Storing and taking method and system with three-dimensional degree-of-freedom clamping jaw cooperating with belt conveying

Abstract

The invention provides a three-dimensional degree-of-freedom clamping jaw cooperative belt conveying access method and system, and the method comprises the steps: obtaining and analyzing point cloud data of an object on a conveying belt, and generating geometric center features and motion feature parameters of the object; inputting the motion characteristic parameters into an inertia compensation mechanism of the clamping jaw to generate counter-acting force parameters; combining the geometric center characteristics and the reaction force parameters to generate stable position data of the object; motion prediction is conducted on the continuous change characteristics of the stable position data, and three-dimensional moving track parameters and a conveying belt speed adjusting instruction are generated; and the three-dimensional moving track parameters are used for controlling the clamping jaw to conduct object grabbing operation in the space displacement process, and meanwhile the speed of the conveying belt is adjusted through the conveying belt speed adjusting instruction so that object placing operation can be conducted in the adjusting process. Millimeter-level synchronization precision of grabbing and placing operation in a high-speed dynamic access scene is achieved, and the problems of positioning misalignment and sequential disorder caused by vibration are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of clamping jaws cooperating with belt transmission, and in particular to a storage and retrieval method and system of clamping jaws cooperating with belt transmission with three-dimensional freedom. Background Art

[0002] With the continuous improvement of industrial automation, high-speed dynamic storage and retrieval scenarios are becoming increasingly common in fields such as intelligent manufacturing, logistics sorting, and flexible assembly. This is especially true in general conveyor belt systems, where objects move continuously at high speeds. This requires the storage and retrieval system to not only have rapid response capabilities but also to achieve shock absorption and high-precision spatial positioning during dynamic processes. In such scenarios, objects have variable postures and move at high speeds. Traditional static grasping methods are no longer able to meet the production cycle and precision requirements. There is an urgent need for an intelligent storage and retrieval mechanism that can sense the three-dimensional motion state of objects in real time and achieve dynamic coordination between the gripper and the conveyor system. This ensures stable and accurate grasping and placement operations without interrupting production line operations, while reducing the failure rate caused by vibration and positioning deviations.

[0003] The current mainstream solution is dynamic tracking technology based on multi-camera vision fusion. Multiple high-speed cameras deployed above the conveyor belt capture real-time image sequences of moving objects. A stereo matching algorithm is used to reconstruct the object's three-dimensional outline and position information, and a Kalman filter is combined to predict the object's trajectory. Based on this prediction, the control system drives a robotic gripper capable of two-dimensional planar motion, enabling it to horizontally follow the object's motion for synchronous grasping. Furthermore, feedback is used to adjust the gripper's end-effector's opening and closing timing and gripping force to accommodate objects of varying sizes and surface characteristics, enhancing the robustness of the grasp. Existing solutions have some inherent defects. For example, when faced with high-frequency vibrations or sudden speed fluctuations, the tracking system that relies solely on visual feedback has a significant response delay, making it difficult to compensate in real time for the inertial disturbance caused by the rapid movement of the gripper body, resulting in posture deviation or contact impact at the moment of grasping, affecting the stability of the operation; there is a lack of an active intervention mechanism for the gripper's own dynamic characteristics. The system cannot dynamically adjust its internal torque distribution during movement to offset external disturbances, causing the gripper to easily produce slight oscillations when approaching the target object, thereby reducing positioning accuracy; the regulation of the conveyor belt speed relies on a posteriori feedback control, and fails to actively coordinate the gripper movement and the conveying rhythm before the grasping action is executed, resulting in frequent grasping timing deviations or cumulative errors in placement position in high-speed scenarios, making it difficult to meet the needs of continuous high-precision dynamic access. Summary of the Invention

[0004] The present invention provides an access method and system for a three-dimensional degree-of-freedom gripper coordinated with a belt conveyor, which is used to solve the problems in the prior art where, when faced with high-frequency vibrations or sudden speed fluctuations, the tracking system that relies solely on visual feedback has obvious response delays, making it difficult to compensate in real time for the inertial disturbance caused by the rapid movement of the gripper body, resulting in posture deviation or contact impact at the moment of grasping, affecting the stability of the operation; there is a lack of an active intervention mechanism for the gripper's own dynamic characteristics, and the system cannot dynamically adjust its internal torque distribution during movement to offset external disturbances, causing the gripper to easily produce slight oscillations when approaching the target object, thereby reducing positioning accuracy; the regulation of the conveyor belt speed relies on a posteriori feedback control, and fails to actively coordinate the gripper movement and the transmission rhythm before the grasping action is executed, resulting in frequent grasping timing deviations or accumulated errors in placement position in high-speed scenarios, making it difficult to meet the needs of continuous high-precision dynamic access, and other problems.

[0005] In a first aspect, the present invention provides a method for accessing a device using a three-dimensional freedom gripper in conjunction with a belt conveyor, comprising:

[0006] Obtaining point cloud data of a preset object on a preset conveyor belt;

[0007] Analyzing the spatial distribution characteristics of the point cloud data to generate geometric center characteristics and motion characteristic parameters of the preset object;

[0008] Inputting the motion characteristic parameters into an inertia compensation mechanism of a preset clamping jaw to drive a mechanical reaction flywheel of the preset clamping jaw to generate reaction force parameters;

[0009] Combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object;

[0010] Performing motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions;

[0011] The three-dimensional movement trajectory parameters are applied to control the preset gripper to perform an object grabbing operation during the spatial displacement process, and the conveyor belt speed adjustment instruction is used to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

[0012] Optionally, obtaining point cloud data of a preset object on a preset conveyor belt includes:

[0013] Scanning the surface of a preset conveyor belt using a preset laser radar device to obtain an original point set of a preset object;

[0014] Performing spatial position differentiation processing on the original point set to obtain an independent point set of the preset object;

[0015] Calculating the coordinates of the geometric center point of the independent point set, and using the coordinates of the geometric center point as the spatial position information of the preset object;

[0016] Analyzing the displacement change characteristics of the independent point set to generate moving direction information of the preset object;

[0017] measuring a vibration waveform of a support structure of the preset conveyor belt to identify a main frequency direction of vibration from the vibration waveform;

[0018] The spatial position information, the moving direction information, and the vibration main frequency direction are aggregated to generate point cloud data.

[0019] Optionally, analyzing the spatial distribution characteristics of the point cloud data to generate the geometric center characteristics and motion characteristic parameters of the preset object includes:

[0020] Identifying a spatial region in the point cloud data having a density higher than a preset density threshold, and separating the spatial region to generate an object point set of the preset object;

[0021] Taking the running direction of the preset conveyor belt as the reference axis, an orientation coordinate system is established;

[0022] Calculating the position average of the object point set in the oriented coordinate system, and taking the coordinates corresponding to the position average as the coordinates of the object's center of mass;

[0023] Extracting position offsets of the object point set within continuous time intervals, and decomposing the position offsets to obtain a parallel component parallel to the reference axis and a perpendicular component perpendicular to the reference axis;

[0024] Combining the parallel component and the vertical component to generate a moving speed component;

[0025] The object's center of mass coordinates and the moving speed component are combined to generate geometric center features and motion feature parameters of the preset object.

[0026] Optionally, the motion characteristic parameters are input into an inertia compensation mechanism of a preset clamping jaw to drive a mechanical reaction flywheel of the preset clamping jaw to generate reaction force parameters, including:

[0027] Decomposing the motion characteristic parameters to obtain a first component parallel to the running direction of the preset conveyor belt and a second component perpendicular to the running direction of the preset conveyor belt;

[0028] Identifying a vibration direction vector in the second component whose amplitude exceeds a preset amplitude threshold, and mapping the vibration direction vector to a rotation plane of a mechanical reaction flywheel of the preset clamping jaw to calculate an angle between the rotation plane and a running direction of the preset conveyor belt;

[0029] Establishing a correspondence table between the amplitude intensity of the vibration direction vector and the rotational speed of the mechanical reaction flywheel, so as to obtain a target rotational speed value from the correspondence table;

[0030] adjusting the rotational speed of the mechanical reaction flywheel to be consistent with the target rotational speed value based on the included angle value, so as to measure the centrifugal force vector of the mechanical reaction flywheel during the adjustment process;

[0031] The centrifugal force vector is mapped to the base coordinate system of the preset clamping jaw to generate reaction force parameters.

[0032] Optionally, combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object, includes:

[0033] Converting the reaction force parameter into a position offset vector in the orientation coordinate system of the preset conveyor belt;

[0034] Superimposing the position offset vector and the spatial position coordinates of the geometric center feature to generate compensation position coordinates;

[0035] measuring the real-time vibration amplitude of the support frame of the preset conveyor belt at the compensation position coordinate, evaluating the energy matching between the real-time vibration amplitude and the reaction force parameter, and generating a matching evaluation result;

[0036] Scaling the confidence value of the compensated position coordinates according to the matching evaluation result to generate a scaled confidence value;

[0037] The compensated position coordinates and the scaled confidence value are fused to generate stable position data of the preset object.

[0038] Optionally, performing motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions includes:

[0039] Dividing the stable position data to obtain a trajectory point sequence with equal time intervals;

[0040] Connecting adjacent trajectory points in the trajectory point sequence to construct a moving path segment of the preset gripper;

[0041] calculating a curvature change rate of the moving path segment, and segmenting the moving path segment based on the curvature change rate to obtain a straight line segment and a curved line segment;

[0042] Matching the length value of the straight line segment with the radian value of the curve segment, and transmitting the matching result to the time window of the preset running speed of the conveyor belt to obtain a target time window;

[0043] The straight line segment, the curve segment and the target time window are combined to generate three-dimensional movement trajectory parameters and a conveyor belt speed adjustment instruction.

[0044] Optionally, applying the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grasping operation during the spatial displacement process, and simultaneously using the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process, including:

[0045] Analyzing the three-dimensional movement trajectory parameters to generate a movement path point sequence and action marker points of the preset gripper;

[0046] Controlling the preset gripper to move along the movement path point sequence, and triggering the preset gripper to perform an object grabbing operation when detecting that the position of the preset gripper coincides with the action mark point;

[0047] parsing the speed adjustment instruction of the preset conveyor belt to generate a segmented speed queue of the preset conveyor belt;

[0048] Adjusting the conveying rate of the preset conveyor belt according to the segmented speed queue, and monitoring the displacement of the preset conveyor belt in real time to obtain real-time conveyor belt displacement data;

[0049] When the preset gripper moves to the placement position of the preset object, the release position coordinates of the preset object are calculated based on the real-time conveyor belt displacement data;

[0050] The preset clamping jaws are controlled to perform an opening action at the release position coordinates to complete a placement operation of the preset object.

[0051] In a second aspect, the present invention provides a storage and retrieval system with a three-dimensional freedom gripper and a belt conveyor, comprising:

[0052] An acquisition module, used for acquiring point cloud data of a preset object on a preset conveyor belt;

[0053] An analysis module, configured to analyze the spatial distribution characteristics of the point cloud data and generate geometric center characteristics and motion characteristic parameters of the preset object;

[0054] A driving module, configured to input the motion characteristic parameters into an inertia compensation mechanism of the preset clamping jaw, so as to drive a mechanical reaction flywheel of the preset clamping jaw to generate a reaction force parameter;

[0055] a correction module, configured to combine the geometric center feature and the reaction force parameter, and correct the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object;

[0056] A prediction module, configured to perform motion prediction on the continuously changing characteristics of the stable position data and generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions;

[0057] An adjustment module is used to apply the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grasping operation during the spatial displacement process, and at the same time use the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

[0058] In a third aspect, the present invention provides a computing device comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the access methods of the first aspect using a three-dimensional degree of freedom gripper and coordinated belt transmission.

[0059] In a fourth aspect, the present invention provides a computer storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the access method of a three-dimensional degree of freedom clamp coordinated with belt transmission as described in any one of the first aspects.

[0060] This invention directly suppresses vibration interference during high-speed motion by inputting motion characteristic parameters into the gripper's inertia compensation mechanism to drive the flywheel and generate a reaction force. This mechanism also incorporates geometric center characteristics to correct the object's position data on the conveyor belt, dynamically calibrating the object's spatial coordinates while suppressing vibration interference during high-speed motion. This synergistic mechanism of physical vibration suppression and data correction ensures that the trajectory parameters and speed commands generated by subsequent motion predictions precisely match the spatiotemporal relationship between the gripper and the belt. Ultimately, this achieves millimeter-level synchronization accuracy for grabbing and placing operations in high-speed dynamic access scenarios, completely resolving the issues of positioning misalignment and timing disruption caused by vibration.

[0061] Furthermore, the vertical vibration vector is identified by decomposing the motion parameters and mapped to the flywheel rotation angle. The flywheel speed is accurately controlled by combining the amplitude-speed relationship table, and the reaction force parameters are generated by the measured centrifugal force projection to realize the physical cancellation closed loop of vibration energy. The reaction force is simultaneously converted into a position offset vector and superimposed on the geometric coordinates. The matching degree of the support frame vibration amplitude and force parameters is evaluated, and the placement confidence is dynamically scaled and integrated to generate stable position data. In addition, a dual verification mechanism is used to ensure the reliability of position correction through the actual measurement of the flywheel vibration suppression effect and the verification of the compensated position vibration energy, so that the stability of the object's spatial coordinates in high-speed scenarios is significantly improved and the ability to resist sudden interference is significantly enhanced.

[0062] These and other aspects of the present invention will become more readily apparent from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0064] Figure 1 A flowchart of a method for accessing data using a three-dimensional freedom gripper in coordination with a belt conveyor provided by an embodiment of the present invention;

[0065] Figure 2 A schematic structural diagram of a storage and retrieval system with three-dimensional freedom grippers and belt transmission provided by an embodiment of the present invention;

[0066] Figure 3 A schematic diagram of the structure of a computing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0068] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to be different types.

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0070] Figure 1 A flowchart of a method for accessing a three-dimensional freedom gripper in coordination with a belt conveyor is provided for an embodiment of the present invention. Figure 1 As shown, the method includes:

[0071] There are three technical defects in the existing high-speed dynamic access scenarios: First, the vibration of the transmission belt causes distortion of the laser point cloud data, and the point cloud clustering algorithm has difficulty in accurately segmenting moving objects; second, the traditional manipulator lacks a real-time vibration suppression mechanism, resulting in the accumulation of errors in the object position solution; third, vibration interference and belt speed fluctuations cause the gripper to grasp at an inaccurate time and the placement position to shift, which cannot meet the millimeter-level access accuracy requirements. In response to these problems, the research and development ideas of the present invention are: through the analysis of the spatial distribution characteristics of the laser point cloud, the geometric center and motion parameters of the object are generated, and the inertia compensation mechanism of the gripper base is driven to activate the reaction flywheel, and the motion characteristics are converted into physical vibration suppression force parameters; the geometric center coordinates and force parameters are integrated to correct the object position data on the transmission belt to generate stable position information that is resistant to vibration; based on the continuous position change characteristics, the three-dimensional trajectory of the gripper and the belt speed control instructions are predicted, and finally the gripper is controlled to grasp the object during displacement and place it synchronously during the belt speed control stage, to achieve high-precision dynamic access coordination under vibration interference. Based on this, the present invention provides an access method for a three-dimensional degree of freedom gripper coordinated with belt transmission, such as Figure 1 ,include:

[0072] Step 101: Acquire point cloud data of a preset object on a preset conveyor belt.

[0073] In this step, point cloud data refers to the set of spatial coordinates of the object surface obtained by lidar scanning, including position, depth and vibration characteristic information.

[0074] In an embodiment of the present invention, the surface of a preset conveyor belt is first scanned by a laser radar to collect an original point set containing a preset object; secondly, spatial position differentiation is performed on the original point set to separate an independent point set belonging to the object; then, the coordinates of the geometric center point of the independent point set are calculated as spatial position information; then, the displacement changes of the independent point set at the continuous scanning moment are analyzed to extract the moving direction information of the object; finally, the vibration waveform of the conveyor belt support structure is measured, the main frequency direction of the vibration is identified, and the spatial position information, moving direction information and main frequency direction of the vibration are merged into point cloud data.

[0075] Step 102: Analyze the spatial distribution characteristics of the point cloud data to generate geometric center characteristics and motion characteristic parameters of the preset object.

[0076] In this step, the parsing operation refers to the process of density identification, region segmentation and direction decomposition of point cloud data, which is used to extract the geometric and motion characteristics of the object; the spatial distribution feature refers to the density aggregation characteristics of the point cloud data in three-dimensional space, reflecting the distribution law of the object contour and motion trajectory; the geometric center feature refers to the spatial coordinate calculated based on the average position of the object point set, which represents the position of the object's center of mass; the motion feature parameter refers to the parallel and vertical velocity components generated by decomposing the position offset, which describes the object's motion vector and vibration state.

[0077] In an embodiment of the present invention, first, a spatial region in point cloud data having a density higher than a preset threshold is identified; secondly, the spatial region is segmented to form an object point set of the object; then, an oriented coordinate system is established with the running direction of the conveyor belt as the reference axis; then, the position average of the object point set in the oriented coordinate system is calculated as the geometric center point coordinates; then, the position offset of the object point set at continuous time intervals is extracted; finally, the position offset is decomposed into a component parallel to the reference axis and a component perpendicular to the reference axis, the components are merged to generate a moving speed component, and the geometric center point coordinates and the moving speed component are combined to form a geometric center feature and motion feature parameters.

[0078] Step 103: Input the motion characteristic parameters into the inertia compensation mechanism of the preset gripper to drive the mechanical reaction flywheel of the preset gripper to generate reaction force parameters.

[0079] In this step, the inertia compensation mechanism refers to a mechanical device integrated into the gripper base, which is used to convert motion characteristics into flywheel control instructions to achieve vibration suppression; the mechanical reaction flywheel refers to a physical mechanism that generates reverse centrifugal force through rotation, which offsets external vibration energy based on speed regulation; the reaction force parameter refers to the projection value of the flywheel centrifugal force in the gripper base coordinate system, reflecting the magnitude and direction of the force required to suppress vibration.

[0080] In an embodiment of the present invention, the motion characteristic parameters are first decomposed into a first component parallel to the running direction of the conveyor belt and a second component perpendicular to the running direction; secondly, the vibration direction vector with an amplitude exceeding a threshold value in the second component is identified; then the vibration direction vector is mapped to the flywheel rotation plane, and the angle value between the vibration direction vector and the reference axis of the rotation plane is calculated; then a corresponding relationship table between the amplitude intensity of the vibration direction vector and the flywheel speed is established; then the relationship table is queried to output the target speed value; finally, the flywheel is driven to rotate in a directional manner according to the angle value and the speed is adjusted to the target value, the rotating centrifugal force vector is measured and projected to the clamp base coordinate system to generate the reaction force parameter.

[0081] Step 104: combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object.

[0082] In this step, the combination operation refers to the process of superimposing the position offset vector and the geometric coordinates to generate the spatial position data after vibration compensation; the combination result refers to the superimposed compensated position coordinates and their associated confidence assessment values; the correction operation refers to the dynamic scaling of the confidence values ​​to calibrate the position data through the matching evaluation of the support frame vibration amplitude and force parameters; the object position data refers to the original uncompensated object coordinates in the conveyor belt coordinate system; the stable position data refers to the anti-vibration position information that integrates the compensated coordinates and confidence values, which is used for trajectory prediction.

[0083] In an embodiment of the present invention, the reaction force parameter is first converted into a position offset vector in a directional coordinate system; secondly, the position offset vector and the spatial position coordinates of the geometric center feature are superimposed to generate the compensation position coordinates; then the real-time vibration amplitude of the conveyor belt support frame at the compensation position is measured; then the energy matching degree between the real-time vibration amplitude and the reaction force parameter is evaluated to generate a matching evaluation result; then the confidence value of the compensation position coordinate is scaled according to the matching degree; finally, the compensation position coordinate and the scaled confidence value are fused to generate stable position data.

[0084] Step 105: Perform motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions.

[0085] In this step, the continuously changing feature refers to the trajectory point sequence and curvature change trend formed by the stable position data over time; the motion prediction operation refers to the space-time collaborative parameter generation process based on path segment segmentation and time window matching; the three-dimensional movement trajectory parameter refers to the gripper motion path control instruction composed of the straight line segment coordinate set, the curve segment radian and the time window; the conveyor belt speed adjustment instruction refers to the segmented speed queue divided by the time window, which is used to synchronize the belt speed and gripper action.

[0086] In an embodiment of the present invention, the stable position data is first divided into a sequence of trajectory points with equal time intervals; secondly, adjacent points in the trajectory point sequence are connected to construct a gripper movement path segment; then, the curvature change rate of the path segment is calculated; then, the path segment is divided into straight line segments and curved line segments based on the curvature change rate; then, the length of the straight line segment and the radian value of the curved line segment are matched to the time window of the conveyor belt speed to generate a target time window; finally, the straight line segment, the curved line segment and the target time window are combined to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions.

[0087] Step 106: Apply the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grabbing operation during the spatial displacement process, and simultaneously use the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

[0088] In this step, the adjustment operation refers to the dynamic control process of changing the belt running speed in real time according to the speed instruction and monitoring the displacement.

[0089] In an embodiment of the present invention, the three-dimensional movement trajectory parameters are first analyzed to extract the gripper movement path point sequence and action mark points; secondly, the gripper is controlled to move along the path point sequence and triggers the grasping operation when the position coincides with the action mark point; the conveyor belt speed adjustment instruction is synchronously analyzed to generate a segmented speed queue; then the belt speed is adjusted according to the segmented speed queue and the belt displacement is monitored in real time; then, when the gripper moves to the placement position point, the object release position coordinates are calculated in combination with the real-time displacement; finally, the gripper opening action is performed at the release position coordinates to complete the placement operation.

[0090] For example, first, the surface of a high-speed conveyor belt is scanned by a lidar to obtain package point cloud data; secondly, the point cloud density distribution characteristics are analyzed to segment the package point set, the geometric center coordinates are calculated in the directional coordinate system, and the motion offset is decomposed to generate the velocity component; then the gripper flywheel is driven to rotate according to the vibration direction angle and the amplitude-speed relationship table to generate the reaction force parameters; then the position offset vector converted from the force parameter is superimposed to the geometric coordinates, and the confidence level of the support frame vibration amplitude assessment is combined to generate stable position data; then the position data is divided into a trajectory point sequence, the path segments are divided into straight segments and curve segments, and the length and radian are matched to the time window to output the trajectory parameters and speed instructions; finally, the gripper is controlled to move along the trajectory to the marked point to grab the package, and the belt speed is simultaneously adjusted according to the segmented speed and the release position is dynamically calculated in combination with the real-time displacement to complete precise placement.

[0091] The embodiment of the present invention converts motion vibration characteristics into flywheel vibration suppression force parameters through the collaboration of laser point cloud data analysis and inertia compensation mechanism, and integrates geometric coordinates to generate interference-resistant stable position data; based on the continuous position change characteristics, the gripper trajectory and belt speed instructions are predicted to achieve hard real-time collaboration of static triggering in the grasping stage and dynamic calibration in the placement stage, and ultimately achieve millimeter-level access accuracy in high-speed vibration scenarios, breaking through the technical bottlenecks of response lag and lack of physical execution of traditional pure algorithm filtering.

[0092] To address the problem of inaccurate object recognition caused by background noise in the original point cloud, this step extracts independent point sets by spatial location differentiation and generates multidimensional point cloud data in combination with vibration waveform analysis. The present invention provides a specific embodiment, step 101, obtaining point cloud data of a pre-set object on a pre-set conveyor belt, specifically includes the following steps:

[0093] Step 111: Scan the surface of the preset conveyor belt using a preset laser radar device to obtain an original point set of the preset object.

[0094] In this step, the original point set refers to the unprocessed three-dimensional coordinate set generated by the lidar scan, which includes object surface points, belt background points and environmental noise points.

[0095] In an embodiment of the present invention, a laser beam is first emitted by a preset laser radar device to scan the preset conveyor belt surface; secondly, the reflected signal is received to generate an original three-dimensional coordinate set including the object surface and the belt background; finally, the environmental noise is filtered and the valid scanning points are retained to form an original point set.

[0096] Step 112: performing spatial position differentiation processing on the original point set to obtain an independent point set of the preset object.

[0097] In this step, spatial position differentiation processing refers to the operation of separating the object point cloud from the original point set through distance threshold screening and density clustering segmentation; the independent point set refers to the spatial continuous point group obtained by spatial processing, which represents the surface geometry of a single object.

[0098] In an embodiment of the present invention, first, the vertical distance between each point in the original point set and the belt reference plane is calculated; secondly, the points whose distance exceeds a preset threshold are marked as suspended points; then, the adjacent suspended points are aggregated based on a density clustering algorithm; finally, a set of independent points with continuous spatial positions is separated as a point cloud representation of the preset object.

[0099] Step 113: Calculate the coordinates of the geometric center point of the independent point set, and use the coordinates of the geometric center point as the spatial position information of the preset object.

[0100] In this step, the geometric center point coordinates refer to the three-dimensional position obtained by the arithmetic mean of the coordinate components of the independent point set, which reflects the center of mass of the object; the spatial position information refers to the geometric center point coordinates and its associated timestamp, which is used to identify the instantaneous position of the object in space.

[0101] In an embodiment of the present invention, the X, Y, and Z coordinate values ​​of all points in the independent point set are first extracted; secondly, the arithmetic mean of the directions of each coordinate axis is calculated respectively; then, the mean values ​​of the three coordinate axes are combined into a three-dimensional coordinate point; finally, the point is defined as the coordinates of the geometric center point and used as the spatial position information of the object.

[0102] Step 114: Analyze the displacement change characteristics of the independent point set to generate the moving direction information of the preset object.

[0103] In this step, the displacement change feature refers to the coordinate difference and direction change trend of the geometric center point of the same object in continuous time intervals; the analysis operation refers to the process of determining the dominant motion direction of the object through displacement vector decomposition and module length comparison; the moving direction information refers to the unitized representation of the object's motion vector, including the motion angle and speed proportional relationship.

[0104] In an embodiment of the present invention, first, two frames of data of an independent point set at adjacent time stamps are obtained; secondly, the linear displacement of the coordinates of the geometric center point between the two frames is calculated; then, the displacement is decomposed into components in the running direction of the conveyor belt and in the perpendicular direction; finally, the direction with the largest displacement modulus is taken as the moving direction information.

[0105] Step 115: Measure the vibration waveform of the support structure of the preset conveyor belt to identify the main frequency direction of vibration from the vibration waveform.

[0106] In this step, the support structure refers to the metal frame assembly under the conveyor belt, which is used to fix the belt and transmit mechanical vibration; the vibration waveform refers to the time domain signal of the support structure's acceleration in the three-dimensional axis changing with time; the main frequency direction of vibration refers to the spatial axis corresponding to the frequency component with the strongest vibration energy, reflecting the direction of the core vibration source.

[0107] In an embodiment of the present invention, a vibration sensor is first installed on the metal frame of the conveyor belt support structure; secondly, the time domain vibration waveform is collected and Fourier transform is performed; then, the frequency component with the highest energy in the spectrum is extracted; finally, the vibration axis corresponding to the component is determined to be the main frequency direction of the vibration.

[0108] Step 116: Aggregate the spatial position information, the movement direction information, and the vibration main frequency direction to generate point cloud data.

[0109] In this step, the aggregation operation refers to the process of integrating spatial position, movement direction, and vibration direction into multidimensional point cloud data according to a preset data structure.

[0110] In an embodiment of the present invention, a data template containing position, motion, and vibration dimensions is first established; secondly, the spatial position information is filled into the coordinate field; then, the moving direction information is converted into a unit vector and stored in the motion field; finally, the angle value of the vibration main frequency direction is written into the vibration field to complete the structured encapsulation of the point cloud data.

[0111] The embodiments of the present invention use the collaborative acquisition of lidar scanning and vibration sensing, combined with spatial position segmentation and motion vector analysis, to generate multidimensional point cloud data that integrates geometric position, motion trend, and vibration characteristics. This provides high-precision input for subsequent vibration suppression, breaking through the limitation that traditional point clouds only contain position information, and significantly improving the comprehensiveness of object state perception in high-speed scenarios.

[0112] In order to improve the anti-interference ability of motion feature analysis in high-speed scenes, this step decomposes the position offset based on the directional coordinate system, and fuses the center of mass coordinates and velocity components to generate comprehensive feature parameters. The present invention provides a specific embodiment, step 102, analyzing the spatial distribution characteristics of the point cloud data to generate the geometric center characteristics and motion feature parameters of the preset object, specifically including the following steps:

[0113] Step 201: Identify spatial regions in the point cloud data whose density is higher than a preset density threshold, and separate the spatial regions to generate an object point set of the preset object.

[0114] In this step, the preset density threshold refers to the point cloud density critical value set according to the minimum volume of the object, which is used to distinguish the object from the background noise; the segmentation operation refers to the process of dividing adjacent high-density areas into independent point groups through the Euclidean distance clustering algorithm; the object point set refers to the spatially continuous point group obtained by the segmentation operation, which represents the surface geometry of a single object.

[0115] In an embodiment of the present invention, a density threshold is first set to filter the point cloud data; secondly, the three-dimensional space is scanned to identify density-aggregated areas; then, adjacent high-density areas are segmented based on a boundary detection algorithm; and finally, the points within each independent area are extracted to generate an object point set.

[0116] Step 202: Using the running direction of the preset conveyor belt as a reference axis, an orientation coordinate system is established.

[0117] In this step, the orientation coordinate system refers to a three-dimensional rectangular coordinate system that takes the running direction of the conveyor belt as the positive direction of the X-axis and conforms to the right-hand rule.

[0118] In an embodiment of the present invention, the running direction vector of the conveyor belt motor encoder is first obtained; secondly, a coordinate system is established with the vector as the X-axis; then the Y-axis and Z-axis are determined according to the right-hand rule; finally, the parameters of the directional coordinate system are initialized.

[0119] Step 203: Calculate the position average value of the object point set in the oriented coordinate system, and use the coordinates corresponding to the position average value as the object center of mass coordinates.

[0120] In this step, the position average refers to the calculation result of the arithmetic average of the components of all points in the object point set on each coordinate axis; the object center of mass coordinates refers to the three-dimensional space point formed by the position average, which represents the center position of the object mass distribution.

[0121] In an embodiment of the present invention, the X coordinates of all points in the object point set are first read, the sum is divided by the number of points, and the X average value is obtained. Then, the Y average value and the Z average value are calculated. Then, the three average values ​​are combined into a three-dimensional point. Finally, this point is defined as the coordinates of the object's centroid.

[0122] Step 204: extracting the position offset of the object point set within a continuous time interval, and decomposing the position offset to obtain a parallel component parallel to the reference axis and a vertical component perpendicular to the reference axis.

[0123] In this step, the position offset refers to the straight-line distance vector of the centroid coordinates of the same object point set at continuous time intervals; the decomposition operation refers to the process of calculating the vector components by projecting the vector to the direction of the reference axis and its perpendicular plane; the parallel component refers to the projected modulus length value of the position offset in the direction of the conveyor belt; the perpendicular component refers to the projected modulus length value of the position offset on the plane perpendicular to the direction of the belt.

[0124] In an embodiment of the present invention, first, the difference vector of the center of mass coordinates of the object at adjacent moments is obtained; secondly, the cosine value of the angle between the vector and the reference axis is calculated; then, the modulus of the difference vector is multiplied by the parallel component of the cosine value; finally, the square root of the square of the parallel component minus the square of the modulus is used to obtain the vertical component.

[0125] Step 205: Combine the parallel component and the vertical component to generate a moving speed component.

[0126] In this step, the merging operation refers to the process of integrating the axial velocity and the radial velocity into a two-dimensional vector; the moving velocity component refers to the comprehensive motion vector including the linear velocity in the parallel direction and the angular velocity in the perpendicular direction.

[0127] In an embodiment of the present invention, the parallel component is first divided by the time interval to obtain the axial velocity; secondly, the vertical component is divided by the time interval to obtain the radial velocity; then a two-dimensional vector containing the axial velocity and the radial velocity is constructed; finally, the vector is defined as the moving velocity component.

[0128] Step 206: combining the object's center of mass coordinates and the moving speed component to generate geometric center features and motion feature parameters of the preset object.

[0129] In this step, the combination operation refers to the data packaging process of encapsulating the spatial coordinates and the velocity vector into characteristic parameters according to a preset structure.

[0130] In an embodiment of the present invention, a feature data structure is first created including coordinate and velocity fields; secondly, the object's center of mass coordinates are written into the coordinate field; then, the moving velocity component is converted into a unit vector and stored in the velocity field; finally, it is encapsulated into geometric center features and motion feature parameters.

[0131] The embodiment of the present invention accurately extracts the coordinates of the center of mass of an object through the collaboration of density threshold segmentation and directional coordinate system; combines the axial decomposition and velocity synthesis of the position offset to generate comprehensive feature parameters including spatial position and motion vector, providing high-precision input for vibration suppression, and significantly improving the integrity and anti-interference ability of the state perception of moving objects in high-speed scenarios.

[0132] To suppress the impact of the vertical vibration of the conveyor belt on the stability of the gripper, this step maps the vibration direction to the flywheel's rotation plane and, in combination with the amplitude-speed relationship, controls the flywheel to generate a precise reaction force. The present invention provides a specific embodiment, step 103, in which the motion characteristic parameters are input into the inertia compensation mechanism of the pre-set gripper to drive the mechanical reaction flywheel of the pre-set gripper to generate reaction force parameters, specifically comprising the following steps:

[0133] Step 301: Decompose the motion characteristic parameters to obtain a first component parallel to the running direction of the preset conveyor belt and a second component perpendicular to the running direction of the preset conveyor belt.

[0134] In this step, the decomposition operation refers to the process of calculating the orthogonal components of the motion vector projected onto the belt direction and its perpendicular plane; the first component refers to the linear vibration acceleration value parallel to the running direction of the conveyor belt; the second component refers to the angular vibration acceleration value perpendicular to the running plane of the conveyor belt.

[0135] In an embodiment of the present invention, the three-dimensional velocity vector in the motion characteristic parameters is first obtained; secondly, the dot product of the vector and the unit vector of the running direction of the conveyor belt is calculated to obtain the parallel component; then the square root of the parallel component is subtracted from the square of the vector modulus to obtain the vertical component; finally, the linear vibration parallel to the belt and the torsional vibration component perpendicular to the belt are separated.

[0136] Step 302: Identify the vibration direction vector in the second component whose amplitude exceeds a preset amplitude threshold, and map the vibration direction vector to the rotation plane of the mechanical reaction flywheel of the preset clamp to calculate the angle value between the rotation plane and the running direction of the preset conveyor belt.

[0137] In this step, the preset amplitude threshold refers to the minimum effective vibration energy critical value set according to the system's vibration resistance; the vibration direction vector refers to the three-dimensional space unit direction vector corresponding to the maximum vibration energy; the mapping operation refers to the geometric transformation process of converting the space vector to the target plane coordinate system; the rotating plane refers to the rotating two-dimensional plane space when the mechanical reaction flywheel is working; the angle value refers to the acute angle measurement value between the vibration direction vector and the rotating plane reference axis.

[0138] In an embodiment of the present invention, an amplitude threshold is first set to filter out noise in the vertical component; secondly, the vibration direction unit vector corresponding to the maximum amplitude is extracted; then, a flywheel rotating plane coordinate system is established; then, the angle between the vibration vector and the normal vector of the rotating plane is calculated; finally, the angle is projected onto the belt running plane to determine the actual action angle.

[0139] Step 303: establishing a correspondence table between the amplitude intensity of the vibration direction vector and the rotational speed of the mechanical reaction flywheel, so as to obtain a target rotational speed value from the correspondence table.

[0140] In this step, the amplitude intensity refers to the modulus value of the vibration direction vector, which represents the magnitude of the vibration energy; the correspondence table refers to the data set of amplitude and flywheel speed mapping calibrated through experiments; the target speed value refers to the optimal flywheel speed determined by querying the correspondence table based on the current amplitude.

[0141] In an embodiment of the present invention, a pre-stored amplitude-speed mapping curve is first loaded; secondly, the theoretical speed value corresponding to the current amplitude strength is queried; then, the speed deviation is compensated according to the flywheel dynamic parameters; and finally, the compensated target speed value is output to the control system.

[0142] Step 304: Adjust the rotation rate of the mechanical reaction flywheel to be consistent with the target rotation speed value based on the angle value, so as to measure the centrifugal force vector of the mechanical reaction flywheel during the adjustment process.

[0143] In this step, the rotation rate refers to the change in the angular displacement of the flywheel per unit time; the adjustment operation refers to the closed-loop control process of making the actual speed of the flywheel approach the target value through current control; the centrifugal force vector refers to the three-dimensional space vector of the inertial force generated when the flywheel rotates.

[0144] In an embodiment of the present invention, the flywheel is first driven to rotate to a specified angle around the normal vector of the rotating plane; secondly, a preset proportional-integral-differential controller is used to adjust the motor current; then, the speed is fed back in real time through an encoder; then, stable rotation is maintained after reaching the target speed; finally, a strain gauge sensor is used to measure the centrifugal force vector generated by the rotation.

[0145] Step 305: Map the centrifugal force vector to the base coordinate system of the preset gripper to generate reaction force parameters.

[0146] In this step, the base coordinate system refers to the right-hand rectangular coordinate system with the center of the jaw mounting flange as the origin.

[0147] In an embodiment of the present invention, a rectangular coordinate system of the gripper base is first established; secondly, the centrifugal force vector is decomposed into an X-axis component, a Y-axis component, and a Z-axis component; then, the projection value of each component in the base coordinate system is calculated; finally, the projection values ​​are combined into three-dimensional reaction force parameters.

[0148] The embodiment of the present invention controls the directional rotation of the flywheel through the precise decomposition and directional mapping of vibration components, combined with a pre-calibrated amplitude-speed relationship, and generates reaction force parameters through the projection of measured centrifugal force, forming a closed-loop control from vibration characteristics to physical vibration suppression and then to force parameter feedback, effectively eliminating the multi-dimensional vibration interference of the conveyor belt in high-speed scenarios.

[0149] To address the issue of insufficient reliability in vibration compensation position, this step evaluates the matching degree between the support frame vibration amplitude and force parameters, dynamically scaling the position reliability to generate an anti-interference stable position. The present invention provides a specific embodiment, step 104, combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt based on the combined result to generate the stable position data of the preset object, specifically including the following steps:

[0150] Step 401: Convert the reaction force parameter into a position offset vector in the orientation coordinate system of the preset conveyor belt.

[0151] In this step, the conversion operation refers to the physical relationship mapping process of converting force parameters into displacement vectors based on the system stiffness model; the position offset vector refers to the three-dimensional spatial position compensation caused by the reaction force, and its direction is opposite to the vibration direction.

[0152] In an embodiment of the present invention, the three-dimensional components of the reaction force parameters are first read; secondly, the force-displacement conversion ratio is calculated based on the stiffness coefficient of the conveyor belt material; then, each component is multiplied by the corresponding proportional coefficient; finally, a position offset vector in the oriented coordinate system is generated.

[0153] Step 402: Superimpose the position offset vector and the spatial position coordinates of the geometric center feature to generate compensated position coordinates.

[0154] In this step, the spatial position coordinates refer to the X-axis coordinate value, Y-axis coordinate value, and Z-axis coordinate value of the object's center of mass in the oriented coordinate system; the superposition operation refers to the spatial correction calculation of algebraically adding the position compensation amount to the original coordinates; the compensated position coordinates refer to the theoretical spatial position of the object after vibration compensation processing.

[0155] In an embodiment of the present invention, the spatial position coordinates of the geometric center feature are first obtained; secondly, the X component, Y component, and Z component of the position offset vector are added to the spatial position coordinates respectively; then, it is verified whether the superposition result exceeds the belt boundary; finally, the calibrated compensated position coordinates are output.

[0156] Step 403: measuring the real-time vibration amplitude of the support frame of the preset conveyor belt at the compensation position coordinate, evaluating the energy matching between the real-time vibration amplitude and the reaction force parameter, and generating a matching evaluation result.

[0157] In this step, the real-time vibration amplitude refers to the synthetic acceleration modulus value measured at the compensation position of the support frame; the energy matching degree refers to the ratio of the measured vibration energy to the theoretical suppression energy, which represents the vibration suppression effect; the evaluation operation refers to the process of calculating the confidence scaling coefficient through threshold comparison and linear interpolation; the matching degree evaluation result refers to the effectiveness level interval identifier of the energy matching degree.

[0158] In an embodiment of the present invention, an acceleration sensor is first installed on the support frame; secondly, the three-axis vibration time domain signal at the compensation position coordinate is collected; then, the square root of the sum of the squares of the signals is calculated to obtain the synthetic vibration amplitude; finally, the amplitude is divided by the reaction force parameter modulus to obtain the energy matching degree.

[0159] Step 404: Scale the confidence value of the compensated position coordinates according to the matching evaluation result to generate a scaled confidence value.

[0160] In this step, the confidence value refers to a quantitative indicator of the credibility of the compensated position coordinates, ranging from 0 to 1; the scaling operation refers to the process of adjusting the confidence value according to the preset rules based on the matching evaluation results; the scaled confidence value refers to the coordinate credibility weight coefficient after dynamic adjustment.

[0161] In an embodiment of the present invention, the confidence level of the compensated position coordinates is first initialized to a maximum value; secondly, the confidence level is linearly reduced when the energy matching degree is lower than a threshold; then, the confidence level is capped when the matching degree is too high; and finally, the scaled confidence level is output.

[0162] Step 405: Fusing the compensated position coordinates and the scaled confidence value to generate stable position data of the preset object.

[0163] In this step, the fusion operation refers to the encapsulation process of combining spatial coordinates with confidence weights to generate interference-resistant position data.

[0164] In an embodiment of the present invention, a stable position data structure is first established; secondly, the compensated position coordinates are written into the coordinate field; then, the coordinate accuracy identifier is weighted according to the scaled confidence value; and finally, it is packaged into vibration-resistant stable position data.

[0165] The embodiment of the present invention generates compensation coordinates through force-displacement conversion, combines the measured vibration energy of the support frame to evaluate the vibration suppression effect and dynamically adjust the confidence level, and finally integrates them to generate stable position data that is resistant to interference. This breaks through the technical limitation of the disconnection between theoretical values ​​and measured values ​​in traditional vibration compensation, and significantly reduces positioning errors in high-speed scenarios compared with traditional methods.

[0166] To achieve hard real-time coordination between the gripper path and the belt speed, this step maps the straight line length and curve radian to a time window to generate spatiotemporal coupled motion control parameters. The present invention provides a specific embodiment, step 105, which performs motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional motion trajectory parameters and conveyor belt speed adjustment instructions, specifically including the following steps:

[0167] Step 501: Divide the stable position data to obtain a trajectory point sequence with equal time intervals.

[0168] In this step, the partitioning operation refers to the process of generating discrete trajectory points by slicing stable position data of equal length; the trajectory point sequence refers to a set of three-dimensional spatial coordinates arranged in time sequence, representing the sampling points of the object's motion trajectory.

[0169] In the embodiment of the present invention, first, a stable position data stream is intercepted according to a fixed sampling period; second, discrete position points are sorted using timestamps as indices; and finally, a sequence of trajectory points with uniform time intervals is generated for use in path construction.

[0170] Step 502: Connect adjacent trajectory points in the trajectory point sequence to construct a moving path segment of the preset gripper.

[0171] In this step, the connection operation refers to the geometric construction process of linking adjacent trajectory points with straight line segments to form a continuous path; the moving path segment refers to a straight line path unit formed by connecting two adjacent trajectory points.

[0172] In an embodiment of the present invention, the trajectory point sequence is first read in chronological order; secondly, two adjacent points are connected with a straight line; then, whether the line segment interferes with an obstacle is checked; and finally, a set of collision-free moving path line segments is output.

[0173] Step 503: Calculate the curvature change rate of the moving path segment, and segment the moving path segment based on the curvature change rate to obtain straight line segments and curved line segments.

[0174] In this step, the curvature change rate refers to the change in the directional angle per unit length of the path segment, reflecting the rate of change of the path curvature; the segmentation operation refers to the process of classifying the path segment into a straight line or a curve according to the curvature change rate threshold; the straight line segment refers to the path segment whose curvature change rate approaches zero, representing the linear movement stage of the gripper; the curved line segment refers to the path segment whose curvature change rate exceeds the threshold, representing the rotational movement stage of the gripper.

[0175] In an embodiment of the present invention, the tangent direction angle difference between the two ends of the moving path segment is first calculated; secondly, the angle difference is divided by the segment length to obtain the curvature change rate; then a threshold is set to distinguish between straight lines and curves; finally, the path segment is divided into two categories: straight line segments and curve segments.

[0176] Step 504: Match the length value of the straight line segment with the radian value of the curve segment, and transmit the matching result to the time window of the preset running speed of the conveyor belt to obtain a target time window.

[0177] In this step, the length value refers to the actual spatial distance measurement value of the straight line segment; the radian value refers to the numerical value of the center angle of the curve segment; the matching operation refers to the mathematical mapping process of converting spatial geometric quantities into time parameters; the matching result refers to the set of calculated values ​​of the straight line segment time consumption and the curve segment time consumption; the time window refers to the effective action time period of the conveyor belt speed instruction; the target time window refers to the speed control time period generated by the matching result mapping.

[0178] In an embodiment of the present invention, the Euclidean distance of a straight line segment is first measured as a length value; secondly, the central angle from the start point to the end point of the curve segment is calculated as a radian value; then, the length value is divided by the maximum linear velocity to obtain the straight line time; then, the radian value is divided by the maximum angular velocity to obtain the curve time; and finally, the time value is mapped to the time window for conveyor belt speed control.

[0179] Step 505: Combine the straight line segment, the curve segment, and the target time window to generate three-dimensional movement trajectory parameters and a conveyor belt speed adjustment instruction.

[0180] In this step, the combination operation refers to the data encapsulation process of integrating spatial path parameters and time control parameters.

[0181] In an embodiment of the present invention, a trajectory parameter structure is first created; secondly, the coordinates of the endpoints of the straight line segment and the arc of the center of the curve segment are stored; then the speed instruction queue is divided according to the time window; and finally, it is encapsulated into three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions.

[0182] The embodiment of the present invention converts straight-line distance and curve radian into a precise time control window through path curvature feature segmentation and space-time mapping mechanism, achieving hard real-time coordination between the gripper motion trajectory and the conveyor belt speed, breaking through the technical bottleneck of the disconnection between spatial path and time control in traditional trajectory planning, and improving the time synchronization accuracy of high-speed access operations to millisecond level.

[0183] To eliminate placement position offsets caused by belt movement, this step dynamically calibrates the release coordinates by displacement, achieving millisecond-level synchronization between grab triggering and placement correction. The present invention provides a specific embodiment, step 106, which utilizes the three-dimensional motion trajectory parameters to control the preset gripper to perform an object grabbing operation during spatial displacement, while simultaneously utilizing the conveyor belt speed adjustment instructions to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process, specifically comprising the following steps:

[0184] Step 601: Analyze the three-dimensional movement trajectory parameters to generate a movement path point sequence and action marker points of the preset gripper.

[0185] In this step, the parsing operation refers to the process of field decomposition and key information extraction of structured parameter data; the moving path point sequence refers to a set of three-dimensional coordinates arranged in the order of movement, which guides the spatial trajectory of the gripper; the action marker point refers to the preset trigger position coordinates in the path sequence, which is associated with the grasping / placing operation instructions.

[0186] In an embodiment of the present invention, the path point coordinate array in the three-dimensional motion trajectory parameters is first read; secondly, the action flag embedded in the parameters is identified; then the path points are extracted to form a sequence set; finally, the position corresponding to the flag is defined as the action marking point.

[0187] Step 602: Control the preset gripper to move along the movement path point sequence, and when it is detected that the position of the preset gripper coincides with the action mark point, trigger the preset gripper to perform an object grasping operation.

[0188] In this step, the trigger operation refers to a control mechanism that automatically executes a preset action when the spatial positions coincide.

[0189] In an embodiment of the present invention, the gripper servo motor is first controlled to drive the robotic arm to move according to a sequence of path points; secondly, the spatial coordinates of the gripper end effector are collected in real time; then, the Euclidean distance between the coordinates and the action marker point is calculated; finally, when the distance is less than the positioning error tolerance, the gripper closing mechanism is triggered to perform grasping.

[0190] Step 603: parsing the speed adjustment instruction of the preset conveyor belt to generate a segmented speed queue of the preset conveyor belt.

[0191] In this step, the segmented speed queue refers to a set of speed instructions arranged in time sequence, including a time window and a target speed value.

[0192] In an embodiment of the present invention, the binary data stream of the conveyor belt speed adjustment instruction is first parsed; secondly, the time-speed value pair field is identified; then a speed queue is generated by sorting by timestamp; finally, it is encapsulated into a segmented speed control instruction set.

[0193] Step 604: adjusting the conveying rate of the preset conveyor belt according to the segmented speed queue, and monitoring the displacement of the preset conveyor belt in real time to obtain real-time conveyor belt displacement data.

[0194] In this step, the adjustment operation refers to the dynamic control process of changing the running speed of the conveyor belt by adjusting the motor power; the conveyor rate refers to the change in linear displacement of the conveyor belt per unit time; the displacement refers to the accumulated linear movement distance of the conveyor belt from the reference position; the real-time conveyor belt displacement data refers to the displacement measurement value stream with timestamp, which represents the dynamic position of the belt.

[0195] In an embodiment of the present invention, the segmented speed queue is first input into the belt frequency conversion controller; secondly, the motor drive current is adjusted to change the drum speed; then the belt displacement is monitored in real time through the rotary encoder; finally, a displacement data stream with a timestamp is output.

[0196] Step 605: When the preset gripper moves to the placement position of the preset object, the release position coordinates of the preset object are calculated based on the real-time conveyor belt displacement data.

[0197] In this step, the placement position point refers to the preset coordinates of the target position for releasing the object; the release position coordinates refer to the three-dimensional coordinates of the actual placement point after dynamic calibration of the belt displacement.

[0198] In an embodiment of the present invention, firstly, the preset static placement position coordinates are obtained; secondly, the current conveyor belt displacement data is read; then, the displacement vector is superimposed on the static placement coordinates; and finally, the release position coordinates after dynamic calibration are calculated.

[0199] Step 606: Control the preset gripper to open at the release position coordinate to complete the placement operation of the preset object.

[0200] In this step, the control operation refers to the process of issuing instructions to drive the gripper actuator to complete the specified action.

[0201] In an embodiment of the present invention, the gripper is first controlled to move to the release position coordinate; secondly, a delay is performed to wait for the position to stabilize; then, the pneumatic valve is activated to open the gripper; and finally, an object separation signal is detected to complete the placement operation.

[0202] The embodiment of the present invention accurately triggers the grasping operation through action markers, dynamically calibrates the release position in combination with the belt displacement, realizes hard and real-time coordination between the gripper and the conveyor belt in the time and space dimensions, and controls the placement position error of objects in high-speed motion scenarios within plus or minus 1 mm, breaking through the accuracy limitations of the traditional static placement mode.

[0203] Figure 2 The present invention provides a schematic structural diagram of a three-dimensional freedom gripper coordinated belt transmission access system, as shown in FIG. Figure 2 As shown, the system includes:

[0204] An acquisition module 21 is used to acquire point cloud data of a preset object on a preset conveyor belt;

[0205] An analysis module 22 is used to analyze the spatial distribution characteristics of the point cloud data and generate geometric center characteristics and motion characteristic parameters of the preset object;

[0206] A driving module 23 is configured to input the motion characteristic parameters into an inertia compensation mechanism of the preset gripper to drive a mechanical reaction flywheel of the preset gripper to generate reaction force parameters;

[0207] a correction module 24 for combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object;

[0208] A prediction module 25 is used to perform motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions;

[0209] The adjustment module 26 is used to apply the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grasping operation during the spatial displacement process, and at the same time use the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

[0210] Figure 2 The three-dimensional freedom gripper coordinated belt transmission access system can be implemented Figure 1 The implementation principles and technical effects of the three-dimensional gripper-assisted belt conveyor access method described in the illustrated embodiment are not further elaborated. The specific manner in which the various modules and units perform operations in the three-dimensional gripper-assisted belt conveyor access system described in the aforementioned embodiment have been described in detail in the relevant embodiments of the method and will not be further elaborated here.

[0211] In one possible design, Figure 2 The 3D-freedom gripper and belt-transport access system of the embodiment shown can be implemented as a computing device, such as Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0212] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component 32 .

[0213] The processing component 32 is used to: obtain point cloud data of a preset object on a preset conveyor belt; analyze the spatial distribution characteristics of the point cloud data to generate geometric center characteristics and motion characteristic parameters of the preset object; input the motion characteristic parameters into the inertia compensation mechanism of the preset gripper to drive the mechanical reaction flywheel of the preset gripper to generate reaction force parameters; combine the geometric center characteristics and the reaction force parameters, and correct the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object; perform motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions; apply the three-dimensional movement trajectory parameters to control the preset gripper to perform object grasping operations during the spatial displacement process, and at the same time use the conveyor belt speed adjustment instructions to adjust the speed of the preset conveyor belt to perform object placement operations during the adjustment process.

[0214] The processing component 32 may include one or more processors to execute computer instructions to perform all or part of the steps in the above method. Of course, the processing component may also be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above method.

[0215] The storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0216] Of course, a computing device may also include other components, such as input / output interfaces, display components, communication components, etc.

[0217] The input / output interface provides an interface between the processing component and the peripheral interface module, which can be an output device, an input device, etc.

[0218] The communication component is configured to facilitate, among other things, wired or wireless communications between the computing device and other devices.

[0219] Among them, the computing device can be a physical device or an elastic computing host provided by a cloud computing platform, etc. In this case, the computing device can refer to a cloud server, and the above-mentioned processing components, storage components, etc. can be basic server resources rented or purchased from the cloud computing platform.

[0220] The embodiment of the present invention further provides a computer storage medium storing a computer program, which can achieve the above-mentioned Figure 1 The embodiment shown is a storage and retrieval method using a three-dimensional freedom gripper in conjunction with belt conveyor.

[0221] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0222] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0223] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0224] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A three-dimensional freedom gripper and belt conveyor access method, characterized in that: include: Obtaining point cloud data of a preset object on a preset conveyor belt; Analyzing the spatial distribution characteristics of the point cloud data to generate geometric center characteristics and motion characteristic parameters of the preset object; Inputting the motion characteristic parameters into an inertia compensation mechanism of a preset clamping jaw to drive a mechanical reaction flywheel of the preset clamping jaw to generate reaction force parameters; Combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object; Performing motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions; The three-dimensional movement trajectory parameters are applied to control the preset gripper to perform an object grabbing operation during the spatial displacement process, and the conveyor belt speed adjustment instruction is used to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

2. The method according to claim 1, characterized in that Obtain point cloud data of pre-set objects on a pre-set conveyor belt, including: Scanning the surface of a preset conveyor belt using a preset laser radar device to obtain an original point set of a preset object; Performing spatial position differentiation processing on the original point set to obtain an independent point set of the preset object; Calculating the coordinates of the geometric center point of the independent point set, and using the coordinates of the geometric center point as the spatial position information of the preset object; Analyzing the displacement change characteristics of the independent point set to generate moving direction information of the preset object; measuring a vibration waveform of a support structure of the preset conveyor belt to identify a main frequency direction of vibration from the vibration waveform; The spatial position information, the moving direction information, and the vibration main frequency direction are aggregated to generate point cloud data.

3. The method according to claim 1, characterized in that Analyzing the spatial distribution characteristics of the point cloud data to generate the geometric center characteristics and motion characteristic parameters of the preset object includes: Identifying a spatial region in the point cloud data having a density higher than a preset density threshold, and separating the spatial region to generate an object point set of the preset object; Taking the running direction of the preset conveyor belt as the reference axis, an orientation coordinate system is established; Calculating the position average of the object point set in the oriented coordinate system, and taking the coordinates corresponding to the position average as the coordinates of the object's center of mass; Extracting position offsets of the object point set within continuous time intervals, and decomposing the position offsets to obtain a parallel component parallel to the reference axis and a perpendicular component perpendicular to the reference axis; Combining the parallel component and the vertical component to generate a moving speed component; The object's center of mass coordinates and the moving speed component are combined to generate geometric center features and motion feature parameters of the preset object.

4. The method according to claim 1, wherein Inputting the motion characteristic parameters into the inertia compensation mechanism of the preset gripper to drive the mechanical reaction flywheel of the preset gripper to generate reaction force parameters, including: Decomposing the motion characteristic parameters to obtain a first component parallel to the running direction of the preset conveyor belt and a second component perpendicular to the running direction of the preset conveyor belt; Identifying a vibration direction vector in the second component whose amplitude exceeds a preset amplitude threshold, and mapping the vibration direction vector to a rotation plane of a mechanical reaction flywheel of the preset clamping jaw to calculate an angle between the rotation plane and a running direction of the preset conveyor belt; Establishing a correspondence table between the amplitude intensity of the vibration direction vector and the rotational speed of the mechanical reaction flywheel, so as to obtain a target rotational speed value from the correspondence table; adjusting the rotational speed of the mechanical reaction flywheel to be consistent with the target rotational speed value based on the included angle value, so as to measure the centrifugal force vector of the mechanical reaction flywheel during the adjustment process; The centrifugal force vector is mapped to the base coordinate system of the preset clamping jaw to generate reaction force parameters.

5. The method according to claim 1, wherein Combining the geometric center feature and the reaction force parameter, and correcting the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object, including: Converting the reaction force parameter into a position offset vector in the orientation coordinate system of the preset conveyor belt; Superimposing the position offset vector and the spatial position coordinates of the geometric center feature to generate compensation position coordinates; measuring the real-time vibration amplitude of the support frame of the preset conveyor belt at the compensation position coordinate, evaluating the energy matching between the real-time vibration amplitude and the reaction force parameter, and generating a matching evaluation result; Scaling the confidence value of the compensated position coordinates according to the matching evaluation result to generate a scaled confidence value; The compensated position coordinates and the scaled confidence value are fused to generate stable position data of the preset object.

6. The method according to claim 1, characterized in that Performing motion prediction on the continuously changing characteristics of the stable position data to generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions, including: Dividing the stable position data to obtain a trajectory point sequence with equal time intervals; Connecting adjacent trajectory points in the trajectory point sequence to construct a moving path segment of the preset gripper; calculating a curvature change rate of the moving path segment, and segmenting the moving path segment based on the curvature change rate to obtain a straight line segment and a curved line segment; Matching the length value of the straight line segment with the radian value of the curve segment, and transmitting the matching result to the time window of the preset running speed of the conveyor belt to obtain a target time window; The straight line segment, the curve segment and the target time window are combined to generate three-dimensional movement trajectory parameters and a conveyor belt speed adjustment instruction.

7. The method according to claim 1, characterized in that Applying the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grasping operation during the spatial displacement process, and simultaneously using the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process, including: Analyzing the three-dimensional movement trajectory parameters to generate a movement path point sequence and action marker points of the preset gripper; Controlling the preset gripper to move along the movement path point sequence, and triggering the preset gripper to perform an object grabbing operation when detecting that the position of the preset gripper coincides with the action mark point; parsing the speed adjustment instruction of the preset conveyor belt to generate a segmented speed queue of the preset conveyor belt; Adjusting the conveying rate of the preset conveyor belt according to the segmented speed queue, and monitoring the displacement of the preset conveyor belt in real time to obtain real-time conveyor belt displacement data; When the preset gripper moves to the placement position of the preset object, the release position coordinates of the preset object are calculated based on the real-time conveyor belt displacement data; The preset clamping jaws are controlled to perform an opening action at the release position coordinates to complete a placement operation of the preset object.

8. A three-dimensional freedom gripper and belt conveyor access system, characterized in that: include: An acquisition module, used for acquiring point cloud data of a preset object on a preset conveyor belt; An analysis module, configured to analyze the spatial distribution characteristics of the point cloud data and generate geometric center characteristics and motion characteristic parameters of the preset object; A driving module, configured to input the motion characteristic parameters into an inertia compensation mechanism of the preset clamping jaw, so as to drive a mechanical reaction flywheel of the preset clamping jaw to generate a reaction force parameter; a correction module, configured to combine the geometric center feature and the reaction force parameter, and correct the object position data of the preset conveyor belt according to the combination result to generate stable position data of the preset object; A prediction module, configured to perform motion prediction on the continuously changing characteristics of the stable position data and generate three-dimensional movement trajectory parameters and conveyor belt speed adjustment instructions; An adjustment module is used to apply the three-dimensional movement trajectory parameters to control the preset gripper to perform an object grasping operation during the spatial displacement process, and at the same time use the conveyor belt speed adjustment instruction to adjust the speed of the preset conveyor belt to perform an object placement operation during the adjustment process.

9. A computing device, characterized in that It comprises a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement an access method for a three-dimensional freedom gripper coordinated belt transmission as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that A computer program is stored, and when the computer program is executed by a computer, an access method of a three-dimensional freedom clamp coordinated with a belt transmission as described in any one of claims 1 to 7 is implemented.

Images