Robot dynamic control method and system for sorting
By setting material waiting positions and calculating positional relationships in the assembly line robotic sorting equipment, and dynamically controlling the belt conveyor and robot start/stop, the problem of materials not being able to be picked up in time is solved, achieving efficient sorting and low backflow, thus improving production efficiency.
Patent Information
- Application Number
- CN202610062125.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-17
- Publication Date
- 2026-03-17
AI Technical Summary
Existing automated robotic sorting equipment suffers from high return rates and increased equipment costs when materials cannot be picked up in time at high speeds, especially when feeding materials intermittently or unevenly.
By setting material waiting positions and calculating positional relationships, the dynamic start and stop of the conveyor belt and robot can be controlled to ensure that materials wait or are grasped within the grasping range, thus avoiding unnecessary equipment additions.
Without increasing equipment costs, sorting efficiency was improved, return rate was reduced, high sorting speed and high gripping rate were ensured, and production efficiency was increased.
Smart Images
Figure CN121670664A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robot control technology, specifically to a dynamic control method and system for sorting robots. Background Technology
[0002] Material sorting is an essential step in factory production and logistics. Currently, automated robotic sorting is gradually replacing traditional manual sorting. Automated robotic sorting provides enterprises with higher production efficiency and better objective quality assurance than manual sorting, thus implementing controllable production at every step of industrial production. In automated robotic sorting, assembly line robotic sorting equipment is widely used. This assembly line robotic sorting equipment typically consists of a feeding device, a conveyor belt, a vision system, and a sorting robot. The robot controls the start and stop of the feeding device and the conveyor belt. The feeding device places materials onto the conveyor belt. As the conveyor belt rotates, the materials travel along the belt through the vision system. The vision system identifies the materials and sends information such as the material coordinates to the robot. The robot then tracks and grasps the materials based on the material coordinates and encoder data.
[0003] Current automated robotic sorting equipment requires its conveyor belt to rotate rapidly to maintain sufficient feeding and fully utilize the robot's efficiency in order to achieve high sorting speeds. However, when there is a lot of material on the conveyor belt, the sorting robot may not be able to pick it up in time, and the unpicked material needs to be returned or reloaded. In this situation, to improve the picking rate and reduce the return rate, especially when the material cannot be repeatedly bumped, two methods are traditionally used: First, reduce the speed of the conveyor belt to give the robot sufficient time to pick it up; second, use multiple robots in series, with each subsequent robot picking up the material that the preceding robot could not pick up in time. The first method of reducing the speed cannot guarantee that there is enough material on the conveyor belt, especially when the feeding is discontinuous or uneven, the robot will be in a waiting state, which may even be a long time, thus reducing work efficiency. The second method of series connection not only greatly increases the cost of the equipment, but also requires that the material on the conveyor belt cannot exceed the overall picking capacity of the series of robots, otherwise, there will still be material that cannot be picked up in time.
[0004] In view of this, the present invention proposes a robot dynamic control method and system for sorting, defining a material waiting position; when material on the conveyor belt reaches the material waiting position before it can be grabbed, the system stops the conveyor belt rotation; after the robot has grabbed all the material at the material waiting position, the system starts the conveyor belt rotation; when no material reaches the material waiting position, the conveyor belt continues to rotate. The method and system proposed in this invention can maintain a high conveyor belt speed and ensure sufficient feeding without increasing equipment costs, maximizing sorting speed while ensuring that a large amount of material on the conveyor belt is grabbed. This greatly improves the grabbing rate and significantly reduces the return rate, thereby significantly improving overall production efficiency. Summary of the Invention
[0005] The problem solved by this invention is to provide a dynamic control method and system for a sorting robot, which can solve problems such as belt speed limitations and high return rates without increasing equipment costs, thereby greatly improving sorting efficiency.
[0006] To address the aforementioned problems, this invention proposes a dynamic control method for a sorting robot, comprising the following steps: Material waiting position setting: Set a material waiting position within the robot's grasping range in the direction of material movement on the belt; Material position determination involves calculating the maximum position among all material positions on the conveyor belt and analyzing the positional relationship between the maximum position and the material waiting position. The belt start / stop control stops the belt from rotating when material that the robot cannot pick up in time reaches the material waiting position; it starts rotating again when the robot picks up all the material at the waiting position; and it continues to rotate when no material reaches the waiting position. The robot's grasping control works as follows: if there is material within the grasping range, the robot continuously performs motion tracking and grasping; if there is no material within the grasping range, the robot waits.
[0007] Accordingly, the present invention also provides a robot dynamic control system based on the above method, comprising: The material waiting position setting module is used to set or input a position in the direction of material movement on the belt within the robot's grasping range, which is recorded as the material waiting position. The material position determination module is connected to the material waiting position setting module. Based on the material waiting position input by the material waiting position setting module, it calculates the positional relationship between the maximum position of the material on the belt and the material waiting position. The belt start / stop control module is connected to the material position determination module. Based on the positional relationship calculated by the material position determination module, it controls the start or stop of the belt. The robot gripping control module is connected to the belt start / stop control module. If there is material within the gripping range, the robot will continuously perform gripping operations. If there is no material within the gripping range, the robot will wait.
[0008] Therefore, this invention controls the start and stop of the conveyor belt by setting the material waiting position and calculating the positional relationship, achieving a high material feeding speed under a high-speed conveyor belt, thereby ensuring a high sorting speed and a low return rate. This system effectively solves the sorting efficiency problem, realizes intelligent control of sorting, reduces long-term enterprise production costs, and improves enterprise production efficiency and economic benefits. Attached Figure Description
[0009] Figure 1 The flowchart shown is a dynamic control method for a sorting robot according to Embodiment 1 of the present invention.
[0010] Figure 2 The diagram shows the module composition of the robot dynamic control system for sorting according to Embodiment 2 of the present invention. Detailed Implementation
[0011] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.
[0012] Please see Figures 1 to 2 It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0013] Figure 1 An embodiment of the robot dynamic control method for sorting according to the present invention is shown, the method comprising the following steps: S1, Material waiting position setting: Set a material waiting position within the robot's grasping range in the direction of material movement on the belt; S2, Material position determination, calculates the maximum position among all material positions on the belt, and analyzes the positional relationship between the maximum position and the material waiting position; S3, belt start / stop control, starts or stops the rotation of the belt line based on the calculated positional relationship determined by the material position; S4, Robot gripping control: If there is material within the gripping range, the robot will continuously perform motion tracking and gripping; if there is no material within the gripping range, the robot will wait.
[0014] In step S1, the material waiting location Defined as a position in the direction of material movement on the belt. Without loss of generality, the belt rotates in one direction; the position variable in the direction of material movement is defined as... ;Location The position of the material on the belt increases in the direction of material movement; the dynamic change in the position of the material on the belt is achieved by an encoder installed on the belt. Further, the material waiting position... Within the robot's grasping range ,in and These are the positions in the direction of material movement on the belt and Preferably, the material waiting location Approaching the robot's maximum gripping position .
[0015] In step S2, the material position determination is achieved by calculating the maximum position among all material positions on the belt. Compare the largest positions and material waiting location Positional relationship between The positions of all materials on the belt do not include positions greater than [the specified position]. The material location. The aforementioned positional relationship. The calculation formula is: ; in, It is the set first distance threshold, which satisfies ; It is the set second distance threshold, which satisfies .
[0016] Step S3 is based on the positional relationship calculated in step S2. Controls the start or stop of the belt. (Regarding positional relationship) When the conveyor belt stops rotating, the position of the material on the conveyor belt does not change; when the positional relationship The conveyor belt rotates, and the position of the material on the belt changes according to the encoder input. Once the robot picks up a piece of material from the conveyor belt, that material is no longer part of the conveyor belt's material inventory. Update according to the method described in step S2, and then update according to the updated positional relationship in step S3. Control the start and stop of the conveyor belt. When material that cannot be picked up in time reaches the material waiting position, the conveyor belt stops rotating, and the unpicked material waits for the robot to pick it up. Once the robot has picked up all the material at the waiting position, the conveyor belt starts rotating again. When no material arrives at the waiting position, the conveyor belt continues to rotate.
[0017] Step S4 controls the robot to grasp the material. If the material is within the grasping range on the conveyor belt... With the material in hand, the robot continuously tracks and grasps the moving parts; when the material is within the grasping range on the conveyor belt... If there are no materials available, the robot will move to the waiting position and wait.
[0018] Based on the same inventive concept Figure 2 An embodiment of the robot dynamic control system for sorting according to the present invention is shown, the system comprising: The material waiting position setting module is used to set or input the position within the robot's grasping range. A position in the direction of material movement on the conveyor belt is denoted as the material waiting position. ; The material location determination module is connected to the material waiting position setting module, and determines the material waiting position based on the material waiting position input by the material waiting position setting module. Calculate the maximum position of the material on the belt. and material waiting location Positional relationship between ; The belt start / stop control module is connected to the material position determination module, and controls the belt position based on the positional relationship calculated by the material position determination module. Controls the start or stop of the conveyor belt; The robot gripping control module is connected to the belt start / stop control module. If there is material within the gripping range, the robot will continuously perform gripping operations. If there is no material within the gripping range, the robot will wait.
[0019] Furthermore, the conveyor belt of the material waiting position setting module rotates in one direction; the position variable in the direction of material movement on the conveyor belt... The range of material movement on the belt increases; the dynamic change in the position of the material on the belt is achieved through an encoder module installed on the belt. The robot's grasping range... of and These are the positions in the direction of material movement on the belt and .
[0020] Furthermore, the material position determination module includes: The maximum position calculation module is used to calculate the maximum position among all material positions on the belt. The positions of all materials on the belt do not include positions greater than [the specified position]. The location of the material; The position comparison module, connected to the maximum position calculation module, is used to calculate the maximum position. and material waiting location Positional relationship between The aforementioned positional relationship The calculation formula is: ; in, It is the set first distance threshold, which satisfies ; It is the set second distance threshold, which satisfies .
[0021] Furthermore, the belt start / stop control module includes: The rotation control and position update module is used to determine the positional relationship based on the material position determination module. Control the rotation of the belt; when the positional relationship When the conveyor belt stops rotating, the position of the material on the conveyor belt does not change; when the positional relationship The belt conveyor starts to rotate, and the position of the material on the belt changes according to the input of the encoder; The material rejection module, connected to the rotation control module, is used to reject a material from the conveyor belt after the robot picks it up, and to send an update signal to the material position determination module, thereby re-establishing the positional relationship. It is updated in a timely manner.
[0022] Furthermore, the robot gripping control module is used to control the robot to grip materials if they are within the gripping range on the conveyor belt. With the material in hand, the robot continuously tracks and grasps the moving parts; when the material is within the grasping range on the conveyor belt... If there are no materials available, the robot will move to the waiting position and wait.
[0023] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.
Claims
1. A robot dynamic control method for sorting, characterized by, Possessing the following steps: S1, material waiting position setting, setting a material waiting position in the robot's graspable range in the direction of the belt material movement; S2, material position determination, calculating the maximum position among all material positions on the belt, analyzing the positional relationship between the maximum position and the material waiting position; S3, belt start-stop control, starting or stopping the rotation of the belt line according to the positional relationship calculated by the material position S2 determination; S4, robot grasping control, if there is material in the material graspable range, the robot always performs motion tracking grasping, and if there is no material in the graspable range, the robot waits.
2. The dynamic control method of claim 1, wherein, The material waiting position is arranged in the graspable range of the robot in the material moving direction of the belt The method for arranging the material waiting position comprises: The belt line is rotated in one direction, and the position variable in the direction of belt material movement Increases in the direction of belt material movement; dynamic changes in the position of the belt material are achieved by means of encoders installed on the belt line; material waiting position Within the graspable range of the robot wherein and are the positions in the direction of belt material movement, respectively .
3. The dynamic control method of claim 1, wherein, The maximum position among positions of all materials on the belt is calculated The position relationship between the maximum position And the material waiting position Is analyzed A material position determination method is recorded calculating the position relationship between the maximum position and the material waiting position ; calculating the maximum position and the position relationship between the maximum position and the material waiting position , the calculation formula of the position relationship ； wherein, is a set first distance threshold value, satisfying ; is a set second distance threshold value, satisfying .
4. The dynamic control method according to claim 1 and 4, wherein all material positions on the belt are characterized by: The material position on the belt does not include positions greater than the material position.
5. The dynamic control method of claim 1, wherein, Determining the positional relationship according to the material position S2 Starting or stopping the rotation of the belt line, denoted as a belt start-stop control method, comprises: when the position relationship , the belt line stops rotating, and the position of the material on the belt line does not change; when the position relationship , the belt line rotates, and the position of the material on the belt line changes according to the input of the encoder; when the robot picks up a material from the belt line, the material no longer belongs to the materials on the belt line, and the position relationship is updated according to the method of step S2, and step S3 controls the start and stop of the belt line according to the updated position relationship .
6. The dynamic control method of claim 1, wherein, The robot grasping control method includes: If there is material in the material graspable range, the robot always performs motion tracking grasping, and if there is no material in the graspable range, the robot waits.
7. A robotic dynamic control system for sorting, characterized by, The system includes: The material waiting position setting module is configured to set or input a position in the moving direction of the belt material within the robot's graspable range, which is recorded as the material waiting position. The material waiting position setting module is configured to set or input a position in the moving direction of the belt material within the robot's graspable range, which is recorded as the material waiting position. The material waiting position setting module is configured to set or input a position in the moving direction of the The material position determination module is connected with the material waiting position setting module, and determines the position relationship between the maximum position in the material position on the belt and the material waiting position according to the input material waiting position of the material waiting position setting module . The material position determination module is connected with the material waiting position setting module, and determines the position relationship between the maximum position in the material position on the belt and the material waiting position according to the input material waiting position of the material waiting position setting module . A belt start-stop control module is connected with the material position determination module, and controls the start or stop of the belt according to the position relationship calculated by the material position determination module. A robot grasping control module connected to the belt start-stop control module, which always performs grasping work when there is material in the material graspable range, and waits when there is no material in the graspable range.
8. The robot dynamic control system for sorting according to claim 7, wherein the material waiting position setting module is characterized by: The position of the belt material in the direction of movement of the belt material is variable The position of the belt material in the direction of movement of the belt material is variable The position of the belt material in the direction of movement of the belt material is variable wherein and are the positions of the belt material in the direction of movement of the belt material, respectively .
9. The robotic dynamic control system for sorting of claim 7, wherein The material position determination module includes: a maximum position calculation module, configured to calculate a maximum position in all positions of materials on the belt , wherein the positions of materials on the belt do not include positions greater than . The position comparison module is connected with the maximum position calculation module and is used for calculating the maximum position and the material waiting position between the position relationship .
10. The robotic dynamic control system for sorting of claim 7 and 9, wherein , the positional relationship The calculation formula is: ； wherein, is a set first distance threshold value, satisfying ; is a set second distance threshold value, satisfying .
11. The robotic dynamic control system for sorting of claim 7, wherein The belt start-stop control module includes: a rotation control and position update module for controlling the rotation of the belt in accordance with the position relationship calculated by the material position determination module controlling the rotation of the belt; The material rejection module, connected to the rotation control module, is used to reject a material from the conveyor belt after the robot picks it up, and to send an update signal to the material position determination module, thereby resolving the positional relationship. It is updated in a timely manner.
12. The robot dynamic control system for sorting according to claim 7 and 11, wherein the rotation control and position update module is characterized by: When the position relationship , the belt line stops rotating, and the position of the material on the belt line does not change; when the position relationship , the belt line rotates, and the position of the material on the belt line changes according to the input of the encoder.
13. The robot dynamic control system for sorting according to claim 7, wherein the robot grasping control module is characterized by: If the belt line is within the graspable range with material, the robot keeps tracking the movement of the material for grasping; if the belt line is within the graspable range without material, the robot moves to the waiting position for waiting.