Gripper control method and system for annular product

Abstract

The invention relates to a gripper control method and system for an annular product, and relates to the technical field of product machining, and the method comprises the steps: obtaining an initial position of a gripper and a conveying area image; determining the center position of the product and the actual size of the product on the conveying area image; constructing a future arrival ray according to the central position of the product, and constructing a simulated arrival point; determining the moving distance of the product according to the simulated arrival point and the central position of the product, and determining the moving duration of the product according to the moving distance of the product and the conveying speed; determining the moving distance of the gripper according to the simulated arrival point and the initial position of the gripper, and determining the moving duration of the gripper according to the moving distance of the gripper and the speed of the gripper; when the product movement duration is consistent with the gripper movement duration, defining the corresponding simulation arrival point as a demand arrival point; and controlling the gripper to move to the demand arrival point and controlling the gripper to operate in the demand operation mode. The annular product machining device has the effect of improving the overall machining efficiency of annular products.

Description

Technical Field

[0001] This application relates to the field of product processing technology, and in particular to a gripper control method and system for ring-shaped products. Background Technology

[0002] In the production of ring-shaped products, these products typically need to be moved from the assembly line to the processing station. To facilitate this movement, a gripper is used. A specialized gripper for ring-shaped products exists, comprising an inner support component and an outer support component. The inner support component abuts against the inner surface of the ring-shaped product, while the outer support component abuts against its outer surface, thus securing the product to the gripper and facilitating its handling.

[0003] In related technologies, after a ring-shaped product is output from the previous station of the gripper, it can be moved by a conveyor belt to approach the processing station where the gripper needs to perform the operation. However, in order to facilitate the gripper to grasp the ring-shaped product, when the gripper receives the grasping task and moves towards the ring-shaped product, the conveyor belt will stop moving. At this time, the stationary product can be grasped by the gripper.

[0004] In the aforementioned related technologies, when the gripper acquires the gripping task, the ring-shaped product stops moving. At this time, only the gripper moves, which requires the gripper to move a relatively long distance, resulting in a decrease in the gripping efficiency of the ring-shaped product and consequently a decrease in the overall processing efficiency of the product. There is still room for improvement. Summary of the Invention

[0005] To improve the overall processing efficiency of ring-shaped products, this application provides a gripper control method and system for ring-shaped products.

[0006] In a first aspect, this application provides a gripper control method for ring-shaped products, employing the following technical solution:

[0007] A gripper control method for ring-shaped products includes:

[0008] Get the initial position of the gripper when it receives the gripping task;

[0009] Simultaneously acquire the image of the transport area when the gripper is initially positioned;

[0010] Feature recognition is performed on the image of the delivery area to determine the center position and actual size of the product;

[0011] The required work mode corresponding to the actual size of the product is determined based on the preset work matching relationship;

[0012] A future arrival ray is constructed based on the product center location and the preset delivery direction, and a simulated arrival point is randomly constructed on the future arrival ray.

[0013] The product movement distance is determined based on the simulated arrival point and the product center position, and the product movement time is calculated based on the product movement distance and the preset transmission speed.

[0014] The distance the gripper moves is determined based on the simulated arrival point and the initial position of the gripper, and the movement time of the gripper is calculated based on the distance the gripper moves and the preset gripper speed.

[0015] When the product movement time is the same as the gripper movement time, the corresponding simulated arrival point is defined as the demand arrival point, and the gripper movement path is determined based on the initial position of the gripper and the demand arrival point.

[0016] Control the gripper to move along the gripper movement path, and after the movement is completed, control the gripper to perform the operation in the demand operation mode.

[0017] Optionally, the step of performing feature recognition on the image of the delivery area to determine the center position of the product includes:

[0018] Obtain the pixel chromaticity value of each pixel on the image of the transmission area;

[0019] Pixels whose chromaticity values ​​are not within the preset conveyor belt chromaticity range are defined as external pixels;

[0020] Adjacent external pixels are grouped into the same preset, initially empty external feature set, and two external pixels are randomly selected from the same external feature set to determine the distance between the pixels.

[0021] The distance between points with the largest values ​​is determined according to the preset sorting rules, and this distance is defined as the theoretical outer diameter distance.

[0022] The effective outer diameter is determined by counting based on the determined theoretical outer diameter distance;

[0023] Determine whether the number of effective outer diameters is greater than the preset baseline requirement;

[0024] If the effective outer diameter quantity is not greater than the baseline requirement quantity, the theoretical outer diameter distance will be eliminated to re-determine the distance between the points with the largest value according to the sorting rules.

[0025] If the number of effective outer diameters is greater than the baseline requirement, then outer diameter segments are constructed based on the corresponding external pixels of the theoretical outer diameter distance, and the product center position is determined based on the intersection points of each outer diameter segment.

[0026] Optionally, the step of performing feature recognition on the image of the delivery area to determine the actual size of the product includes:

[0027] Construct an outer diameter contour circle at the product center position based on the theoretical outer diameter distance, and construct an inner diameter contour circle at the product center position based on a random theoretical inner diameter distance;

[0028] The annular region is determined based on the outer and inner diameter contour circles, and the total number of pixels in the annular region is determined by counting the pixels in the annular region. The effective number of pixels inside the annular region is determined by counting the pixels outside the annular region.

[0029] The total number of pixels in the external feature set is determined by counting the external pixels within the external feature set. The internal proportion is determined by calculating the total number of pixels in the set and the internal effective number. The effective proportion is determined by calculating the internal effective number and the total number of pixels in the region.

[0030] The appropriate fit value is determined by calculating the internal and effective proportion values.

[0031] The sorting rules determine the largest reasonable fit value, and the actual product size is determined based on the theoretical inner diameter distance and theoretical outer diameter distance corresponding to this reasonable fit value.

[0032] Optionally, after determining a reasonable fit value, the gripper control method for ring-shaped products may also include:

[0033] Determine if there exist at least two reasonable fit values ​​that are the same and have the largest theoretical inner diameter distance;

[0034] If there are no at least two reasonable fit values ​​that are the same and the largest theoretical inner diameter distance, then the actual size of the product shall be determined according to the theoretical inner diameter distance corresponding to the current largest reasonable fit value.

[0035] If there are at least two reasonable fit values ​​that are the same and the largest theoretical inner diameter distance, then the theoretical inner diameter distance corresponding to the current largest reasonable fit value is defined as the candidate inner diameter distance.

[0036] On the outer diameter line segment, the two endpoints are defined as outer circle contour points, and the theoretical inner circle contour points that are continuous and farthest from one outer circle contour point to the other are determined. The inner diameter distance of the single unit is determined based on the theoretical inner circle contour points determined on the same outer diameter line segment.

[0037] The mean inner diameter distance is determined by averaging all the inner diameter distances of the individual units.

[0038] The inner diameter deviation value is determined by calculating the mean inner diameter distance and the alternative inner diameter distances. The inner diameter deviation value with the smallest value is determined according to the sorting rules. The actual size of the product is determined according to the alternative inner diameter distances corresponding to this inner diameter deviation value.

[0039] Optionally, after the demand arrival point is determined, the gripper control method for ring-shaped products further includes:

[0040] The pause time point is determined on the preset timeline based on the currently determined product movement time, and the handling interval is determined based on the current time point and the pause time point;

[0041] Determine the pause point determined by whether there are other grippers in the transport section;

[0042] If there are no other grippers with a defined pause time in the transport area, maintain the currently defined arrival point and control the gripper operation.

[0043] If there are other grippers in the transport interval that determine the pause time point, a simulated arrival time point is randomly generated after the current time point, and the simulated movement interval is determined based on the current time point and the simulated arrival time point, and the simulated movement duration is determined based on the simulated movement interval.

[0044] The number of pauses is determined by counting the pause times within the simulated movement range, and the total pause duration is determined by calculating the number of pauses and the preset unit duration.

[0045] The transmission and movement duration is determined by calculating the difference between the simulated movement duration and the overall pause duration, and the simulated position of the product is determined by calculating the future arrival ray based on the transmission and movement duration and the transmission speed.

[0046] The simulated gripper distance is determined based on the simulated product position and the initial gripper position, and the gripper simulation duration is calculated based on the simulated gripper distance and gripper speed.

[0047] The product simulation position corresponding to the simulation movement time being consistent with the gripper simulation time is defined as the effective product position, and the gripper movement operation is controlled based on the effective product position.

[0048] Optionally, after the gripper has moved along the gripper movement path and the movement is complete, the gripper control method for ring-shaped products further includes:

[0049] Obtain the actual center location of the product;

[0050] Determine whether the actual center location coincides with the required arrival point;

[0051] If the actual center location coincides with the required arrival point, a arrival signal is output and the gripper is controlled to perform operations according to the required operation mode.

[0052] If the actual center position does not coincide with the required arrival point, an offset signal is output, and the gripper movement path is redefined to control the gripper movement operation.

[0053] Secondly, this application provides a gripper control system for ring-shaped products, employing the following technical solution:

[0054] A gripper control system for ring-shaped products, comprising:

[0055] The acquisition module is used to simultaneously acquire the image of the delivery area when the gripper is initially positioned;

[0056] The processing module, connected to the acquisition and judgment modules, is used for information storage and processing;

[0057] The judgment module, connected to the acquisition and processing modules, is used for judging information.

[0058] The acquisition module retrieves the initial position of the gripper when it receives the grasping task;

[0059] The processing module performs feature recognition on the image of the transmission area to determine the center position of the product and the actual size of the product.

[0060] The processing module determines the required operation mode corresponding to the actual size of the product based on the preset operation matching relationship;

[0061] The processing module constructs a future arrival ray based on the product's center location and the preset delivery direction, and randomly constructs a simulated arrival point on the future arrival ray;

[0062] The processing module determines the product movement distance based on the simulated arrival point and the product center position, and calculates the product movement time based on the product movement distance and the preset transmission speed.

[0063] The processing module determines the gripper's movement distance based on the simulated arrival point and the gripper's initial position, and calculates the gripper's movement time based on the movement distance and the preset gripper speed.

[0064] When the judgment module determines that the product movement time is consistent with the gripper movement time, the processing module defines the corresponding simulated arrival point as the demand arrival point, and determines the gripper movement path based on the initial position of the gripper and the demand arrival point.

[0065] The processing module controls the gripper to move along the gripper's movement path, and after the movement is completed, controls the gripper to perform the operation in the required operation mode.

[0066] Thirdly, this application provides a computer storage medium capable of storing corresponding programs, which improves the overall processing efficiency of ring-shaped products, and adopts the following technical solution:

[0067] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described gripper control methods for ring-shaped products.

[0068] In summary, this application includes at least one of the following beneficial technical effects:

[0069] 1. When the gripper is in operation, the position and movement of the ring-shaped product can be taken into account to achieve simultaneous displacement of both, reduce the time required for the two to approach each other, thereby improving the gripper's gripping efficiency of the ring-shaped product and thus improving the overall processing efficiency of the ring-shaped product.

[0070] 2. The product can be accurately identified through image recognition analysis, which facilitates the subsequent gripper's grasping and processing of the ring-shaped product;

[0071] 3. It can comprehensively analyze the operational tasks of multiple grippers to determine the appropriate movement path of the grippers and improve the stability of gripper operation. Attached Figure Description

[0072] Figure 1 This is a flowchart of a gripper control method for ring-shaped products.

[0073] Figure 2 This is a module flowchart for a gripper control method used in ring-shaped products. Detailed Implementation

[0074] To make the purpose, technical solution, and advantages of this application clearer, the following is combined with Figures 1-2 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0075] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0076] This application discloses a gripper control method for ring-shaped products, referring to... Figure 1 The method flow for gripper control of ring-shaped products includes the following steps:

[0077] Step S100: Obtain the initial position of the gripper when it receives the gripping task.

[0078] The initial position of the gripper is the position on the plane when the gripper receives the task of gripping the ring-shaped product. The task of the gripper includes which ring-shaped product to grip. Generally, the gripper grips the product at the front of the conveyor belt that has not yet established a task connection with other grippers.

[0079] Step S101: Simultaneously acquire the image of the transport area when the gripper is initially positioned.

[0080] The image of the conveyor area is the image captured by a camera installed directly above and facing downwards on the conveyor belt that transports the circular product, which captures an overall image of the conveyor belt.

[0081] Step S102: Perform feature recognition on the image of the conveying area to determine the center position of the product and the actual size of the product.

[0082] The product center position is the center point of the ring-shaped product. The actual product size includes the inner diameter and outer diameter of the ring-shaped product. The feature recognition method can be to first perform deep learning through neural networks to build a recognition database, and then put the image of the transmission area into the recognition database to determine the product center position. Alternatively, the product center position and actual product size can be determined using the methods in steps S200-S304.

[0083] Step S103: Determine the required operation mode corresponding to the actual size of the product based on the preset operation matching relationship.

[0084] The required operation mode refers to the mode used when operating on a ring-shaped product of actual size, including the operating forces of the inner and outer support components, etc. The matching relationship between the two is determined by the staff in advance through multiple tests, which will not be elaborated here.

[0085] Step S104: Construct a future arrival ray based on the product center location and the preset transmission direction, and randomly construct a simulated arrival point on the future arrival ray.

[0086] The conveying direction is the direction in which the conveyor belt can move the ring-shaped product. The future arrival ray is the ray extending from the center position of the product in the conveying direction, which is the path that the subsequent product will move to. The simulated arrival point is the randomly constructed position point where the product will arrive.

[0087] Step S105: Determine the product movement distance based on the simulated arrival point and the product center position, and calculate the product movement time based on the product movement distance and the preset transmission speed.

[0088] The product movement distance is the distance between the simulated arrival point and the product center position. The conveyor speed is the speed at which the conveyor belt moves the circular product. The product movement time is the time required for the product to move from the product center position to the simulated arrival point, which is determined by dividing the product movement distance by the conveyor speed.

[0089] Step S106: Determine the gripper's movement distance based on the simulated arrival point and the gripper's initial position, and calculate the gripper's movement time based on the gripper's movement distance and the preset gripper speed.

[0090] The gripper movement distance is the distance between the simulated arrival point and the gripper's initial position. The gripper speed is the speed at which the gripper moves. The gripper movement time is the time required for the gripper to move from its initial position to the simulated arrival point, which is determined by dividing the gripper movement distance by the gripper speed.

[0091] Step S107: When the product movement time is the same as the gripper movement time, the corresponding simulated arrival point is defined as the demand arrival point, and the gripper movement path is determined according to the initial position of the gripper and the demand arrival point.

[0092] When the product movement time is the same as the gripper movement time, it means that the time required for the two to meet at the simulated arrival point is the shortest when both move, which means the overall efficiency is the highest. At this time, it is defined as the demand arrival point to distinguish between different simulated arrival points and facilitate subsequent analysis. The gripper movement path is the path that the gripper needs to move from its initial position to the demand arrival point.

[0093] Step S108: Control the gripper to move along the gripper movement path, and after the movement is completed, control the gripper to perform the operation in the demand operation mode.

[0094] The movement of the gripper is controlled to ensure that it can effectively grasp the ring-shaped product. When the gripper finishes moving, the conveyor belt should stop rotating to ensure that the ring-shaped product is fixed in position so that the gripper can grasp the product. That is, when the gripper moves to the required arrival point and lowers the product, the conveyor belt stops. When the gripper completes the product grasping and rises, the conveyor belt rotates normally.

[0095] The steps of performing feature recognition on the image of the delivery area to determine the center position of the product include:

[0096] Step S200: Obtain the pixel chromaticity value of each pixel on the image of the transmission area.

[0097] Pixel chromaticity values ​​are the chromaticity values ​​of a pixel, and the chromaticity values ​​of each pixel can be constructed from the three basic primary colors.

[0098] Step S201: Define pixels whose chromaticity values ​​are not within the preset conveyor belt chromaticity range as external pixels.

[0099] The chromaticity range of the conveyor belt is the range of chromaticity values ​​that the pixels on the conveyor belt surface are required to be within, as set by the staff. When the chromaticity value of a pixel is not within the chromaticity range of the conveyor belt, it indicates that the pixel is likely to be a pixel on the product. In this case, it is defined as an external pixel to distinguish different pixels and facilitate subsequent analysis.

[0100] Step S202: Group adjacent external pixels into the same preset initially empty external feature set, and randomly select two external pixels in the same external feature set to determine the distance between the pixels.

[0101] When external pixels are adjacent, it indicates that there is a high probability that the external pixels are on the same product. In this case, they are grouped into the same external feature set to distinguish pixels of different products. The method for grouping external pixels is as follows: For example, if there are three external pixels A, B, and C, where A is adjacent to B, B is adjacent to C, but A and C are not adjacent, then the three external pixels can be grouped into the same external feature set. The distance between points is the distance between two external pixels on the actual product, which can be calculated by the image scaling ratio.

[0102] Step S203: Determine the distance between the points with the largest values ​​according to the preset sorting rules, and define the distance between these points as the theoretical outer diameter distance.

[0103] The sorting rules are methods set by staff to sort numerical values, such as the bubble sort method. By using the sorting rules, the distance between the points with the largest values ​​can be determined. That is, the distance between these points is more likely to be the outer diameter of the ring product. At this time, it is defined as the theoretical outer diameter distance to distinguish the distances between different points, which is convenient for subsequent analysis.

[0104] Step S204: Count the effective outer diameter based on the determined theoretical outer diameter distance.

[0105] The effective outer diameter is the number of theoretical outer diameter distances determined.

[0106] Step S205: Determine whether the number of effective outer diameters is greater than the preset baseline requirement.

[0107] The baseline requirement quantity is the minimum effective outer diameter quantity set by the staff to determine that the theoretical outer diameter distance is the actual outer diameter of the annular product. The purpose of the determination is to know whether the currently determined theoretical outer diameter distance is the outer diameter of the annular product.

[0108] Step S2051: If the number of effective outer diameters is not greater than the baseline required number, the theoretical outer diameter distance is eliminated to re-determine the distance between the points with the largest value according to the sorting rules.

[0109] When the number of effective outer diameters is not greater than the baseline requirement, it indicates that there is an error in the determination. In this case, the new maximum distance between points should be determined and the analysis should be performed again.

[0110] Step S2052: If the number of effective outer diameters is greater than the number of baseline requirements, then construct outer diameter segments based on the corresponding external pixels of the theoretical outer diameter distance, and determine the product center position based on the intersection points of each outer diameter segment.

[0111] When the number of effective outer diameters is greater than the number of baseline requirements, it means that the theoretical outer diameter distance currently determined is likely to be the outer diameter of the ring product. Therefore, the outer diameter line segment constructed using the corresponding external pixels is also the diameter of the outer circle. At this time, the point where the diameters intersect is the center of the outer circle, which is also the center point of the ring product.

[0112] The steps for performing feature recognition on the image of the transport area to determine the actual size of the product include:

[0113] Step S300: Construct an outer diameter contour circle at the product center position based on the theoretical outer diameter distance, and construct an inner diameter contour circle at the product center position based on a random theoretical inner diameter distance.

[0114] The outer diameter profile circle and the inner diameter profile circle are constructed to simulate the ring-shaped product, which facilitates subsequent analysis.

[0115] Step S301: Determine the annular region based on the outer diameter contour circle and the inner diameter contour circle, count the pixels in the annular region to determine the total number of pixels in the region, and count the external pixels in the annular region to determine the effective number of pixels inside.

[0116] The annular region is the actual simulated area of ​​the annular product, that is, the area on the outer diameter contour circle excluding the inner diameter contour circle. The total number of pixels in the annular region is the total number of pixels in the annular region, and the effective number inside is the total number of pixels outside the annular region.

[0117] Step S302: Count the external pixels in the external feature set to determine the total number of the set, and calculate the internal proportion based on the total number of the set and the internal effective number, and calculate the effective proportion based on the internal effective number and the total number of regions.

[0118] The total number of pixels in the set is the total number of external pixels within the external feature set. The internal proportion is the ratio of external pixels to all pixels within the annular region, determined by dividing the effective internal number by the total number of pixels in the set. The effective proportion is the ratio of external pixels to all pixels within the annular region, determined by dividing the effective internal number by the total number of pixels in the region.

[0119] Step S303: Calculate and determine the reasonable fit value based on the internal proportion value and the effective proportion value.

[0120] The reasonable fit value reflects the degree of reasonableness when the currently determined annular area is the area where the actual annular product is located. The larger the value, the closer the current simulation is to reality. The reasonable fit value can be determined by multiplying the internal proportion value by the effective proportion value.

[0121] Step S304: Determine the reasonable fit value with the largest value according to the sorting rules, and determine the actual size of the product according to the theoretical inner diameter distance and theoretical outer diameter distance corresponding to the reasonable fit value.

[0122] The sorting rules can determine the most reasonable fit value, which means that the simulated annular area is most likely to be the actual area where the annular product is located. Therefore, the actual size of the product can be determined based on the current theoretical inner diameter distance. With the solution of this application, there is no need to perform deep learning on each product in advance, which facilitates assembly line production.

[0123] Once the appropriate fit value is determined, the gripper control method for ring-shaped products also includes:

[0124] Step S400: Determine whether there are at least two reasonable fit values ​​that are the same and have the largest theoretical inner diameter distance.

[0125] The purpose of this determination is to ascertain whether there are multiple theoretical inner diameter distances that meet the requirements, so as to determine the inner diameter of the ring-shaped product in actual circumstances.

[0126] Step S4001: If there are no at least two reasonable fit values ​​that are the same and have the largest theoretical inner diameter distance, then determine the actual size of the product based on the theoretical inner diameter distance corresponding to the current largest reasonable fit value.

[0127] If there are no at least two theoretical inner diameter distances that are the same and the largest, it means that there is only one theoretical inner diameter distance that meets the requirements. In this case, the actual size of the product can be determined based on it.

[0128] Step S4002: If there are at least two reasonable fit values ​​that are the same and the largest theoretical inner diameter distance, then the theoretical inner diameter distance corresponding to the current largest reasonable fit value is defined as the candidate inner diameter distance.

[0129] When there are at least two theoretical inner diameter distances with the same and largest reasonable fit value, it indicates that there are multiple theoretical inner diameter distances that meet the requirements. At this time, they are defined as candidate inner diameter distances to distinguish between different theoretical inner diameter distances, which facilitates subsequent analysis.

[0130] Step S401: Define the two endpoints on the outer diameter line segment as outer circle contour points, and determine the theoretical inner circle contour points that are continuous and farthest from one outer circle contour point to the other, and determine the inner diameter distance of the single unit based on the theoretical inner circle contour points determined on the same outer diameter line segment.

[0131] The outer circle contour point is defined to distinguish different external pixels. Continuous and uninterrupted means that all the continuous ones are external pixels. The theoretical inner circle contour point is the contour point that is furthest away from an outer circle contour point when all the surrounding pixels are external pixels. In this case, the contour point is more likely to be the contour point on the inner circle of the actual ring product. Therefore, the distance between the two theoretical inner circle contour points and the actual product can be determined by using two theoretical inner circle contour points, which is also the distance between the inner diameter of the single unit.

[0132] Step S402: Calculate the mean inner diameter distance based on the average inner diameter distance of all individual units.

[0133] The mean inner diameter distance is the average of the inner diameter distances of all individual units.

[0134] Step S403: Calculate the inner diameter deviation value based on the average inner diameter distance and the alternative inner diameter distances, determine the inner diameter deviation value with the smallest value according to the sorting rules, and determine the actual size of the product based on the alternative inner diameter distances corresponding to the inner diameter deviation value.

[0135] The inner diameter deviation value reflects the degree of deviation between the candidate inner diameter distance and the average inner diameter distance. The larger the value, the greater the deviation, which means that the candidate inner diameter distance is less likely to be the actual inner diameter distance. Therefore, the inner diameter deviation value with the smallest value is determined by sorting rules, and the actual size of the product can be determined according to the corresponding candidate inner diameter distance.

[0136] Once the demand arrival point is determined, the gripper control method for ring-shaped products also includes:

[0137] Step S500: Determine the pause time point on the preset time axis based on the currently determined product movement time, and determine the transport interval based on the current time point and the pause time point.

[0138] The time axis is a coordinate axis formed by combining various time points. This coordinate axis points from the time points that have been passed to the time points that have not yet been reached. The time points that have been passed are on the left side of the time axis, and the left side of the time axis is defined as the front. The pause time point is the time point when the conveyor belt stops moving, which is the time point obtained by moving the product backward from the current time point. The transport interval is the time interval of the gripper's movement. The two endpoints of this interval are the current time point and the pause time point, respectively.

[0139] Step S501: Determine whether there are other grippers that determine the pause time point in the transport section.

[0140] The purpose of the judgment is to determine whether the conveyor belt is always rotating during the process of the gripper determining the moving path.

[0141] Step S5011: If there are no other grippers with a determined pause time in the transport interval, maintain the currently determined arrival point and control the gripper operation.

[0142] When there are no other grippers in the transport area that determine the pause time point, it indicates whether the conveyor belt is rotating during the process of the gripper approaching the product. At this time, the gripper can be controlled normally according to the required arrival point.

[0143] Step S5012: If there are other grippers in the transport interval that have determined the pause time point, then a simulated arrival time point is randomly generated after the current time point, and the simulated movement interval is determined based on the current time point and the simulated arrival time point, and the simulated movement duration is determined based on the simulated movement interval.

[0144] When there are other grippers in the transport interval that determine the pause time point, it indicates that the conveyor belt has stopped rotating. In other words, the product's movement path is inaccurate at this time, and the required arrival point needs to be re-determined. The simulated arrival time point is the simulated time point when the gripper meets the product. The simulated movement interval is the interval constructed with the current time point and the simulated arrival time point as endpoints. The simulated movement duration is the interval length of the simulated movement interval.

[0145] Step S502: Count the number of pauses in the simulated movement interval based on the pause time points to determine the number of pauses, and calculate the overall pause duration based on the number of pauses and the preset unit duration.

[0146] The number of pauses is the number of pause points that occur in the simulated movement interval. The unit duration is the time required for the conveyor belt to stop rotating until the gripper completes the product grabbing and the conveyor belt starts rotating again. The total pause duration is the total time the conveyor belt will stop in the simulated movement interval, which is determined by multiplying the number of pauses by the unit duration.

[0147] Step S503: Calculate the difference between the simulated movement time and the overall pause time to determine the transmission movement time, and calculate the simulated position of the product based on the transmission movement time and the transmission speed to determine the future arrival ray.

[0148] The conveyor travel time is the actual rotation time of the conveyor belt in the simulated travel interval, which is determined by subtracting the overall pause time from the simulated travel time; the simulated product position is the position that the product can reach after the future arrival ray travels from its current product center position.

[0149] Step S504: Determine the simulated gripper distance based on the simulated product position and the initial gripper position, and calculate the gripper simulation duration based on the simulated gripper distance and gripper speed.

[0150] The simulated gripper distance is the distance the gripper needs to move from its initial position to the simulated position on the product. The simulated gripper duration is the time required for the gripper to travel the simulated gripper distance, which is determined by dividing the simulated gripper distance by the gripper speed.

[0151] Step S505: Define the product simulation position corresponding to the simulation movement time being consistent with the gripper simulation time as the effective product position, and control the gripper movement operation according to the effective product position.

[0152] When the simulated movement time is the same as the gripper's simulated time, it means that the gripper and the product can meet at the current simulated product position, taking into account the pause of the conveyor belt. In other words, the simulated product position is the position that maximizes the gripper's operating efficiency. At this point, it is determined as the effective product position to control the gripper's movement path and control the gripper's operation.

[0153] The gripper control method for ring-shaped products further includes the following steps after the gripper has moved along its movement path and completed the movement:

[0154] Step S600: Obtain the actual center location of the product.

[0155] The actual center position is the location of the product's center at the current time point. The method for determining the actual center position can be found in steps S200-S2052.

[0156] Step S601: Determine whether the actual center location coincides with the required arrival point.

[0157] The purpose of the judgment is to determine whether the product has slipped or deviated on the conveyor belt.

[0158] Step S6011: If the actual center position coincides with the required arrival point, output a positioning signal and control the gripper to perform operations according to the required operation mode.

[0159] When the actual center position coincides with the required arrival point, it indicates that the product has not deviated on the conveyor belt. At this time, a positioning signal is output to mark the situation so that the gripper can be controlled to operate normally.

[0160] Step S6012: If the actual center position does not coincide with the required arrival point, output an offset signal and redetermine the gripper movement path to control the gripper movement operation.

[0161] When the actual center position does not coincide with the required arrival point, it indicates that the product has shifted on the conveyor belt. In this case, an offset signal is output to identify the situation. At this time, the gripper operation cannot be controlled. Therefore, the positions of the product and the gripper need to be re-analyzed to control the gripper operation.

[0162] Reference Figure 2 Based on the same inventive concept, embodiments of the present invention provide a gripper control system for ring-shaped products, comprising:

[0163] The acquisition module is used to simultaneously acquire the image of the delivery area when the gripper is initially positioned;

[0164] The processing module, connected to the acquisition and judgment modules, is used for information storage and processing;

[0165] The judgment module, connected to the acquisition and processing modules, is used for judging information.

[0166] The acquisition module retrieves the initial position of the gripper when it receives the grasping task;

[0167] The processing module performs feature recognition on the image of the transmission area to determine the center position of the product and the actual size of the product.

[0168] The processing module determines the required operation mode corresponding to the actual size of the product based on the preset operation matching relationship;

[0169] The processing module constructs a future arrival ray based on the product's center location and the preset delivery direction, and randomly constructs a simulated arrival point on the future arrival ray;

[0170] The processing module determines the product movement distance based on the simulated arrival point and the product center position, and calculates the product movement time based on the product movement distance and the preset transmission speed.

[0171] The processing module determines the gripper's movement distance based on the simulated arrival point and the gripper's initial position, and calculates the gripper's movement time based on the movement distance and the preset gripper speed.

[0172] When the judgment module determines that the product movement time is consistent with the gripper movement time, the processing module defines the corresponding simulated arrival point as the demand arrival point, and determines the gripper movement path based on the initial position of the gripper and the demand arrival point.

[0173] The processing module controls the gripper to move along the gripper's movement path, and after the movement is completed, controls the gripper to perform the operation in the required operation mode.

[0174] The product center position determination module is used to determine the product center position of each ring-shaped product on the conveyor belt.

[0175] The actual product size determination module is used to determine the actual product size of each ring-shaped product on the conveyor belt.

[0176] The theoretical inner diameter distance filtering module is used to filter theoretical inner diameter distances that meet the requirements.

[0177] The movement correction module is used to determine situations where the conveyor belt stops due to other gripper operations during the movement process, and to correct the movement path of the gripper.

[0178] The offset analysis module is used to determine whether the ring-shaped product has shifted off the conveyor belt.

[0179] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0180] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed for a gripper control method for a ring-shaped product.

[0181] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

Claims

1. A gripper control method for ring-shaped products, characterized in that, include: Get the initial position of the gripper when it receives the gripping task; Simultaneously acquire the image of the transport area when the gripper is initially positioned; Feature recognition is performed on the image of the delivery area to determine the center position and actual size of the product; The required work mode corresponding to the actual size of the product is determined based on the preset work matching relationship; A future arrival ray is constructed based on the product center location and the preset delivery direction, and a simulated arrival point is randomly constructed on the future arrival ray. The product movement distance is determined based on the simulated arrival point and the product center position, and the product movement time is calculated based on the product movement distance and the preset transmission speed. The distance the gripper moves is determined based on the simulated arrival point and the initial position of the gripper, and the movement time of the gripper is calculated based on the distance the gripper moves and the preset gripper speed. When the product movement time is the same as the gripper movement time, the corresponding simulated arrival point is defined as the demand arrival point, and the gripper movement path is determined based on the initial position of the gripper and the demand arrival point. Control the gripper to move along the gripper movement path, and after the movement is completed, control the gripper to perform the operation in the demand operation mode.

2. The gripper control method for ring-shaped products according to claim 1, characterized in that, The steps of performing feature recognition on the image of the delivery area to determine the center position of the product include: Obtain the pixel chromaticity value of each pixel on the image of the transmission area; Pixels whose chromaticity values ​​are not within the preset conveyor belt chromaticity range are defined as external pixels; Adjacent external pixels are grouped into the same preset, initially empty external feature set, and two external pixels are randomly selected from the same external feature set to determine the distance between the pixels. The distance between points with the largest values ​​is determined according to the preset sorting rules, and this distance is defined as the theoretical outer diameter distance. The effective outer diameter is determined by counting based on the determined theoretical outer diameter distance; Determine whether the number of effective outer diameters is greater than the preset baseline requirement; If the effective outer diameter quantity is not greater than the baseline requirement quantity, the theoretical outer diameter distance will be eliminated to re-determine the distance between the points with the largest value according to the sorting rules. If the number of effective outer diameters is greater than the baseline requirement, then outer diameter segments are constructed based on the corresponding external pixels of the theoretical outer diameter distance, and the product center position is determined based on the intersection points of each outer diameter segment.

3. The gripper control method for ring-shaped products according to claim 2, characterized in that, The steps for performing feature recognition on the image of the transport area to determine the actual size of the product include: Construct an outer diameter contour circle at the product center position based on the theoretical outer diameter distance, and construct an inner diameter contour circle at the product center position based on a random theoretical inner diameter distance; The annular region is determined based on the outer and inner diameter contour circles, and the total number of pixels in the annular region is determined by counting the pixels in the annular region. The effective number of pixels inside the annular region is determined by counting the pixels outside the annular region. The total number of pixels in the external feature set is determined by counting the external pixels within the external feature set. The internal proportion is determined by calculating the total number of pixels in the set and the internal effective number. The effective proportion is determined by calculating the internal effective number and the total number of pixels in the region. The appropriate fit value is determined by calculating the internal and effective proportion values. The sorting rules determine the largest reasonable fit value, and the actual product size is determined based on the theoretical inner diameter distance and theoretical outer diameter distance corresponding to this reasonable fit value.

4. The gripper control method for ring-shaped products according to claim 3, characterized in that, Once the appropriate fit value is determined, the gripper control method for ring-shaped products also includes: Determine if there exist at least two reasonable fit values ​​that are the same and have the largest theoretical inner diameter distance; If there are no at least two reasonable fit values ​​that are the same and the largest theoretical inner diameter distance, then the actual size of the product shall be determined according to the theoretical inner diameter distance corresponding to the current largest reasonable fit value. If there are at least two reasonable fit values ​​that are the same and the largest theoretical inner diameter distance, then the theoretical inner diameter distance corresponding to the current largest reasonable fit value is defined as the candidate inner diameter distance. On the outer diameter line segment, the two endpoints are defined as outer circle contour points, and the theoretical inner circle contour points that are continuous and farthest from one outer circle contour point to the other are determined. The inner diameter distance of the single unit is determined based on the theoretical inner circle contour points determined on the same outer diameter line segment. The mean inner diameter distance is determined by averaging all the inner diameter distances of the individual units. The inner diameter deviation value is determined by calculating the mean inner diameter distance and the alternative inner diameter distances. The inner diameter deviation value with the smallest value is determined according to the sorting rules. The actual size of the product is determined according to the alternative inner diameter distances corresponding to this inner diameter deviation value.

5. The gripper control method for ring-shaped products according to claim 1, characterized in that, Once the demand arrival point is determined, the gripper control method for ring-shaped products also includes: The pause time point is determined on the preset timeline based on the currently determined product movement time, and the handling interval is determined based on the current time point and the pause time point; Determine the pause point determined by whether there are other grippers in the transport section; If there are no other grippers with a defined pause time in the transport area, maintain the currently defined arrival point and control the gripper operation. If there are other grippers in the transport interval that determine the pause time point, a simulated arrival time point is randomly generated after the current time point, and the simulated movement interval is determined based on the current time point and the simulated arrival time point, and the simulated movement duration is determined based on the simulated movement interval. The number of pauses is determined by counting the pause times within the simulated movement range, and the total pause duration is determined by calculating the number of pauses and the preset unit duration. The transmission and movement duration is determined by calculating the difference between the simulated movement duration and the overall pause duration, and the simulated position of the product is determined by calculating the future arrival ray based on the transmission and movement duration and the transmission speed. The simulated gripper distance is determined based on the simulated product position and the initial gripper position, and the gripper simulation duration is calculated based on the simulated gripper distance and gripper speed. The product simulation position corresponding to the simulation movement time being consistent with the gripper simulation time is defined as the effective product position, and the gripper movement operation is controlled based on the effective product position.

6. The gripper control method for ring-shaped products according to claim 5, characterized in that, The gripper control method for ring-shaped products further includes the following steps after the gripper has moved along its movement path and completed the movement: Obtain the actual center location of the product; Determine whether the actual center location coincides with the required arrival point; If the actual center location coincides with the required arrival point, a arrival signal is output and the gripper is controlled to perform operations according to the required operation mode. If the actual center position does not coincide with the required arrival point, an offset signal is output, and the gripper movement path is redefined to control the gripper movement operation.

7. A gripper control system for ring-shaped products, characterized in that, include: The acquisition module is used to simultaneously acquire the image of the delivery area when the gripper is initially positioned; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The acquisition module retrieves the initial position of the gripper when it receives the grasping task; The processing module performs feature recognition on the image of the transmission area to determine the center position of the product and the actual size of the product. The processing module determines the required operation mode corresponding to the actual size of the product based on the preset operation matching relationship; The processing module constructs a future arrival ray based on the product's center location and the preset delivery direction, and randomly constructs a simulated arrival point on the future arrival ray; The processing module determines the product movement distance based on the simulated arrival point and the product center position, and calculates the product movement time based on the product movement distance and the preset transmission speed. The processing module determines the gripper's movement distance based on the simulated arrival point and the gripper's initial position, and calculates the gripper's movement time based on the movement distance and the preset gripper speed. When the judgment module determines that the product movement time is consistent with the gripper movement time, the processing module defines the corresponding simulated arrival point as the demand arrival point, and determines the gripper movement path based on the initial position of the gripper and the demand arrival point. The processing module controls the gripper to move along the gripper's movement path, and after the movement is completed, controls the gripper to perform the operation in the required operation mode.

8. A computer-readable storage medium, characterized in that, The system stores a computer program capable of being loaded by a processor and executed as described in any one of claims 1 to 6 for gripper control of a ring-shaped product.

Images