A Grasping Method for Industrial Robots Based on Vision Following

Abstract

The invention discloses a grasping method of an industrial robot based on vision following, and relates to the technical field of industrial automation. Its technical points include periodic execution: S31. The main control of the robot obtains the conveyor belt position signal output by the encoder, and sends a camera command to the vision system based on the interval length value; The output position signal is recorded in the detection queue; S33, the real-time position of the target in the detection queue obtained by the robot main control calculation, and merges the queues whose real-time position difference of the target in the detection queue is less than the preset distance difference; S34, the robot The main control controls the industrial robot to grab the target position that moves to the working range of the industrial robot and is located at the head of the detection queue; wherein the preset interval length value is not greater than the length value of the shooting field of view of the detection vision system. Advantages of repeated grasps and missed grasps.

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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