A control method and system for cleaning a tobacco frame based on a robot

Abstract

This application discloses a control method and system for cleaning cigarette frames using a robotic arm. The method includes: activating an RGB-D camera, a robotic arm, and an industrial computer; completing hand-eye calibration; establishing a coordinate system mapping relationship between the camera and the robotic arm; acquiring an image of the bottom of the cigarette frame; inputting the image into a trained recognition model to identify the location information of the contaminant; based on the identified location information of the contaminant, discretizing the bottom region of the cigarette frame into a grid model using an improved A* algorithm; generating a path instruction for the optimal cleaning path by optimizing the heuristic function, direction weight strategy, and path smoothing processing; receiving the path instruction; and, in conjunction with the coordinate system mapping relationship, controlling the robotic arm to perform the cleaning operation according to the planned optimal cleaning path, and providing real-time feedback on the operation status. This application can accurately control the robotic arm to complete the cleaning operation based on the recognition results and the planned path, improving the automation level and operation quality of cigarette frame cleaning, and enhancing cleanliness and cleaning efficiency.

Images