative number of rotations of the current target product is less than the corresponding target number of rotations; the parameter acquisition module is used to obtain the current detection angle and current transmission speed of the current target product; a positioning calculation module, configured to determine a current forward angle of the manipulator based on a current detection angle of the current target product, and a current forward speed of the manipulator based on a current conveying speed of the current target product; A movement control module, configured to control the movement of the manipulator at a current forward angle and a current forward speed, and to monitor in real time the relative angle and relative distance between the manipulator and the target product; a grasping control module, configured to control the manipulator to grasp the current target product when the relative angle and relative distance meet preset conditions; A rotation and return module is used to rotate the grabbed current target product, increase the cumulative rotation times of the target product by one, and allow it to enter the sorting range again; Wherein, the conveying unit is a strip conveyor belt or an annular conveyor belt; When the conveying unit is a strip conveyor belt, the rotation and placement module further includes a strip conveying and placement submodule that rotates the grabbed current target product by a target rotation angle and then transfers it to the starting area of ​​the strip conveyor belt and places it down.

[0013] The system further comprises: The parameter preset module is used to determine the target number of rotations and target rotation angle of each target product in advance according to the quality inspection standard of each target product.

[0014] The quality inspection standards stored in the parameter preset module include one of product smoothness standards, product color standards, and product size standards corresponding to multiple different angles, or any combination thereof.

[0015] When the conveying unit is an endless conveyor belt, the rotating and placing back module includes an endless conveying and placing back submodule which rotates the grabbed current target product by a target rotation angle and then directly places the grabbed current target product back on the endless conveyor belt.

[0016] The number determination module is also used to trigger the following modules to work when the cumulative number of rotations of the current target product is greater than the corresponding target number of rotations: The standard detection module is used to detect whether the target product meets the quality inspection standard at the current angle. If not, it triggers the parameter acquisition module, positioning calculation module, movement control module, and grasping control module to work, and then sorts the target product through the sorting module.

[0017] The technical solution of the present invention has strong dynamic adaptability. By acquiring the current detection angle and conveying speed of the product in real time and dynamically calculating the forward angle and distance of the robot arm, it solves the problem that traditional fixed path control is difficult to adapt to dynamic conveying scenarios and improves the stability of dynamic grasping. At the same time, the number of rotations is precisely controllable. By tracking the cumulative number of rotations and comparing it with the target number of rotations, it ensures that the product completes the rotation according to the preset number of times, avoids missed detection due to insufficient number of rotations, and ensures comprehensive detection. In addition, the grasping positioning accuracy is high, and the relative angle and distance between the robot arm and the product are monitored in real time. Grasping is performed only when the preset conditions are met, reducing grasping failures or product falling off caused by positioning deviations and improving operational reliability. In addition, the cyclic process proposed by the present invention is closed-loop efficient. After rotation, the product re-enters the sorting range and updates the cumulative number of times to form a complete detection cycle, which solves the problem of interruption or invalid operation caused by poor cycle connection in traditional processes. Finally, it adapts to multi-standard detection requirements. By presetting the target number of rotations and angles, it can flexibly adapt to the multi-dimensional detection standards of different products, meet the high-precision requirements of multi-angle and multi-feature detection in precision manufacturing, and improve detection efficiency and quality stability.

[0018] Further specific advantages and implementation principles of the present invention will be further embodied in detail in the specific embodiments section in conjunction with the drawings of the specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the main execution flow of a method for precise positioning of a manipulator according to an embodiment of the present invention; Figure 2 It is a data control flow diagram of a method for precise positioning of a manipulator implemented by a computer program; Figure 3 This is a schematic diagram of the hardware unit composition of a manipulator precision positioning system according to one embodiment of the present invention; Figure 4 This is a schematic diagram of a scenario of two different transmission units in the actual application of a manipulator precision positioning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In the specific implementation of this application, if the embodiments of the relevant technical solutions involve user-related data, when the embodiments of this application are applied to specific products or technologies, user permission or consent must be obtained, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0022] Before introducing the specific embodiments of the present invention, we first introduce the existing technologies and problems existing in related technologies related to the present invention, thereby introducing the technical solution of the present invention, so as to better understand the improved advantages and creativity of this application.

[0023] The most closely related existing technology to the precise positioning of the manipulator of the present invention is mainly the industrial robot vision system, which empowers industrial production by replacing the "human eye". In the process of solving production tasks that the human eye cannot accurately identify and detect, it can effectively overcome the differences in the human eye's standards. By formulating higher-level digital quality control standards, it surpasses the limits of the human eye's standards with high speed, high spectrum, high resolution, high sensitivity and high reliability. In the process of visual positioning, dimension measurement and appearance recognition and detection, the industrial robot vision system uses a light source controller, camera and optical components, a visual control system, etc. to shoot and take pictures. The light source controller, camera and optical components are responsible for acquiring image signals and then imaging. The signal imaging is transmitted to the image processing system and converted into a digital signal. The visual control system obtains the target features according to the digital signal operation results, and outputs the results to the execution component through logical judgment of the operation results to accurately control the actions of the industrial robot.

[0024] In related technologies, based on image recognition technology, the industrial robot vision control system can automatically identify and classify products on the production line, quickly allocate different types of products to corresponding processing channels, and improve sorting efficiency.

[0025] A common scenario is that after the product to be inspected passes through the conveyor belt and enters the inspection range, the industrial robot vision control system performs quality inspection on it (such as size, color, etc.). If the quality inspection is qualified, the product is qualified and is sorted to the qualified product area (at this time, the robotic arm does not move, and the product arrives at the exit with the conveyor unit); if the quality inspection fails, the product is defective and is sorted to the defective area (at this time, the robotic arm moves, grabs the product and separates it to the defective area).

[0026] However, the rapid development of the precision manufacturing industry has placed extremely high demands on the accuracy and comprehensiveness of product quality inspections. Many products (such as cubic workpieces, multi-faceted dice, and precision steel balls) require multi-angle inspection to determine their conformity. For example, verification of color matching between opposing surfaces (at least two surfaces), differences in features between different surfaces, or differences in spherical smoothness are required.

[0027] At this point, the product to be inspected (target product) must have at least two (two categories) of quality inspection standards. To qualify, the target product must meet at least two (or more) of these standards. For example, if the target product is a cube, the two opposing surfaces must be red and yellow, respectively. Alternatively, if the target product is a dice, the six faces must be painted with different colors, numbers, or dots. Alternatively, if the target product is a precision steel ball, the difference in smoothness between the upper and lower hemispheres must not exceed a preset threshold.

[0028] In these examples, due to the scanning range limitations of the machine vision system, after a product passes through the conveyor belt and enters the inspection range, the industrial robot's visual control system can only perform quality inspections from a single angle. For example, it can only detect the color, size, or smoothness of the top (upper half), but not the bottom (lower half). This means that the same target product must undergo at least two optical scans. In other words, even if the quality inspection from the current angle shows that it is qualified, it cannot be directly classified as a qualified product. The target product must wait until it enters the inspection range again and passes the quality inspection from all angles. Only then can it be classified as a qualified product. If the quality inspection from any angle fails, the product is considered defective.

[0029] It can be seen that in this process, the target product needs to undergo multiple tests, and after each test, the robot needs to grab, transfer and put it down again.

[0030] Existing technologies require sequential inspection of multiple parts and features, making the process cumbersome and time-consuming. Furthermore, the lack of intelligent control during operations such as product rotation and movement increases unnecessary time consumption, making it difficult to meet the speed requirements of large-scale, high-efficiency production.

[0031] In traditional product inspection processes, robotic arms typically use fixed paths or preset parameters to grasp and rotate products. However, different products must meet specific target rotation times to cover all inspection angles. However, the existing process lacks a mechanism to accurately track and determine the cumulative number of product rotations. Consequently, products may enter final inspection before reaching the target number of rotations, impacting comprehensive inspection and making it difficult to adapt to real-time changes in dynamic transport scenarios. Due to varying inspection standards for different products, inaccurate robotic arm positioning, insufficient rotation times, or angle deviations can easily lead to missed inspections or misjudgments, severely impacting inspection efficiency and quality stability.

[0032] In order to solve the above problems, the technical solution of the present invention is proposed.

[0033] See first Figure 1 , Figure 1 It is a schematic diagram of the main execution flow of the manipulator precise positioning method according to an embodiment of the present invention.

[0034] Figure 1 The method is applied to an industrial robot product sorting system and comprises the following steps: S100: When a target product entering the sorting range is detected, the cumulative number of rotations of the current target product is determined; S200: When the cumulative number of rotations of the current target product is less than the corresponding target number of rotations, proceed to the next step; S300: Obtain the current detection angle and current transmission speed of the current target product; S400: determining a current advancing angle of the manipulator based on a current detection angle of the current target product, and determining a current advancing distance of the manipulator based on a current conveying speed of the current target product; S500: Controlling the manipulator to move along the current forward angle and the current forward distance, and monitoring the relative angle and relative distance between the manipulator and the target product in real time; S600: When the relative angle and relative distance meet preset conditions, control the robot arm to grab the current target product; S700: After rotating the grabbed current target product, the cumulative number of rotations of the target product is increased by one, and the target product enters the sorting range again, and the process returns to step S100.

[0035] Figure 2This is a data control flow diagram of a method for precise positioning of a manipulator implemented using a computer program.

[0036] Next, we will combine Figure 1-Figure 2 , each step of the manipulator precise positioning method proposed in the present invention is described in detail.

[0037] Before step S100 of the method, the method further includes the following steps: The target number of rotations and target rotation angle for each target product are determined in advance based on the quality inspection standard of each target product.

[0038] The quality inspection standard includes one of a plurality of product smoothness standards, a product color standard, a product size standard corresponding to different angles, or any combination thereof.

[0039] The examples are not exhaustive. For example, if the target product is a cube, the colors of the two opposite surfaces need to be red and yellow respectively; or, if the target product is a dice, the six faces need to be painted with different colors or different numbers or different points and have equal areas; or, if the target product is a precision steel ball sphere, the difference in smoothness between the upper and lower hemispheres needs to be no greater than a preset threshold; and so on.

[0040] Taking target product 1 as a cube as an example, assuming that a certain cube product has six faces (assuming that the parallel faces are A1-A2, B1-B2, and C1-C2), the three relative (parallel) top faces (A1, B1, C1) and bottom faces (A2, B2, C2) must be red and yellow respectively to pass the test.

[0041] Taking the target product 2 as a dice as an example, suppose a cubic product includes six faces (assuming that they are parallel to each other, namely X1-X2, Y1-Y2, and Z1-C2). The six faces need to be painted with different colors or different numbers or different numbers of dots and have equal areas.

[0042] The technical solution of the present invention is not limited to the detection of target products of the same type. That is to say, the technical solution of the present invention can simultaneously realize the quality detection and grasping of multiple different types of target products, as long as the quality detection standards of different types of target products can be confirmed. That is to say, target product 1 and target product 2 with different detection standards can enter the detection range at the same time.

[0043] Based on the above example, Figure 1 or Figure 2 The method steps are described as follows.

[0044] Step S100: When a target product entering the sorting range is detected, the accumulated number of rotations of the current target product is determined.

[0045] In practical applications, the target product enters the sorting range through a conveying unit; the conveying unit is a strip conveyor belt or an annular conveyor belt.

[0046] To facilitate comparison and description of different embodiments, assume that the aforementioned target product 1 is transported on a strip (belt / straight) conveyor belt. In this case, one end of the straight (strip / straight) conveyor belt (assuming the starting point) receives the target product to be inspected from the production line, and the target product moves along the conveyor belt to the other end (assuming the end point). If the target product 1 ultimately passes inspection, it will be directly transported along the conveyor belt to the end point and then into the qualified product area. If the target product fails inspection, it will be picked up by a robotic arm, removed from the conveyor belt, and sorted into the failed product area. Target product 2 uses a circular (ring) conveyor belt; a circular conveyor belt has no concept of a starting point or an end point. Correspondingly, after reaching the final destination, the target product is sorted and removed from the conveyor belt by a robotic arm to reduce pressure on the conveyor belt.

[0047] In step S100, after detecting target product 1 or target product 2 entering the sorting range, there are two situations: Scenario 1: Target product 1 or target product 2 enters the sorting range for the first time, meaning it is about to undergo its first quality inspection. Assume that the top of target product 1 is A1 and the bottom is A2; the top of target product 2 is X1 and the bottom is X2.

[0048] In this case, the cumulative number of rotations for the current target product (target product 1 or target product 2) is 0 (because the rotation has not started yet after the first entry); Scenario 2: Target product 1 or target product 2 does not enter the sorting range for the first time.

[0049] In this case, the cumulative number of rotations of the current target product (target product 1 or target product 2) must be greater than 0 (after passing the previous test, it will be rotated and enter the test again. The principle will be described later).

[0050] Next, step S200 is entered: when the cumulative number of rotations of the current target product is less than the corresponding target number of rotations, the next step is entered; The target number of rotations mentioned in step S200 is different for different quality inspection standards of different target products.

[0051] Taking target product 1 as an example, since six surfaces (three opposite surfaces) need to be monitored and compared, assuming that only one top surface can be monitored each time, six monitorings are required to ensure the product is qualified. Therefore, the target number of rotations of target product 1 is 6.

[0052] At the same time, the target rotation angle for each rotation is also required.

[0053] Taking target product 1 as an example, assume that A1-B1-C1 are three adjacent faces intersecting at the same fixed point.

[0054] When the target product 1 first enters the detection range, A1 is located at the top surface (A2 is located at the bottom surface). At this time, the first rotation is required, and the corresponding target rotation angle is 180° (from A1 to A2). When the second rotation is required, the corresponding target rotation angle is 90° or 270° (from A2 to B1 or C1).

[0055] Continuing with the above example, assuming that target product 1 enters the chain distribution range for the first time in step S100, it is determined that the cumulative number of rotations of the current target product is 0; at this time, step S200 determines that it is necessary to proceed to the next step S300: obtain the current detection angle and current transmission speed of the current target product.

[0056] The current angle of the target product can be the characteristic angle of the target product currently located in the detection range. For example, the detection angle of the target product 1 at this time is A1 at the top (visual detection shows that its current detection angle θ=90° (that is, the angle between the long side of the product and the forward direction of the conveyor belt is 90°, that is, the product is placed vertically on the conveyor belt). Of course, it can also be placed at other angles); the current conveying speed is the speed at which the target product 1 travels along the conveyor belt.

[0057] Next, step S400 determines the current advancing angle of the robot based on the current detection angle of the current target product, and determines the current advancing distance of the robot based on the current conveying speed of the current target product.

[0058] It is understood that after determining the current forward angle of the manipulator, the current forward distance of the manipulator is also equivalent to determining the current forward speed of the manipulator. Because the current detection angle and conveying speed of the target product have been determined, the grasping position of the manipulator can be roughly determined based on the current forward angle of the manipulator.

[0059] For example, let's take a linear conveyor belt. Assume the grabbing position is O1, the current position of the target product is S0, and the conveying speed is V0. The distance between the robot's current position and the grabbing position O1 is the distance H the robot needs to travel. The distance the target product needs to travel from the current position S0 to the grabbing position O1 is (O1 - S0), and the time t required is (O1 - S0) / V0. Therefore, the robot's current travel distance (H) is equivalent to determining the current robot's travel speed as (H / t).

[0060] Of course, the calculation method for the target product 2 (annular conveyor belt) is similar.

[0061] Therefore, step S400 can be further summarized as follows: determining the current forward angle of the manipulator based on the current detection angle of the current target product, and determining the current forward distance or current travel speed of the manipulator based on the current conveying speed of the current target product; At this point, the process proceeds to steps S500-S600, which involves controlling the manipulator to move along the current forward angle and current forward distance, and monitoring the relative angle and relative distance between the manipulator and the target product in real time; when the relative angle and relative distance meet preset conditions, controlling the manipulator to grab the current target product; As a more specific example, when implemented using computer programming, a specific principle of steps S400-S600 includes: During the travel angle determination step, the travel angle is calculated based on the target object's current detection angle and a preset angle compensation value. The current detection angle is obtained by analyzing the target object's optical image. During the travel distance determination step, the travel distance is calculated as follows: travel distance = current transmission speed × preset response time + target object size compensation value. During the grasping step, the preset conditions include: the absolute value of the relative angle error is no greater than 0.5°, and the relative distance is no greater than 3mm.

[0062] As a preferred example, in step S400, the current forward angle is calculated based on the current detection angle of the target product. This ensures that the robot's movement direction matches the product's current orientation to minimize angular deviation during grasping. This is typically achieved through coordinate system transformation: assuming the product's current detection angle is θ (with the conveyor belt's forward direction as 0°), the robot's current forward angle must be consistent with θ or set at a preset angle (e.g., a 0° angle for a head-on grasp), ensuring that the robot's end effector faces the product's grasping surface. The current forward distance is calculated based on the product's current conveying speed v and the robot's response delay time t, and compensation needs to be made for the distance the product moves from the start of the robot to contact.

[0063] The calculation formula is: forward distance d = v × t + safety redundancy distance d0 (used to offset the robot arm motion error), where t is the response time of the robot from receiving the instruction to starting to move, and d0 is set according to the production accuracy requirements (usually 0.01-0.05m). In step S500, real-time monitoring is achieved through visual sensors (such as 3D cameras) and displacement sensors, which continuously collect the relative angle Δθ (the difference between the robot's forward angle and the product's current detection angle) and the relative distance Δd (the straight-line distance between the end of the robot and the product's grasping point) between the robot and the product to ensure that the parameters are controllable during the movement process. Assume that the target product is a cubic workpiece, moving on a conveyor belt at a current conveyor speed of v = 0.4 m / s. Visual detection indicates that its current detection angle θ = 45° (i.e., the angle between the long side of the product and the conveyor belt's forward direction is 45°). The robot's response delay time t = 0.2 s, and the safety redundancy distance d0 = 0.03 m, are all within the target product. S400 calculation process: Because the robot needs to grasp the product from the side, the current forward angle of the robot must be consistent with the product detection angle, so the current forward angle = 45°; The product's moving distance within the response delay is v×t=0.4×0.2=0.08m. After adding the safety redundancy distance, the current forward distance d=0.08+0.03=0.11m. S500–S600 execution process: The robot is controlled to move in a 45° direction and a distance of 0.11m. Real-time monitoring shows that the initial relative angle Δθ=8° and the relative distance Δd=0.15m. As the movement progresses, Δθ gradually decreases to 2° and Δd decreases to 0.02m, meeting the preset conditions (Δθ≤±5°, Δd≤0.03m). At this time, the grasping instruction is triggered and the process goes to step S700: after rotating the grasped current target product, the cumulative number of rotations of the target product is increased by one, and the target product enters the sorting range again, and the process returns to step S100.

[0064] Through this calculation logic, the robot can dynamically adapt to the real-time status of the product to ensure grasping accuracy.

[0065] It is understood that the above scenario examples are merely illustrative and do not represent all practical application scenarios. The relevant parameter values ​​(such as condition thresholds, etc.) can be adjusted according to the actual scenario in actual application.

[0066] Of course, preferably, steps S300-S500 can also be executed in a loop iterative form, that is, after step S400 determines the "current forward angle" and "current forward distance / speed", it executes the predetermined time (for example, 1 second) according to its parameters and enters step S600. If the relative angle and relative distance do not meet the preset conditions, it returns to step S300 and repeats the execution.

[0067] It should be understood that the above method embodiment considers the situation where the target product ultimately meets the quality inspection standards and is sorted as a qualified product. In other words, target product 1 and target product 2 both need to pass the quality inspection 6 times (requiring 5 rotations) before passing.

[0068] Of course, during this process, if the inspection result after a certain rotation is unqualified (does not meet the corresponding quality standards under the current inspection angle), the product will be directly grabbed and separated into the unqualified product area.

[0069] Therefore, in the method, when the cumulative number of rotations of the current target product in step S200 is greater than the corresponding target number of rotations, the method continues to perform the following steps: Check whether the target product meets the quality inspection standard at the current angle. If not, continue to perform steps S300-S600 and sort the target product.

[0070] Taking the above two situations into consideration, a complete method embodiment is as follows: S1: When a target product is detected entering the sorting range, determine whether the target product meets the quality inspection standards under the current inspection angle. If not, execute steps S300-S600 and sort the target product into the unqualified product area; wait for the next target product to enter the sorting range and return to the previous step (S1); If yes (the target product meets the quality inspection standard under the current inspection angle), the cumulative number of rotations of the current target product is determined; and the next step (S2) is entered; S2: When the cumulative number of rotations of the current target product is not less than the corresponding target number of rotations, check whether the target product meets the quality inspection standard at the current angle. If not, continue to execute steps S300-S600 and sort the target product into the unqualified product area; wait for the next target product to enter the sorting range and return to the previous step (S1); If yes (the target product meets the quality inspection standard under the current inspection angle), when the conveying unit is a strip conveyor belt, there is no need to grab it, and the target product will continue to move along the conveyor belt to the end qualified area; When the conveying unit is an endless conveyor belt, after continuing to perform steps S300-S600, the target product is sorted into a qualified product area; When the cumulative number of rotations of the current target product is less than the corresponding target number of rotations, proceed to the next step (S300-S700); S300: Obtain the current detection angle and current transmission speed of the current target product; S400: determining a current advancing angle of the manipulator based on a current detection angle of the current target product, and determining a current advancing distance of the manipulator based on a current conveying speed of the current target product; S500: Controlling the manipulator to move along the current forward angle and the current forward distance, and monitoring the relative angle and relative distance between the manipulator and the target product in real time; S600: When the relative angle and relative distance meet preset conditions, control the robot arm to grab the current target product; S700: After rotating the grabbed current target product, the cumulative number of rotations of the target product is increased by one, and the target product enters the sorting range again, and the process returns to step S1.

[0071] Correspondingly, when the conveying unit is a strip conveyor, the step S700 comprises: after the current target product is grasped and rotated by the target rotation angle, it is transferred to the starting area of ​​the strip conveyor and put down; When the conveying unit is an endless conveyor belt, the step S700 includes: rotating the grabbed current target product by a target rotation angle and then directly placing it back on the endless conveyor belt.

[0072] When implementing the technical solution of the present invention, a strip conveyor belt or an endless conveyor belt can be used. An endless conveyor belt is preferably used. The advantages of doing so are: (1) When the conveyor belt is circular, each time the robot arm rotates the target product, it can be placed directly at any position, for example, it can be put down directly without rotating to the starting position to put it down (in fact, there is no starting point); compared with the strip conveyor belt, the operation of the robot arm is simpler; (2) Compared with belt (straight) conveyor belts, ring conveyor belts can maximize the range of motion of the arm while keeping the arm fulcrum fixed while maintaining the same circumference (length).

[0073] exist Figure 1-Figure 2 Based on the method embodiment, Figure 3 Schematic diagram of the hardware unit composition of a manipulator precision positioning system according to an embodiment of the present invention.

[0074] Figure 3 The system for precise positioning of a manipulator shown is applied to an industrial robot product sorting device, which includes a conveying unit.

[0075] The system comprises: A product detection module is used to determine the cumulative number of rotations of the current target product when a target product is detected to have entered the sorting range through the conveying unit; The number judgment module is used to judge whether the cumulative number of rotations of the current target product is less than the corresponding target number of rotations; the parameter acquisition module is used to obtain the current detection angle and current transmission speed of the current target product; a positioning calculation module, configured to determine a current forward angle of the manipulator based on a current detection angle of the current target product, and a current forward speed or forward distance of the manipulator based on a current conveying speed of the current target product; Preferably, the positioning calculation module also dynamically adjusts the calculation parameters of the travel angle based on the optical image characteristics of the target object; and corrects the calculation results of the current forward speed or forward distance based on the load change of the transmission unit.

[0076] A movement control module, configured to control the movement of the manipulator at a current forward angle and a current forward speed, and to monitor in real time the relative angle and relative distance between the manipulator and the target product; a grasping control module, configured to control the manipulator to grasp the current target product when the relative angle and relative distance meet preset conditions; A rotation and return module is used to rotate the grabbed current target product, increase the cumulative rotation times of the target product by one, and allow it to enter the sorting range again; Preferably, the grasping control module includes a multi-axis driving module for adjusting the posture angle and movement distance of the manipulator according to the instructions of the movement control module to meet the preset conditions for grasping; Wherein, the conveying unit is a strip conveyor belt or an annular conveyor belt; When the conveying unit is a strip conveyor belt, the rotation and placement module further includes a strip conveying and placement submodule that rotates the grabbed current target product by a target rotation angle and then transfers it to the starting area of ​​the strip conveyor belt and places it down.

[0077] The system further comprises: The parameter preset module is used to determine the target number of rotations and target rotation angle of each target product in advance according to the quality inspection standard of each target product.

[0078] The quality inspection standards stored in the parameter preset module include one of product smoothness standards, product color standards, and product size standards corresponding to multiple different angles, or any combination thereof.

[0079] When the conveying unit is an endless conveyor belt, the rotating and placing back module includes an endless conveying and placing back submodule which rotates the grabbed current target product by a target rotation angle and then directly places the grabbed current target product back on the endless conveyor belt.

[0080] The number determination module is also used to trigger the following modules to work when the cumulative number of rotations of the current target product is greater than the corresponding target number of rotations: The standard detection module is used to detect whether the target product meets the quality inspection standard at the current angle. If not, it triggers the parameter acquisition module, positioning calculation module, movement control module, and grasping control module to work, and then sorts the target product through the sorting module.

[0081] Figure 4This is a schematic diagram of a scenario of two different transmission units in the actual application of a manipulator precision positioning system according to an embodiment of the present invention.

[0082] The technical solution of the present invention is of course suitable for straight (strip / belt-shaped) conveyor belts. In this case, one end (assuming the starting point) of the straight (strip / belt-shaped) conveyor belt receives the target product to be inspected from the production line, and the target product moves with the conveyor belt to the other end (assuming the end point). After the quality inspection and sorting solution of the present invention, if the target product is finally qualified in the inspection, it will directly move with the conveyor belt to the end point and then enter the qualified product area (qualified product storage unit); if the target product is unqualified, it will be clamped by the robotic arm and leave the conveyor belt to be sorted into the unqualified product area (unqualified product storage unit); when the target product passes the first inspection, it will also be clamped by the robotic arm and placed back to the starting area to continue the next inspection. That is, when the conveyor belt is in the shape of a belt (straight line), after the target product is grabbed and rotated, it needs to be placed at the starting position of the conveyor belt and wait to re-enter the optical inspection range; However, when the conveyor belt is circular, it can be directly placed (after rotating in place) to any position (for example, placed in place). Compared with strip conveyors, the robot arm is easier to operate; compared with belt (linear) conveyors, circular conveyors can maximize the range of motion of the arm while maintaining the same circumference (length) and the fixed arm fulcrum.

[0083] Although not shown in the accompanying drawings, preferably, more product embodiments may also be an electronic device comprising: a memory and one or more processors. The memory stores one or more application programs, and the one or more application programs are suitable for executing the aforementioned method for precise positioning of a manipulator by the one or more processors.

[0084] Although not shown in the drawings, more embodiments further include a computer-readable storage medium storing a computer program. When the computer program is executed, the steps of the aforementioned method for precise positioning of the manipulator are implemented.

[0085] It can be understood that the system, product, device, medium embodiments and method implementations correspond to each other and can reference each other. Their principles are similar or the same, so they will not be repeated.

[0086] For other technologies, principles, algorithms or models not elaborated in detail in this application, please refer to the existing technology.

[0087] Compared with the existing technology, the technical solution of the present invention presents the following significant advantages through refined process design and scenario adaptation optimization: Full-dimensional inspection with no blind spots: By accurately comparing the cumulative number of rotations with the target number of rotations (rotation is performed only when the cumulative number is less than the target number), the product is forced to complete full-cycle inspection of the preset angles, ensuring that multiple surfaces and multiple features (such as the color of the opposite faces of the cube and the smoothness of the spherical surface of the steel ball) are covered, and quality risks caused by missing angles are eliminated from a mechanical perspective. Deep adaptation to conveying scenarios: Customized operating logic based on the structural differences between strip and ring conveyor belts - strip conveyor belts achieve cyclic detection by "rotating and then moving to the starting point", and ring conveyor belts reduce the transportation path by "re-deploying in situ", which not only meets the spatial constraints of different conveying scenarios, but also minimizes the time spent on invalid actions and improves scenario compatibility. Grasping and rotation are precisely controllable: The robot's forward angle strictly matches the product's current detection angle, and the forward distance dynamically compensates for position deviations caused by transmission speed. Combined with real-time monitoring of relative angles and distances and grasping trigger conditions, this ensures a stable grasping posture. Rotation operations are precisely executed according to the target angle, and the cumulative number of operations is updated in real time to ensure the accuracy of angle adjustment. Closed-loop process for high efficiency and low consumption: A complete closed loop of "detection-judgment-rotation-re-detection" is constructed. Unqualified products are immediately eliminated through the S300-S600 process, while qualified products are differentiated and diverted by conveyor type (strip conveyor directly delivers to the end point, ring conveyor for precise sorting), avoiding invalid cycles and repeated inspections, and significantly improving inspection and sorting efficiency. Rigorous and reliable judgment logic: "Current angle qualified" and "cumulative rotation qualified" are used as dual qualification judgment conditions. If either condition is not met, the corresponding action (re-test rotation or elimination) is triggered. The progressive judgment logic reduces the risk of misjudgment and ensures that the final qualified product fully meets the multi-dimensional quality standards.

[0088] The foregoing has shown and described the method embodiments and system of the present invention, but it is understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for precise positioning of a manipulator, which is applied to an industrial robot product sorting system, and is characterized in that: The method comprises the following steps: S100: When a target product entering the sorting range is detected, the cumulative number of rotations of the current target product is determined; S200: When the cumulative number of rotations of the current target product is less than the corresponding target number of rotations, proceed to the next step; S300: Obtaining the current detection angle and current transmission speed of the current target product; S400: determining a current advancing angle of the manipulator based on a current detection angle of the current target product, and determining a current advancing distance of the manipulator based on a current conveying speed of the current target product; S500: Controlling the manipulator to move along the current forward angle and the current forward distance, and monitoring the relative angle and relative distance between the manipulator and the target product in real time; S600: When the relative angle and relative distance meet preset conditions, control the robot arm to grab the current target product; S700: After rotating the grabbed current target product, the cumulative number of rotations of the target product is increased by one, and the target product enters the sorting range again, and the process returns to step S100.

2. A method for precise positioning of a manipulator according to claim 1, characterized in that: The method further comprises: Determine the target number of rotations and target rotation angle for each target product in advance based on the quality inspection standards of each target product; The step S500 rotates the grasped current target product by a target rotation angle.

3. A method for precise positioning of a manipulator according to claim 2, characterized in that: The quality inspection standard includes one of a plurality of product smoothness standards, a product color standard, a product size standard corresponding to different angles, or any combination thereof.

4. A method for precise positioning of a manipulator according to claim 2, characterized in that: The target product enters the sorting range through the conveying unit; The conveying unit is a strip conveyor belt or an endless conveyor belt; When the conveying unit is a strip conveyor, the step S700 comprises: after the grabbing of the current target product is rotated by the target rotation angle, it is transferred to the starting area of ​​the strip conveyor and put down; When the conveying unit is an endless conveyor belt, the step S700 includes: rotating the grabbed current target product by a target rotation angle and then directly placing it back on the endless conveyor belt.

5. A method for precise positioning of a manipulator according to claim 1, characterized in that: If the cumulative number of rotations of the current target product is not less than the corresponding target number of rotations in step S200, the method continues to perform the following steps: Check whether the target product meets the quality inspection standard at the current angle. If not, continue to perform steps S300-S600 and sort the target product.

6. A system for achieving precise positioning of a manipulator, applied to an industrial robot product sorting device, wherein the sorting device includes a conveying unit, characterized in that: The system comprises: A product detection module is used to determine the cumulative number of rotations of the current target product when a target product is detected to have entered the sorting range through the conveying unit; The number judgment module is used to judge whether the cumulative number of rotations of the current target product is less than the corresponding target number of rotations; the parameter acquisition module is used to obtain the current detection angle and current transmission speed of the current target product; a positioning calculation module, configured to determine a current forward angle of the manipulator based on a current detection angle of the current target product, and a current forward speed of the manipulator based on a current conveying speed of the current target product; A movement control module, configured to control the movement of the manipulator at a current forward angle and a current forward speed, and to monitor in real time the relative angle and relative distance between the manipulator and the target product; a grasping control module, configured to control the manipulator to grasp the current target product when the relative angle and relative distance meet preset conditions; A rotation and return module is used to rotate the grabbed current target product, increase the cumulative rotation times of the target product by one, and allow it to enter the sorting range again; Wherein, the conveying unit is a strip conveyor belt or an annular conveyor belt; When the conveying unit is a strip conveyor belt, the rotation and placement module further includes a strip conveying and placement submodule that rotates the grabbed current target product by a target rotation angle and then transfers it to the starting area of ​​the strip conveyor belt and places it down.

7. The system for achieving precise positioning of a manipulator according to claim 6, wherein: The system further comprises: The parameter preset module is used to determine the target number of rotations and target rotation angle of each target product in advance according to the quality inspection standard of each target product.

8. The system for achieving precise positioning of a manipulator according to claim 7, wherein: The quality inspection standards stored in the parameter preset module include one of product smoothness standards, product color standards, and product size standards corresponding to multiple different angles, or any combination thereof.

9. The system for achieving precise positioning of a manipulator according to claim 7, wherein: When the conveying unit is an endless conveyor belt, the rotating and placing back module includes an endless conveying and placing back submodule which rotates the grabbed current target product by a target rotation angle and then directly places the grabbed current target product back on the endless conveyor belt.

10. The system for achieving precise positioning of a manipulator according to claim 6, wherein: The number determination module is also used to trigger the following modules to work when the cumulative number of rotations of the current target product is greater than the corresponding target number of rotations: The standard detection module is used to detect whether the target product meets the quality inspection standard at the current angle. If not, it triggers the parameter acquisition module, positioning calculation module, movement control module, and grasping control module to work, and then sorts the target product through the sorting module.

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