Product detection method and device

Abstract

The invention discloses a product detection method and device, and is applied to the technical field of product detection.The method comprises the steps that a to-be-detected product is grabbed through a mechanical arm, the mechanical arm comprises a mechanical arm body and a plurality of joints rotationally connected with the mechanical arm body in sequence, and the multiple joints comprise the rotating joints; and a rotating joint of the mechanical arm is controlled to rotate, so that the mechanical arm moves to a target positioning point corresponding to the product detection station along a movable track for product detection, the movable track of the mechanical arm is an arc with the center position of the mechanical arm as the circle center and the radius as the preset distance, and the movable track comprises a plurality of positioning points. The noise of the industrial robot is reduced by optimizing the movable track of the mechanical arm and controlling the moving path of the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of product detection, and in particular to a product detection method and device. BACKGROUND

[0002] This section is intended to provide background information to facilitate an understanding of embodiments of the application as set forth in the claims. The description herein does not constitute admission of prior art.

[0003] With the development of industrial robots, industrial robots have been increasingly applied in the field of automation. Common industrial robots achieve the best positioning accuracy, speed and load of themselves, and ignore their own noise. Some application fields have high requirements for noise.

[0004] Common industrial robots program each motion of the mechanical arm according to the process flow, and the noise is high. SUMMARY

[0005] One purpose of the present application is to provide a product detection method, which reduces the noise of industrial robots by optimizing the movable track of the mechanical arm and controlling the movement path of the mechanical arm. Another purpose of the present application is to provide a product detection device.

[0006] In order to achieve the above purpose, one aspect of the present application discloses a product detection method, comprising:

[0007] The mechanical arm includes a mechanical arm body and a plurality of joints connected in sequence with the mechanical arm body, and the plurality of joints include a rotating joint.

[0008] The rotating joint of the mechanical arm is controlled to rotate so that the mechanical arm moves along a movable track to a target positioning point corresponding to a product detection station for product detection, wherein the movable track of the mechanical arm is an arc with the center position of the mechanical arm as the center and a preset distance as the radius, and the movable track includes a plurality of positioning points.

[0009] Preferably, the movable track includes a standby area, an operation area corresponding to each product detection station respectively, and an avoidance area for avoiding the action of the product detection station.

[0010] Each area of the movable track is provided with at least one positioning point.

[0011] Preferably, the standby area includes a standby positioning point corresponding to the position of the product to be detected.

[0012] The product to be detected is grabbed by the mechanical arm, comprising:

[0013] if the robot arm is not located at the picking position and the distance between the robot arm and the standby positioning point is less than the distance between the robot arm and the picking position, the robot arm is located at the standby positioning point;

[0014] controlling the robot arm to move to the picking position to pick the product to be detected;

[0015] controlling the robot arm that picks the product to be detected to move to the standby positioning point.

[0016] Preferably, the operation area comprises a detection positioning point corresponding to the product detection station;

[0017] controlling the rotation joint of the robot arm to rotate to make the robot arm move along the movable track to the target positioning point corresponding to the product detection station to detect the product comprises:

[0018] making the target product detection station corresponding to the product to be detected in a detection state;

[0019] controlling the rotation joint of the robot arm to rotate to make the robot arm move along the movable track to the detection positioning point of the target product detection station;

[0020] controlling the robot arm to move to the target product detection station to place the product to be detected for product detection.

[0021] Preferably, the product detection station comprises a plurality of product detection stations located on one side of the product conveying line, and the interval area of the plurality of product detection stations forms the avoidance area, and the avoidance positioning point is arranged on the movable track of the avoidance area;

[0022] The method further comprises:

[0023] Before the target product detection station corresponding to the product to be detected is in a detection state, the robot arm moves to the avoidance positioning point or a preset standby positioning point to wait.

[0024] Preferably, the method further comprises:

[0025] When the robot arm is moved to the target position, the robot arm is moved to the positioning point on the movable track closest to the robot arm based on the current position of the robot arm;

[0026] determining the target positioning point on the movable track closest to the target position;

[0027] controlling the robot arm to move to the target positioning point on the movable track, and then to the target position.

[0028] Preferably, the plurality of positioning points further comprise a zero reset auxiliary positioning point, and the zero reset auxiliary positioning point is arranged in the avoidance area.

[0029] The method further comprises:

[0030] If the mechanical arm is controlled abnormally, the mechanical arm is controlled to move to a nearest zero-return auxiliary positioning point.

[0031] Preferably, the rotary joints at least include a first joint and a last joint arranged in a sequence of connection with the mechanical arm body in the plurality of joints.

[0032] Preferably, each product detection station is respectively provided with a sensing area of movement of the mechanical arm, and the method further comprises:

[0033] Determine an operable product detection station based on a current position of the mechanical arm and a position range of the sensing area of each product detection station.

[0034] Control the target product detection station to be in the detection state according to whether the target product detection station corresponding to the product to be detected is in an operable state.

[0035] Another aspect of the present application discloses a product detection device, comprising:

[0036] A product taking and placing module is configured to grasp a product to be detected by a mechanical arm, the mechanical arm comprising a mechanical arm body and a plurality of joints connected in sequence with the mechanical arm body, and the plurality of joints comprising rotary joints.

[0037] A product detection module is configured to control the rotary joints of the mechanical arm to rotate so that the mechanical arm moves along a movable track to a target positioning point corresponding to a product detection station for product detection, wherein the movable track of the mechanical arm is an arc with a center position of the mechanical arm as a center and a preset distance as a radius, and the movable track comprises a plurality of positioning points.

[0038] The product detection method of the present application sets the movable track of the mechanical arm as an arc with a center position of the mechanical arm as a center and a preset distance as a radius, and the movable track comprises a plurality of positioning points. Thus, during product detection, the product to be detected is grasped by the mechanical arm, the rotary joints of the mechanical arm are controlled to rotate so that the mechanical arm moves along the movable track to the target positioning point corresponding to the product detection station for product detection. Therefore, the present application sets the movable track of the mechanical arm as an arc, and during product detection, the mechanical arm moves to the product detection station through the positioning points on the arc-shaped movable track for product detection. During this movement, only part of the rotary joints of the mechanical arm need to be rotated to move the product to the product detection station, and the other joints of the mechanical arm can remain stationary. By optimizing the movement track of the mechanical arm, multi-segment motion of the mechanical arm is controlled, and the operation of the mechanical arm is smooth without jamming, thereby greatly reducing the movement noise of the mechanical arm during product detection. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0040] Figure 1 This is a flowchart illustrating a specific embodiment of the product testing method of this application;

[0041] Figure 2 This is a top view of a specific embodiment of the product testing method of this application;

[0042] Figure 3 This is a schematic diagram of the structure of a specific embodiment 100 of the product testing method according to this application;

[0043] Figure 4 This is a front view of a specific embodiment of the product testing method according to this application.

[0044] Figure 5 This is a schematic diagram of the point structure for the movement of the robotic arm in a specific embodiment of the product testing method of this application.

[0045] Figure 6 This is a schematic diagram of the point structure of the sensing area in a specific embodiment of the product detection method of this application;

[0046] Figure 7 This is a flowchart illustrating a specific embodiment S100 of the product testing method according to an example of this application.

[0047] Figure 8 This is a flowchart illustrating a specific embodiment S200 of the product testing method according to this application.

[0048] Figure 9 This is a flowchart illustrating the target positioning point in a specific embodiment of the product testing method of this application.

[0049] Figure 10 This is a flowchart illustrating the sensing area of ​​a specific embodiment of the product testing method described in this application.

[0050] Figure 11 This is a schematic diagram of the product testing device according to an embodiment of this application;

[0051] Figure 12 A schematic diagram of a computer device suitable for implementing embodiments of the present invention is shown.

[0052] Figure label:

[0053] 100, mechanical arm; 200, conveyor belt; 300, mechanical arm body. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the text only represents a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0055] It should be understood that the terms "first", "second" and the like in the description and claims of the present application and the drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0056] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0057] In order to solve at least one of the problems existing in the prior art, according to one aspect of the present application, the embodiments disclose a product detection method. As shown in Figure 1 The method includes:

[0058] S100: grabbing a product to be detected by a mechanical arm, the mechanical arm including a mechanical arm body and a plurality of joints connected in turn with the mechanical arm body, the plurality of joints including a rotary joint.

[0059] As shown in Figure 3 The mechanical arm body 300 is a fixed part of an industrial robot, and the mechanical arm body 300 is fixed on a fixed structure such as a workbench to provide stable support for the entire mechanical arm and bear the entire weight of the mechanical arm and the force and torque generated during work.

[0060] The mechanical arm body is connected with multiple joints in sequence through connecting rods, and the joints are equipped with servo motors and reducers. The joint is a key component for the mechanical arm to realize flexible movement. The motor drives the reducer to drive the joint to rotate, and the rotation of the joint drives the connecting rod to move, thereby realizing the change of the position and posture of the end of the mechanical arm in the three-dimensional space. The end of the mechanical arm can be installed with various tools and clamps, such as grippers, welding guns, spray guns, etc., to meet different work task requirements.

[0061] Preferably, the mechanical arm is a 6-axis mechanical arm, which is a series robot structure with 6 independent joints connected in sequence. Each joint corresponds to one degree of freedom, and the 6 degrees of freedom can meet the control requirements of any position in the three-dimensional space, i.e. the end of the mechanical arm can reach any position in the three-dimensional space.

[0062] S200: controlling the rotation joint of the mechanical arm to move the mechanical arm along the movable track to the target positioning point corresponding to the product detection station for product detection, wherein the movable track of the mechanical arm is an arc with the position of the center of the mechanical arm (such as the o point shown in the figure) as the center and a preset distance as the radius, and the movable track includes multiple positioning points. Figures 5-6

[0063] It should be noted that the movable track of the mechanical arm is set as an arc in the present application, so that multiple joints of the mechanical arm do not need to participate in rotation when the mechanical arm rotates along the arc-shaped track. The movement of the mechanical arm along the arc-shaped track can be realized by part of the multiple joints. Therefore, one or more joints of the multiple joints of the mechanical arm can be selected as the rotation joint in advance, and the movement of the mechanical arm along the arc-shaped movable track can be realized only by the rotation of the rotation joint. The determination of the rotation joint can be set according to actual requirements, and the present application does not limit this.

[0064] In addition, it should be noted that the center of the mechanical arm is the rotation center of the mechanical arm, which can be determined based on the rotation center of the first joint connected to the mechanical arm body. The preset distance between the arc-shaped movable track and the center of the mechanical arm can be determined based on the position range required to be moved by the mechanical arm. By setting a reasonable preset distance, the working efficiency of the mechanical arm can be effectively improved, the noise can be reduced, and interference with other structures can be avoided.

[0065] ​The movable track of the mechanical arm in the product detection method is an arc with the center position of the mechanical arm as the center and a preset distance as the radius, and the movable track includes a plurality of positioning points. Thus, when detecting the product, the mechanical arm is used to grab the product to be detected, and the rotating joint of the mechanical arm is controlled to rotate to move the mechanical arm to the target positioning point corresponding to the product detection station along the movable track to detect the product. Thus, the movable track of the mechanical arm is set as an arc, and when detecting the product, the mechanical arm moves to the product detection station through the positioning points on the arc-shaped movable track to detect the product. In this movement process, only the rotating joint of the mechanical arm needs to be rotated to move the product to the product detection station, and the other joints of the mechanical arm can remain stationary. The movement track of the mechanical arm is optimized to control the multi-section movement of the mechanical arm, and the operation of the mechanical arm is smooth and not stuck, which greatly reduces the movement noise of the mechanical arm during product detection.

[0066] In an optional embodiment, the movable track includes a standby area, an operation area corresponding to each product detection station respectively, and an avoidance area for avoiding the action of the product detection station, and each area of the movable track is provided with at least one positioning point.

[0067] Specifically, it can be understood that, as shown in Figures 2-4 When detecting the product, the product to be detected is usually transported by a conveying belt 200 or other conveying device, the working robot controls the mechanical arm 100 to grab the product to be detected from the conveying device and moves the product to be detected to the product detection station through the movement of the mechanical arm 100 to detect the product, and then grabs the detected product from the detection station and puts it back on the conveying device.

[0068] The detection station usually has a plurality of detection boxes to form a closed detection space to detect the product. When the mechanical arm puts the product to be detected into the detection box of the product detection station, the door of the detection box needs to be opened first, then the mechanical arm puts the product to be detected into the detection box, and grabs the product in the detection box that has completed the detection and puts it back on the conveying device.

[0069] Thus, when setting the movable track of the mechanical arm, the movable track of the mechanical arm is set to include a standby area, an operation area corresponding to each product detection station respectively, and an avoidance area for avoiding the action of the product detection station, considering the opening and closing operation of the door of the detection box. The range of the standby area can be set close to the product conveying device, so as to quickly grasp and place the product from the standby area, and quickly move to the product detection station along the movable track. The range of the operation area of the product detection station is set close to the product detection station, so that the mechanical arm can quickly move to the product detection station to perform the action of grasping or placing the product. The range of the avoidance area can be determined according to the range involved in the opening or closing of the door of the detection box of the product detection station, so that the mechanical arm will not collide with the door when the door is opened or closed.

[0070] At least one positioning point is arranged in each area in the movement area, and the mechanical arm moves point to point between the positioning points to realize the position switching of the mechanical arm between different areas of the movable track. For example, one or more standby positioning points can be arranged in the standby area, one or more detection positioning points can be arranged in the operation area, and one or more avoidance positioning points can be arranged in the avoidance area.

[0071] In a specific example, as shown in Figure 5 The product detection station includes a first product detection station B1 and a second product detection station B2 on one side of the product conveying line, and a third product detection station B3 and a fourth product detection station B4 on the other side of the product conveying line. The movable track includes a standby area corresponding to the product conveying device, first to fourth operation areas corresponding to the first to fourth product detection stations respectively, a first avoidance area located between the first product detection station B1 and the second product detection station B2, and a second avoidance area located between the third product detection station B3 and the fourth product detection station B4; the standby area is provided with a standby positioning point 0, the first to fourth operation areas are respectively provided with first to fourth operation positioning points 1 to 4, and the first avoidance area and the second avoidance area are respectively provided with a first avoidance positioning point 5 and a second avoidance positioning point 6.

[0072] In an optional embodiment, the standby area includes a standby positioning point corresponding to a grasping position of the product to be detected, as shown in Figure 7 The S100 includes the following steps:

[0073] S110: If the mechanical arm is not located at the grasping position and the distance between the mechanical arm and the standby positioning point is less than the distance between the mechanical arm and the grasping position, the mechanical arm is located at the standby positioning point.

[0074] S120: controlling the robot arm to move to the grabbing position to grab the product to be detected.

[0075] S130: controlling the robot arm grabbing the product to be detected to move to the standby positioning point.

[0076] Specifically, it can be understood that the robot arm needs to grab the product to be detected from the product conveying device. If the robot arm is located at the grabbing position of the product to be detected, the product can be directly grabbed. If the distance between the robot arm and the standby positioning point is greater than or equal to the distance between the robot arm and the grabbing position, the robot arm can be directly moved to the grabbing position to grab the product.

[0077] If the robot arm is not located at the grabbing position and the distance between the robot arm and the standby positioning point is less than the distance between the robot arm and the grabbing position, the robot arm is located at the standby positioning point or other places far away from the grabbing position, the robot arm is kept at the standby positioning point or moved to the standby positioning point through the movable track, that is, the robot arm is first located at the standby positioning point, and then the robot arm is controlled to move to the grabbing position to grab the product to be detected. The robot arm grabbing the product to be detected first moves to the standby positioning point and then moves to the corresponding product detection station through the movable track. Such a product grabbing path is set to reduce the motion complexity of the robot arm when moving the product and reduce the noise of the robot arm.

[0078] For example, in Figure 5 In one specific example shown, the position 7 and the position 8 are the grabbing position and the placing position of the product respectively, and the standby positioning point 0 can be set in the standby area close to the position 7 and the position 8. When the end position of the robot arm is far away and the product needs to be grabbed, the robot arm is first moved to the standby positioning point 0, and then moved from the positioning point 0 to the grabbing position 7. After grabbing the product from the product conveying device at the position 7, the robot arm returns to the positioning point 0, and then moves to other positioning points along the arc-shaped movable track from the positioning point 0.

[0079] In an optional embodiment, the operation area includes a detection positioning point corresponding to the product detection station, as shown in Figure 8 The S200 controls the rotation joint of the robot arm to rotate to make the robot arm move along the movable track to the target positioning point corresponding to the product detection station for product detection, including:

[0080] S210: making the target product detection station corresponding to the product to be detected in a detection state.

[0081] S220: controlling the rotation joint of the robot arm to rotate to make the robot arm move along the movable track to the detection positioning point of the target product detection station.

[0082] S230: controlling the robot arm to move to the target product detection station to place the product to be detected for product detection.

[0083] Specifically, before the product is transported to the product detection station for product detection, the target product detection station is first put into the detection state to avoid the interference between the movement trajectory of the mechanical arm and the action of the product detection station when it is changed into the detection state, and collision. For example, when a detection box is used to detect the product, the box door of the detection box needs to be opened to send the product into the detection box, so the box door of the detection box needs to be opened before the mechanical arm moves to the detection positioning point, and then the mechanical arm moves to the detection positioning point. At the detection positioning point, the mechanical arm controls the product to be sent into the detection box with the opened box door for product detection. In this process, the mechanical arm only needs to rotate through part of the rotating joint when moving along the movable trajectory, without the participation of all joints, smooth operation process, and low noise of the mechanical arm.

[0084] For example, for Figure 5 In the specific example shown, when the product to be tested grabbed by the mechanical arm at the standby positioning point needs to be placed in the detection box 2 on the second product detection station B2 for testing, the box door of the detection box 2 needs to be opened before the mechanical arm moves to the detection positioning point 2 to put the product detection station into the detection state. The side of the detection box 2 close to the detection positioning point 2 is provided with a box door, which can be opened by rotating clockwise around the pivot P towards the detection positioning point 2. If the mechanical arm is located at the detection positioning point, the box door will collide with the mechanical arm. Therefore, before the mechanical arm moves to the detection positioning point 2, the box door of the detection box 2 needs to be opened, and after the mechanical arm puts the product to be tested into the detection box 2 for product detection, it returns to the detection positioning point 2. The mechanical arm moves to the avoidance positioning point or the detection positioning point corresponding to the other product detection station, and then the box door of the detection box 2 is closed again.

[0085] In an optional embodiment, the product detection station includes a plurality of product detection stations located on one side of the product conveying line, and the interval area of the plurality of product detection stations forms the avoidance area, and the avoidance area is provided with an avoidance positioning point on the movable trajectory; the method further includes:

[0086] S400: Before the target product detection station corresponding to the product to be detected is in the detection state, the mechanical arm moves to the avoidance positioning point or a preset standby positioning point to wait.

[0087] Specifically, the product detection station is usually provided with multiple product detection stations, and the target product detection station of the mechanical arm can be in the process of opening the door of the detection box or other mechanisms such as other mechanical arms are working, and the mechanical arm cannot move to the corresponding detection positioning point at present, so in this embodiment, the avoidance area where the mechanical arm can safely stay is determined in the interval area of multiple product detection stations, and in order to smoothly move the mechanical arm and reduce noise, the avoidance positioning point is selected on the movable track of the avoidance area, so that when the target product detection station of the mechanical arm is being converted to the detection state or other problems exist, the mechanical arm cannot move to the detection positioning point of the target product detection station, and can stay at the avoidance positioning point and wait.

[0088] For example, Figure 5 In the scheme shown, after the mechanical arm completes the product into the detection box at the product detection station B2, it needs to move away from the detection positioning point 2 to make the door of the detection box 2 closed for product detection. At this time, when the mechanical arm needs to move to the detection positioning point 1 of the product detection station B1, it needs to make the door of the detection box 1 of the product detection station B1 open to be in the detection state. Before the door of the detection box 1 is opened, the mechanical arm needs to avoid and wait at the avoidance positioning point 5 between the product detection station B1 and the product detection station B2 to prevent collision.

[0089] In a specific example, the mechanical arm is provided with a claw, and the claw can grab two products at the same time. First, open the door of the detection box 2, control the mechanical arm to move to the detection positioning point 2, put one product into the detection box 2, and take out the product that has been detected in the detection box 2. If the door of the detection box 1 has been opened, directly move to the detection positioning point 1, if the door of the detection box 1 has not been opened or other problems exist, the mechanical arm first moves to the avoidance positioning point 5 to wait, and when the door of the detection box 1 is opened and is in the detection state, the mechanical arm moves to the detection positioning point 1, puts the other product to be detected into the detection box for product detection, and takes out the product that has been detected in the detection box 1. Then the mechanical arm moves back to the standby positioning point 0, and moves from the standby positioning point 0 to the product placement position to put the product that has been detected back to the product conveying device. Similarly, the product detection and taking and placing processes of the product detection station B3 and the product detection station B4 are similar to the above, and will not be described here.

[0090] In an optional embodiment, as Figure 9 shown, the method further comprises:

[0091] S510: When the mechanical arm is moved to the target position, the mechanical arm is moved to the positioning point on the movable track closest to the mechanical arm based on the current position of the mechanical arm.

[0092] S520: Determine the target positioning point on the movable track closest to the target position.

[0093] S530: controlling the robot arm to move to the target positioning point along the movable track, and then to the target position.

[0094] Specifically, when the robot arm needs to move to a specified target position, the robot arm is first moved to the closest positioning point on the movable track, then moved to the closest target positioning point on the movable track to the target position, and then moved from the target positioning point to the target position. This robot arm control method divides the possible complex robot joint movement of the robot arm moving to the target position into multiple segments of segmented operation, so that most of the movement track of the robot arm moving to the target position is located on the arc-shaped movable track, thereby reducing the complexity of the robot arm operation, making the movement of the robot arm smooth and reducing the noise generated by the movement of the robot arm.

[0095] For example, in a specific example, a 6-axis spatial coordinate system is set for the robot arm, and the movement of the robot arm joints can be described by a spatial coordinate (x, y, z, A, B, C) formed by 6 spatial coordinate system coordinates, where A, B, and C are the rotation angles around the x, y, and z axes, respectively. When implementing the above scheme by a 6-axis robot arm, the movement rule is set as follows: the first joint (the first joint) and the sixth joint (the last joint) are only rotated in the x direction, x and y are not moved when moving in the z direction, and only the sixth joint is rotated in the C coordinate. Then it is determined whether there is a positioning point on the movable track closest to the current position. If there is, the movement of x, z, and C is below the set threshold, and the robot arm at the current position is moved to the closest positioning point by the above movement rule.

[0096] It should be noted that the robot arm position described in the present application is the end position of the robot arm, and the robot arm grasps the product by setting a grasping mechanism (e.g., a jaw) at the end of the robot arm.

[0097] In an optional embodiment, the plurality of positioning points further include a zero-return auxiliary positioning point, and the zero-return auxiliary positioning point is arranged in the avoidance area; the method further includes:

[0098] S600: If the robot arm control is abnormal, the robot arm moves to the closest zero-return auxiliary positioning point.

[0099] Specifically, it can be understood that in the prior art, the movement of the robot arm is usually controlled by an upper computer, but the upper computer may lose the position of the robot arm due to abnormal situations such as communication problems during the process of controlling the movement position of the robot arm. In order to enable the upper computer to determine the position of the robot arm after the exception is eliminated, a zero-return auxiliary positioning point is arranged on the movable track, so that when an abnormality such as a communication problem occurs, the robot arm moves to the zero-return auxiliary positioning point and waits for the position to be re-established with the upper computer after the exception is eliminated.

[0100] The zero-return auxiliary positioning point is arranged in the avoidance area. The mechanical arm is safer when stopping at the zero-return auxiliary positioning point in the avoidance area, and moving to the zero-return auxiliary positioning point along the movable track only needs to rotate part of the joints, thereby reducing the noise generated by the mechanical arm.

[0101] In an optional embodiment, the rotating joint at least includes a first joint and a last joint arranged in the sequence of connection of the mechanical arm body in the plurality of joints.

[0102] Specifically, since the movable track is arc-shaped, the rotating joint of the mechanical arm can move on the arc-shaped movable track by rotating. The first joint and the last joint of the mechanical arm can be selected as the rotating joint. The rotating angle is quickly and greatly adjusted through the first joint, and then the angle is finely and accurately adjusted through the last joint, so that the fast and accurate positioning point movement of the mechanical arm is realized. For example, for a 6-axis mechanical arm, when the mechanical arm moves on the movable track, only the first joint and the sixth joint can be moved, and the other joints remain unchanged, so that the noise is reduced in the case of quickly completing the positioning point movement.

[0103] In an optional embodiment, each product detection station is correspondingly provided with a sensing area of the movement of the mechanical arm, as shown in Figure 10 The method further includes:

[0104] S710: determining the operable product detection station based on the current position of the mechanical arm and the position range of the sensing area of each product detection station.

[0105] S720: controlling the target product detection station to be in the detection state according to the target product detection station corresponding to the product to be detected and whether the target product detection station is in the operable state.

[0106] Specifically, it can be understood that the range involved in the operation of the product detection station can be determined in advance. When the mechanical arm is in the range involved in the operation, the operation of the product detection station needs to be determined to avoid collision with the mechanical arm. At the same time, the operation of other product detection stations is safe and will not collide with the mechanical arm. Therefore, the sensing area corresponding to each product detection station can be set. If the mechanical arm is located in the sensing area of a product detection station, the operation of other product detection stations can be normally performed without the need for determination. Therefore, the operable product detection station can be determined according to the sensing area in which the mechanical arm is located, so that the operation of opening the detection box door on the product detection station can be performed in advance when the mechanical arm is located in the sensing area of other product detection stations, thereby reducing the waiting time of the mechanical arm, reducing the product detection cycle (CT), and improving the production capacity.

[0107] Optionally, two sensing points near the edge of the sensing area are set at both ends of the movable track in the sensing area of the product detection station, if the mechanical arm passes one sensing point, it enters the sensing area, if the mechanical arm passes the other sensing point again, it leaves the sensing area, the sensing area where the mechanical arm is located is determined by the moving track of the mechanical arm passing the sensing points, and then the product detection station that can be operated is determined.

[0108] For example, in a specific example, as shown in Figure 6 two sensing points A3 and A4 are set on the movable track in the sensing area of the product detection station B2, two sensing points A1 and A2 are set on the movable track in the sensing area of the product detection station B1, two sensing points A5 and A6 are set on the movable track in the sensing area of the product detection station B3, and two sensing points A7 and A8 are set on the movable track in the sensing area of the product detection station B4, then the sensing area where the mechanical arm is located is determined by detecting the track of the mechanical arm passing the sensing points A1-A8.

[0109] Optionally, sensing points corresponding to other positioning points on the movable track other than the detection positioning points can also be set to determine the product detection station that can be operated when the mechanical arm is at these other positioning points. For example, sensing points A9 and A10 corresponding to the avoidance positioning points can be set, when the mechanical arm is at the sensing points A9 and A10, the product detection stations B1-B4 can all be operated.

[0110] According to another aspect of the present application, the embodiment also discloses a product detection device, as shown in Figure 11 The device comprises a product taking and placing module 11 and a product detection module 12.

[0111] The product taking and placing module 11 is used to grasp the product to be detected by a mechanical arm, the mechanical arm comprises a mechanical arm body and a plurality of joints connected in turn with the mechanical arm body, and the plurality of joints comprise a rotating joint.

[0112] The product detection module 12 is used to control the rotating joint of the mechanical arm to rotate so that the mechanical arm moves along a movable track to a target positioning point corresponding to a product detection station for product detection, wherein the movable track of the mechanical arm is an arc with the center position of the mechanical arm as the center and a preset distance as the radius, and the movable track comprises a plurality of positioning points.

[0113] Since the problem-solving principle of the device is similar to the above method, the implementation of the device can be referred to the implementation of the method, which will not be described here.

[0114] The present application also discloses a product detection system, which comprises a product detection device and a mechanical arm as described in the embodiment.

[0115] Optionally, the product detection system can further include a product detection station and a product conveying device.

[0116] Since the principle of solving problems of the system is similar to the above method, the implementation of the system can refer to the implementation of the method, which will not be repeated here.

[0117] The embodiment of the application further provides a computer device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the above method when executing the computer program.

[0118] The embodiment of the application further provides a computer readable storage medium, which stores a computer program, and the computer program is executable on the processor to implement the above method.

[0119] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product, and the system, device, module or unit illustrated in the above embodiments can be implemented by a computer chip or entity, or by a product with certain functions. A typical implementation device is a computer device, and specifically, the computer device can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0120] In a typical example, the computer device specifically includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method executed by the client as described above when executing the program, or the processor implements the method executed by the server as described above when executing the program.

[0121] Reference is made below to Figure 12 which shows a structural schematic diagram of a computer device 600 suitable for implementing the embodiments of the application.

[0122] As shown in Figure 12 , the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate operations and processes according to programs stored in a read-only memory (ROM) 602 or programs loaded from a storage portion 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0123] The following components are connected to the I / O interface 605: an input part 606 including a keyboard, a mouse, etc.; an output part 607 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 608 including a hard disk, etc.; and a communication part 609 including a network interface card such as a LAN card, a modem, etc. The communication part 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 606 as necessary. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 610 as necessary, so that a computer program read out therefrom is installed in the storage part 608 as necessary.

[0124] In particular, the processes described above with reference to the flow charts can be implemented as computer software programs in accordance with embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program tangibly embodied on a machine readable medium, the computer program including program code for executing methods illustrated by the flow charts. In such embodiments, the computer program can be downloaded and installed from a network via the communication part 609, and / or installed from the removable medium 611.

[0125] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media such as modulated data signals and carriers.

[0126] For the convenience of description, the above apparatus is described in various units by function. Of course, the functions of the units can be implemented in the same or more software and / or hardware in the implementation of the present application.

[0127] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks Figure 1 one or more flows and / or blocks

[0128] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart Figure 1 one or more flows and / or blocks Figure 1 one or more flows and / or blocks

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks Figure 1 one or more flows and / or blocks

[0130] It is also noted that the aforementioned embodiments can be implemented as a method, apparatus, and computer program product, if desired. The computer program instructions can be executed by a processor to cause a series of operational steps to be performed on the computer or other programmable apparatus.

[0131] Those skilled in the art will appreciate that embodiments of the present application can be devised for a variety of computer-implemented processes. Embodiments of the present application can also be embodied as computer readable storage devices containing computer readable program code.

[0132] The application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in local and remote computer storage media including memory storage devices.

[0133] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, the system embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments.

[0134] The above only describes the embodiments of the application and is not intended to limit the application. The application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the application shall be included in the scope of the claims of the application.

Claims

1. A product testing method, characterized in that, include: The robotic arm grasps the product to be inspected. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints are rotary joints. The robotic arm's rotary joints are controlled to rotate, causing the robotic arm to move along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance, and the movable trajectory includes multiple positioning points.

2. The product testing method according to claim 1, characterized in that, The movable trajectory includes a standby area, an operating area corresponding to each product testing station, and an avoidance area to avoid the actions of the product testing station. Each area of ​​the movable trajectory is provided with at least one positioning point.

3. The product testing method according to claim 2, characterized in that, The standby area includes a standby positioning point corresponding to the gripping position of the product to be tested; The process of grasping the product to be inspected using a robotic arm includes: If the robotic arm is not in the grasping position and the distance between the robotic arm and the standby positioning point is less than the distance between the robotic arm and the grasping position, then the robotic arm is positioned at the standby positioning point. Control the robotic arm to move to the gripping position and grip the product to be inspected; Control the robotic arm that grasps the product to be tested to move to the standby positioning point.

4. The product testing method according to claim 2, characterized in that, The operating area includes detection positioning points corresponding to the product testing station; The process of controlling the rotation of the robotic arm's joints to move the robotic arm along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection includes: This puts the target product testing station corresponding to the product to be tested into a testing state. Controlling the rotation of the robotic arm's joints causes the robotic arm to move along a movable trajectory to the detection positioning point of the target product detection station; The robotic arm is controlled to move to the target product inspection station and place the product to be inspected for product inspection.

5. The product testing method according to claim 4, characterized in that, The product inspection station includes multiple product inspection stations located on one side of the product transmission line. The interval area between the multiple product inspection stations forms the avoidance area. Avoidance positioning points are set on the movable trajectory of the avoidance area. The method further includes: Before the target product inspection station corresponding to the product to be inspected is in the inspection state, the robotic arm moves to the avoidance positioning point or the preset standby positioning point to wait.

6. The product testing method according to claim 1, characterized in that, Also includes: When the robotic arm is moved to the target position, based on the current position of the robotic arm, the robotic arm is moved to the positioning point on the movable trajectory that is closest to the robotic arm; Determine the target location point on the movable trajectory that is closest to the target location; The robotic arm is controlled to move along the movable trajectory to the target positioning point, and then to the target position.

7. The product testing method according to claim 1, characterized in that, The plurality of positioning points also includes a zero-return auxiliary positioning point, which is located in the avoidance area; The method further includes: If the robotic arm malfunctions, control the robotic arm to move to the nearest zero-return auxiliary positioning point.

8. The product testing method according to claim 1, characterized in that, The rotary joint includes at least the first and last joints of the plurality of joints arranged in the order of connection with the robotic arm body.

9. The product testing method according to claim 4, characterized in that, Each product inspection station is equipped with a corresponding sensing area for the movement of the robotic arm. The method further includes: The operable product inspection stations are determined based on the current position of the robotic arm and the position range of the sensing area of ​​each product inspection station. The target product testing station is controlled to be in the testing state based on the target product testing station corresponding to the product to be tested and whether the target product testing station is in an operable state.

10. A product testing device, characterized in that, include: The product pick-and-place module is used to pick up the product to be inspected by a robotic arm. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints, there are rotary joints. The product inspection module is used to control the rotation of the robotic arm's joints so that the robotic arm moves along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points.

Images