Industrial robot grabbing method based on visual following

Abstract

The invention discloses an industrial robot grabbing method based on visual following and relates to the technical field of industrial automation. The method is technically characterized by comprisingthe following periodically executed steps: S31 a robot master controller acquires a conveying belt position signal output by an encoder and sends a photographing command to a visual system on the basis of an interval length value; S32 the robot master controller acquires target positions, shot and recognized by the visual system, of objects as well as position signals output by the encoders, andrecords the target positions and the position signals in detection queues; S33 the robot master controller calculates acquired real-time positions of targets in the detection queues, and merges queueswith real-time position differences of targets smaller than a preset distance difference in the detection queues; and S34 the robot master controller controls an industrial robot to grab the target positions which move to a working range of the industrial robot and are located in the first position of the detection queues, wherein the preset interval length value is not larger than a detected length value of shooting visual field of the visual system. The method has the advantages of reducing repeated grabbing and missing grabbing by the industrial robot.

Description

technical field [0001] The invention relates to the technical field of industrial automation, more specifically, it relates to a grasping method of an industrial robot based on vision following. Background technique [0002] Industrial automation refers to the general term for information processing and process control such as measurement and manipulation of machines and equipment or production processes in accordance with expected goals without direct human intervention. With the development of industrial automation, integration, networking and intelligence have become the new direction of the industry, but the intelligence of industrial control equipment is still in its infancy. [0003] Object grasping is an important technology for industrial robots on the production line. At present, most industrial robots on the production line can only execute predetermined instructions in a strictly defined structured environment. In the existing object grasping system, the camera i...

AI Technical Summary

Problems solved by technology

Therefore, the time interval setting for taking photos is extremely important. If the time interval is set too small, then there may be situations where an object is repeatedly photographed and identified, which may cause the industrial robot to grab the object that has already been grasped again.

If the interval is set too large, there may be situations where the camera has not yet captured an object after passing through the camera's field of view

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