CN116810797B - Industrial robot intelligent control system - Google Patents
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- CN116810797B CN116810797B CN202310992007.5A CN202310992007A CN116810797B CN 116810797 B CN116810797 B CN 116810797B CN 202310992007 A CN202310992007 A CN 202310992007A CN 116810797 B CN116810797 B CN 116810797B
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Abstract
The invention relates to the technical field of robot control, in particular to an intelligent control system of an industrial robot. The system screens the optimal metal pieces by analyzing the distance between each metal piece and the horizontal plane where the corresponding magnetic attraction column is located, selects each magnetic attraction column for adsorbing the optimal metal piece through the metal information image of the optimal metal piece, evaluates the adsorption stability condition by analyzing the stability coefficient of the optimal metal piece, achieves the precise operation of sorting the metal pieces, improves the sorting efficiency, ensures the adsorption stability of the metal pieces, reduces the dropping risk, and improves the efficiency and quality of the industrial automatic production process.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an intelligent control system of an industrial robot.
Background
With the progress of industrial development and automation technology, industrial robots are increasingly used in the fields of production and manufacturing. Metal sorting is one of the important fields of application, involving the separation of metal parts of different types and sizes from mixtures, and conventional metal sorting processes generally require a large number of manual operations, are inefficient and prone to error. Therefore, developing an intelligent control system for industrial robots to realize automatic metal sorting has important research value and practical significance.
In the sorting process of metals, it is important to accurately detect and identify characteristics of a target metal. However, existing systems still suffer from deficiencies in this regard, particularly in terms of: 1. in the selection of the adsorption metal parts, the existing system lacks self-adaptability, cannot automatically select the method or the device which is most suitable for adsorbing the specific metal parts, needs manual intervention to adjust the adsorption method and set the adsorption parameters, and causes the increase of the workload of operators and possible errors. At the same time, for metal pieces of complex shape or covered with other materials, existing systems may lack flexibility and adaptability, and accurate adsorption may be difficult to achieve.
2. In the positioning of metal pieces, the existing system may not realize high-precision positioning of the metal piece positions, which results in difficulty in accurately processing or machining the metal pieces in subsequent operation of a robot, and meanwhile, in the processing of metal pieces with irregular shapes, difficulties such as curves, special shapes and the like are encountered, which results in inaccurate or failure positioning.
3. In the gravity center judgment and adsorption stability of the metal piece, the existing system may be difficult to accurately judge the gravity center position of the metal piece, and the stability of subsequent adsorption and operation is affected. Adsorption stability is poor: the existing system may not be capable of ensuring that the metal piece remains stable in the adsorption process, and the sliding, tilting or falling conditions easily occur, so that the subsequent operation quality and efficiency are affected.
Disclosure of Invention
In order to overcome the defects in the background technology, the embodiment of the invention provides an intelligent control system for an industrial robot, which can effectively solve the problems related to the background technology.
The aim of the invention can be achieved by the following technical scheme: the invention provides an intelligent control system of an industrial robot, which comprises: the magnetic attraction planning module is used for numbering each magnetic attraction column arranged at the bottom of the magnetic attraction plate according to a preset sequence, and the numbers of the magnetic attraction columns are numbered as 1,2 in sequence.
The image acquisition module is used for acquiring images of the metal pieces placed in the stacking container and three-dimensional coordinate information of the metal pieces, and recording the images of the metal pieces as metal information images of the metal pieces.
The image position analysis module is used for determining the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces according to the three-dimensional coordinate information of the metal pieces, and comparing the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces to screen out the optimal metal pieces.
And the metal piece analysis module is used for obtaining the volume corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece, and further analyzing and obtaining the barycentric coordinates of the optimal metal piece.
The execution magnetic suction column screening module is used for projecting each covered magnetic suction column upwards according to the metal information image corresponding to the optimal metal piece, marking the magnetic suction column as each magnetic suction column to be selected, calculating the mass of the magnetic suction column according to the volume corresponding to the optimal metal piece, judging the number of the magnetic suction columns, and screening each execution magnetic suction column according to the barycentric coordinates of the metal piece.
And the adsorption execution module is used for controlling each execution magnetic attraction column to move downwards and adsorb the optimal metal piece, and lifting the optimal metal piece to the required height after the adsorption is completed.
And the adsorption stability analysis module is used for reading information of each movement of the optimal metal piece in the lifting process and analyzing and obtaining the stability coefficient of the optimal metal piece.
And the reset adsorption module is used for comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold value, and carrying out corresponding operation on the optimal metal piece according to the comparison result.
The management database is used for storing the overhead height of the magnetic attraction plate, the three-dimensional coordinates of each magnetic attraction column, the density of each metal piece, the stability coefficient threshold value of each optimal metal piece, the quality threshold value of the magnetic attraction column corresponding to the adsorbed metal piece, and storing the safety threshold value of the transverse, longitudinal and vertical movement distance of the optimal metal piece, the weight coefficient of the transverse, longitudinal and vertical movement distance and the deflection angle value of the optimal metal piece, and simultaneously storing the deflection angle value correction coefficient of the optimal metal piece.
As a preferable scheme, the specific analysis method of the three-dimensional coordinate information of each metal piece is as follows: and acquiring three-dimensional coordinates of each point of each metal piece through a laser scanner, generating a position coordinate set of each metal piece, and recording the position coordinate set as three-dimensional coordinate information of each metal piece.
As a preferable scheme, the specific analysis method of the distance between each metal piece and the horizontal plane of each magnetic attraction column of the corresponding metal piece comprises the following steps: the first step, the position coordinate set of each metal piece and the three-dimensional coordinate of each magnetic attraction column are led into a set three-dimensional position coordinate system, the three-dimensional position coordinate system uses the transverse direction of a stacking container for placing each metal piece as an X axis, the longitudinal direction of the stacking container as a Y axis and the vertical direction as a Z axis, the central point position of the stacking container is the top angle of the bottom of the stacking container, the position coordinates of the middle parts of the two ends of each metal piece are obtained and respectively recorded as (X n,yn,zn)、(x'n,y'n,z'n), the position coordinates of each magnetic attraction column on a magnetic attraction plate are obtained, the distance of the horizontal plane of each magnetic attraction column on the vertical axis is recorded as zj, n represents the number of the nth metal piece, n=1, 2, m, j represents the jth magnetic attraction column, j=1, 2, and q.
Second, through the formulaObtaining the average value of the coordinates of the middle parts of the two ends of each metal piece, and recording the average value as the coordinates/>, of the points to be measured of each metal pieceBy calculation formulaAnd obtaining the distance between each metal piece and the horizontal plane where each magnetic attraction column of the corresponding metal piece is located.
And thirdly, sorting the distances between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces according to the sequence from small to large, screening out the minimum distance between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, further screening out the metal pieces corresponding to the minimum distance between the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, and marking the metal pieces as the optimal metal pieces.
As a preferable scheme, the specific analysis method of the barycentric coordinates of the metal piece comprises the following steps: the first step, the position of the best metal piece is led into a set three-dimensional position coordinate system, the distances of the best metal piece on the horizontal coordinate, the vertical coordinate and the vertical coordinate are respectively divided into a plurality of particles in the three-dimensional position coordinate system, the particle coordinate set of the best metal piece is obtained and is marked as (x i,yi,zi), i represents the number of the divided particles, i=1, 2,.
Step two, obtaining the volume V corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece through a formulaThe mass m i of each particle of the optimal metal piece is obtained, ρ represents the density of the optimal metal piece, and the particle coordinate set of the optimal metal piece and the mass point coordinate set of the optimal metal piece are respectively substituted into a formula/>Obtaining the mass center/>, on the horizontal axis, the vertical axis, of the optimal metal pieceIt is noted as the barycentric coordinates/>
As a preferable scheme, the specific acquisition method of each execution magnetic attraction column comprises the following steps: and firstly, projecting upwards according to the metal information image corresponding to the optimal metal piece obtained by scanning, and marking each magnetic attraction column covered by the projection as each magnetic attraction column to be selected.
And secondly, counting the vertical axis distance between each metal piece and the horizontal plane where each magnetic attraction post to be selected is located according to a three-dimensional position coordinate system, acquiring the vertical axis distance between the optimal metal piece and the horizontal plane where each magnetic attraction post to be selected is located according to the three-dimensional position coordinate system, comparing the vertical axis distance between each metal piece and the horizontal plane where each magnetic attraction post to be selected is located with the vertical axis distance between the optimal metal piece and the horizontal plane where each magnetic attraction post to be selected is located, screening out the vertical axis distance smaller than the vertical axis distance between the optimal metal piece and the horizontal plane where each magnetic attraction post to be selected is located, marking the vertical axis distance as the preferable vertical axis distance, and further screening out each metal piece corresponding to the preferable vertical axis distance, and marking the metal piece as each blocking metal piece.
And thirdly, comparing the metal information image corresponding to each blocking metal piece with the metal information image corresponding to the optimal metal piece, marking the space which is covered on the upper part of the optimal metal piece and intersected with the optimal metal piece as a blocking adsorption area, screening the magnetic attraction columns to be selected which are not overlapped with the blocking adsorption area, and marking the magnetic attraction columns to be selected as magnetic attraction columns to be selected.
And fourthly, obtaining the mass m of the optimal metal piece through a formula m=ρ=v, comparing the mass of the optimal metal piece with a preset mass threshold value of the adsorption metal piece corresponding to the single magnetic attraction column, and analyzing to obtain the number of the magnetic attraction columns corresponding to the mass threshold value of the adsorption metal piece corresponding to the magnetic attraction column.
And fifthly, taking the magnetic attraction column corresponding to the gravity center coordinate of the optimal metal piece as a central magnetic attraction column, screening each alternative magnetic attraction column symmetrically arranged on two sides of the central magnetic attraction column, recording each alternative magnetic attraction column as each preferential magnetic attraction column, measuring the distance between each preferential magnetic attraction column and the central magnetic attraction column to obtain the distance between each preferential magnetic attraction column and the central magnetic attraction column, sequencing the distances from small to large, screening the sequenced preferential magnetic attraction columns according to the number of the magnetic attraction columns, and taking the sequenced preferential magnetic attraction columns as each executive magnetic attraction column.
As a preferable scheme, the information of each movement of the optimal metal piece in the lifting process comprises corresponding transverse movement distance, longitudinal movement distance, vertical movement distance and deflection angle value.
As a preferred scheme, the specific analysis method for the stability of the optimal metal piece comprises the following steps: the first step, monitoring each metal piece in the process of absorbing and lifting the metal piece, and reading corresponding transverse movement distance, longitudinal movement distance, vertical movement distance and deflection angle values of the optimal metal piece in each movement in the lifting process, wherein the values are respectively recorded asΘ p, p represents the p-th movement of the best metal piece, p=1, 2.
Secondly, substituting the acquired information of each movement of the optimal metal piece in the lifting process into a formulaObtaining the optimal metal piece stability coefficient/>Respectively representing the preset safety thresholds of the transverse moving distance, the longitudinal moving distance and the vertical moving distance of the optimal metal piece in the lifting process, wherein phi 1、φ2、φ3、φ4 respectively represents the weight coefficients of the transverse moving distance, the longitudinal moving distance, the vertical moving distance and the deflection angle value of the optimal metal piece, and xi represents the deflection angle value correction coefficient of the optimal metal piece.
And thirdly, comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold, if the optimal metal piece stability coefficient is greater than or equal to the preset metal piece stability coefficient threshold, continuing to adsorb the metal piece through the adsorption execution module, otherwise stopping the adsorption action of the optimal metal piece through the adsorption execution module, and carrying out adsorption operation on the optimal metal piece again in a mode of additionally executing the magnetic attraction column.
As a preferable scheme, the operation mode of additionally executing the magnetic attraction column by the reset adsorption module is as follows: the first step is to read the stability coefficient of the best metal piece and compare with the preset stability coefficient threshold value of each best metal piece, so as to determine the number of the magnetic attraction posts required to be increased for the best metal piece.
Secondly, reading the number of the optimal metal piece which is currently remained except for each execution magnetic attraction column and recording the number as the number of the remained optimal magnetic attraction columns, if the number of the optimal metal piece which is remained is larger than the number of the optimal metal piece which needs to be increased to execute the magnetic attraction columns, measuring the distances between the remained optimal magnetic attraction columns and each execution magnetic attraction column, and screening out the remained optimal magnetic attraction columns which are closest to each execution magnetic attraction column in distance to be increased to execute the magnetic attraction columns; if the number of the residual preferable magnetic attraction posts of the optimal metal piece is smaller than that of the optimal metal piece, the number of the execution magnetic attraction posts is increased, and all the residual preferable magnetic attraction posts are increased to the execution magnetic attraction posts.
And thirdly, analyzing the height of the added execution magnetic attraction column and the current optimal metal piece.
And fourthly, controlling the added execution magnetic attraction column to move downwards through the attraction execution module so as to attract the optimal metal piece.
As a preferable scheme, the preset optimal metal piece stability coefficient thresholds comprise an optimal metal piece stability coefficient threshold corresponding to one magnetic attraction column, an optimal metal piece stability coefficient threshold corresponding to two magnetic attraction columns, and three or more optimal metal piece stability coefficient thresholds corresponding to the magnetic attraction columns, wherein the values of the three thresholds are sequentially reduced.
Compared with the prior art, the invention has the following beneficial effects: (1) The system screens the optimal metal piece which is most suitable for adsorption by analyzing the distance between each metal piece and the horizontal plane where the corresponding magnetic attraction column is located, ensures that the distance between the optimal metal piece and the horizontal plane where the magnetic attraction column is located is optimal, improves the accuracy and precision of operation, can screen the optimal metal piece rapidly, reduces the times of invalid operation and repeated attempts, and improves the operation efficiency of the system.
(2) The system establishes a three-dimensional position coordinate system by acquiring the metal information images of the metal pieces, realizes high-precision positioning of the positions of the metal pieces, has certain adaptability and flexibility, can be applied to positioning requirements of various metal pieces, has higher universality, can reduce interference to the metal pieces in a non-contact operation mode, and simultaneously reduces safety risks between operators and the metal pieces.
(3) The system obtains the volume and the gravity center point of the optimal metal piece according to the metal information image, so that each execution magnetic suction column is determined, and the stability, the operation precision and the safety of the metal piece adsorption are improved; meanwhile, the stability coefficient of the metal piece is obtained by analyzing the optimal metal piece moving distance and the deflection angle value, so that the adsorption stability condition is evaluated, the precise operation of sorting the metal piece is achieved, the sorting efficiency is improved, meanwhile, the stability of the metal piece adsorption is ensured, the falling risk and error treatment caused by unstable adsorption are avoided, and the efficiency and quality of the industrial automatic production process are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram illustrating a system module connection according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an intelligent control system for an industrial robot includes a magnetic attraction planning module, an image acquisition module, an image position analysis module, a metal part analysis module, a magnetic attraction column screening execution module, an adsorption stability analysis module, a reset adsorption module, and a management database.
The image position analysis module, the metal piece analysis module, the execution magnetic adsorption column screening module, the adsorption stability analysis module and the reset adsorption module are connected with the management database, the magnetic adsorption planning module, the image acquisition module, the metal piece analysis module and the image position analysis module are connected, the image acquisition module, the metal piece analysis module and the adsorption execution module are connected with the execution magnetic adsorption column screening module, the adsorption execution module, the reset adsorption module and the adsorption stability analysis module are connected, the image acquisition module is connected with the metal piece analysis module, and the adsorption execution module is connected with the reset adsorption module.
The magnetic attraction planning module is used for numbering each magnetic attraction column arranged at the bottom of the magnetic attraction plate according to a preset sequence, and the numbers of the magnetic attraction columns are numbered as 1,2 in sequence.
The image acquisition module is used for acquiring images of the metal pieces placed in the stacking container and three-dimensional coordinate information of the metal pieces, and recording the images of the metal pieces as metal information images of the metal pieces.
The specific analysis method of the three-dimensional coordinate information of each metal piece comprises the following steps: acquiring three-dimensional coordinates of each point of each metal piece through a laser scanner, generating a position coordinate set of each metal piece, and recording the position coordinate set as three-dimensional coordinate information of each metal piece; a large amount of three-dimensional coordinate data is rapidly acquired through laser scanning, so that time and labor cost are saved, and efficiency and data processing speed are improved.
The image position analysis module is used for determining the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces according to the three-dimensional coordinate information of the metal pieces, and comparing the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces to screen out the optimal metal pieces.
The specific analysis method for the distance between each metal piece and the horizontal plane of each magnetic attraction column of the corresponding metal piece comprises the following steps: the first step, the position coordinate set of each metal piece and the three-dimensional coordinate of each magnetic attraction column are led into a set three-dimensional position coordinate system, the three-dimensional position coordinate system uses the transverse direction of a stacking container for placing each metal piece as an X axis, the longitudinal direction of the stacking container as a Y axis and the vertical direction as a Z axis, the central point position of the stacking container is the top angle of the bottom of the stacking container, the position coordinates of the middle parts of the two ends of each metal piece are obtained and respectively recorded as (X n,yn,zn)、(x'n,y'n,z'n), the position coordinates of each magnetic attraction column on a magnetic attraction plate are obtained, the distance of the horizontal plane of each magnetic attraction column on the vertical axis is recorded as zj, n represents the number of the nth metal piece, n=1, 2, m, j represents the jth magnetic attraction column, j=1, 2, and q.
Second, through the formulaObtaining the average value of the coordinates of the middle parts of the two ends of each metal piece, and recording the average value as the coordinates/>, of the points to be measured of each metal pieceBy calculation formulaObtaining the distance between each metal piece and the horizontal plane of each magnetic attraction column of the corresponding metal piece; by calculating the average value of the coordinates of the middle positions of the two ends of each metal piece, possible errors of a single measuring point can be reduced, the influence of abnormal values of individual positions on a measuring result is reduced, and meanwhile, the positioning accuracy of the special-shaped metal piece is improved.
Thirdly, sorting the distances between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces according to the sequence from small to large, screening out the minimum distance between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, further screening out the metal pieces corresponding to the minimum distance between the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, and marking the metal pieces as the optimal metal pieces; the metal piece closest to the metal piece is selected, so that measurement errors can be reduced, the suction efficiency is improved, better precision and stability are brought to the system, and risks of interference and misjudgment are reduced.
And the metal piece analysis module is used for obtaining the volume corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece, and further analyzing and obtaining the barycentric coordinates of the optimal metal piece.
The specific analysis method of the barycentric coordinates of the metal piece comprises the following steps: firstly, leading the position of the optimal metal piece into a set three-dimensional position coordinate system, dividing the distance of the optimal metal piece on an abscissa, an ordinate and an ordinate into a plurality of particles in the three-dimensional position coordinate system to obtain a particle coordinate set of the optimal metal piece, wherein i represents the number of the divided particles, i=1, 2,..k, x i represents the abscissa of the i-th particle, y i represents the ordinate of the i-th particle, and z i represents the vertical coordinate of the i-th particle; the position of the optimal metal piece in the three-dimensional space can be more accurately represented by discretizing the distance into a plurality of unit points, and each unit point represents a fixed distance, so that the calculation of the barycentric coordinates of the metal piece is more accurate.
Step two, obtaining the volume V corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece through a formulaThe mass m i of each particle of the optimal metal piece is obtained, ρ represents the density of the optimal metal piece, and the particle coordinate set of the optimal metal piece and the mass point coordinate set of the optimal metal piece are respectively substituted into a formula/>Obtaining the mass center/>, on the horizontal axis, the vertical axis, of the optimal metal pieceIt is noted as the barycentric coordinates/>
The execution magnetic suction column screening module is used for projecting each covered magnetic suction column upwards according to the metal information image corresponding to the optimal metal piece, marking the magnetic suction column as each magnetic suction column to be selected, calculating the mass of the magnetic suction column according to the volume corresponding to the optimal metal piece, judging the number of the magnetic suction columns, and screening each execution magnetic suction column according to the barycentric coordinates of the metal piece.
The specific acquisition method of each execution magnetic attraction column comprises the following steps: the first step, upward projection is carried out according to the metal information image corresponding to the optimal metal piece obtained by scanning, and each magnetic attraction column covered by the projection is marked as each magnetic attraction column to be selected; the position of the magnetic attraction column to be selected can be accurately determined by projecting the metal information image upwards onto the magnetic attraction column, so that the position error or inaccuracy of the magnetic attraction column is avoided, and the correct correspondence between the metal piece and the magnetic attraction column is ensured; meanwhile, the magnetic attraction columns covered by the mark projection are used as magnetic attraction columns to be selected, so that the number of the selectable magnetic attraction columns can be reduced to a limited extent, the selectable range is reduced, and the subsequent selection and processing efficiency is improved.
Counting the vertical axis distance between each metal piece and the horizontal plane of each magnetic attraction post to be selected according to a three-dimensional position coordinate system, acquiring the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected according to the three-dimensional position coordinate system, comparing the vertical axis distance between each metal piece and the horizontal plane of each magnetic attraction post to be selected with the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected, screening out the vertical axis distance smaller than the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected, marking the vertical axis distance as the preferable vertical axis distance, and further screening out each metal piece corresponding to the preferable vertical axis distance, and marking the metal piece as each blocking metal piece; when the metal pieces are mutually overlapped, the magnetic attraction columns can be adsorbed to wrong positions or interfere with other metal pieces to cause adsorption errors, and the adsorption can be ensured to occur at expected positions by screening the magnetic attraction columns to be selected which are not overlapped with the blocking adsorption areas, so that the occurrence of errors is avoided, and the accuracy and the consistency of results are improved.
Thirdly, comparing the metal information image corresponding to each blocking metal piece with the metal information image corresponding to the optimal metal piece, marking the space which is pressed on the upper part of the optimal metal piece and intersected with the optimal metal piece as a blocking adsorption area, screening each magnetic attraction column to be selected which is not overlapped with the blocking adsorption area, and marking each magnetic attraction column to be selected as each magnetic attraction column to be selected; by determining the number of the magnetic attraction columns, the magnetic attraction columns can be ensured to have enough adsorption force to support the weight and stability of the metal parts, so that the metal parts are prevented from accidentally falling off or moving in the working process, and more reliable fixing and supporting are provided; meanwhile, the optimal magnetic attraction columns are symmetrically arranged on the two sides of the magnetic attraction column closest to the gravity center of the optimal metal piece, so that the distribution uniformity of magnetic attraction force can be improved, and the stable adsorption to the metal piece is enhanced. This helps preventing the metal part from unstable or tilting during the adsorption process, improving the working efficiency and accuracy.
And fourthly, obtaining the mass m of the optimal metal piece through a formula m=ρ=v, comparing the mass of the optimal metal piece with a preset mass threshold value of the adsorption metal piece corresponding to the single magnetic attraction column, and analyzing to obtain the number of the magnetic attraction columns corresponding to the mass threshold value of the adsorption metal piece corresponding to the magnetic attraction column.
And fifthly, taking the magnetic attraction column corresponding to the gravity center coordinate of the optimal metal piece as a central magnetic attraction column, screening each alternative magnetic attraction column symmetrically arranged on two sides of the central magnetic attraction column, recording each alternative magnetic attraction column as each preferential magnetic attraction column, measuring the distance between each preferential magnetic attraction column and the central magnetic attraction column to obtain the distance between each preferential magnetic attraction column and the central magnetic attraction column, sequencing the distances from small to large, screening the sequenced preferential magnetic attraction columns according to the number of the magnetic attraction columns, and taking the sequenced preferential magnetic attraction columns as each executive magnetic attraction column.
And the adsorption execution module is used for controlling each execution magnetic attraction column to move downwards and adsorb the optimal metal piece, and lifting the optimal metal piece to the required height after the adsorption is completed.
And the adsorption stability analysis module is used for reading information of each movement of the optimal metal piece in the lifting process and analyzing and obtaining the stability coefficient of the optimal metal piece.
The information of each movement of the optimal metal piece in the lifting process comprises corresponding transverse movement distance, longitudinal movement distance, vertical movement distance and deflection angle value in each movement.
The specific analysis method for the stability of the optimal metal piece comprises the following steps: the first step, monitoring each metal piece in the process of absorbing and lifting the metal piece, and reading corresponding transverse movement distance, longitudinal movement distance, vertical movement distance and deflection angle values of the optimal metal piece in each movement in the lifting process, wherein the values are respectively recorded asΘ p, p represents the p-th movement of the best metal piece, p=1, 2, u; the metal piece can move irregularly due to weight and shape reasons such as shaking and offset in the lifting process, so that the moving distance is longer than that in the original position, errors and offset caused by irregular movement in single measurement can be reduced by calculating the average value of multiple movements, a relatively stable moving distance estimation is obtained, and the accuracy and reliability of the measurement result are improved.
Secondly, substituting the acquired information of each movement of the optimal metal piece in the lifting process into a formulaObtaining the optimal metal piece stability coefficient/>Respectively representing the preset safety thresholds of the transverse moving distance, the longitudinal moving distance and the vertical moving distance of the optimal metal piece in the lifting process, wherein phi 1、φ2、φ3、φ4 respectively represents the weight coefficients of the transverse moving distance, the longitudinal moving distance, the vertical moving distance and the deflection angle value of the optimal metal piece, and xi represents the deflection angle value correction coefficient of the optimal metal piece. Thirdly, comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold, if the optimal metal piece stability coefficient is greater than or equal to the preset metal piece stability coefficient threshold, continuing to adsorb the metal piece through the adsorption execution module, otherwise stopping the adsorption action of the optimal metal piece through the adsorption execution module, and carrying out adsorption operation on the optimal metal piece again by adding a mode of executing a magnetic adsorption column; through the stability factor of analysis metalwork to this aassessment adsorbs stable condition, has reached the accurate operation to metalwork letter sorting, has improved letter sorting efficiency, has ensured the absorptive stability of metalwork simultaneously, reduces the risk of dropping.
And the reset adsorption module is used for comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold value, and carrying out corresponding operation on the optimal metal piece according to the comparison result.
The operation mode of the reset adsorption module for additionally executing the magnetic adsorption column is as follows: the first step is to read the stability coefficient of the best metal piece and compare with the preset stability coefficient threshold value of each best metal piece, so as to determine the number of the magnetic attraction posts required to be increased for the best metal piece.
Secondly, reading the number of the optimal metal piece which is currently remained except for each execution magnetic attraction column and recording the number as the number of the remained optimal magnetic attraction columns, if the number of the optimal metal piece which is remained is larger than the number of the optimal metal piece which needs to be increased to execute the magnetic attraction columns, measuring the distances between the remained optimal magnetic attraction columns and each execution magnetic attraction column, and screening out the remained optimal magnetic attraction columns which are closest to each execution magnetic attraction column in distance to be increased to execute the magnetic attraction columns; if the number of the residual preferable magnetic attraction posts of the optimal metal piece is smaller than that of the optimal metal piece, the number of the execution magnetic attraction posts is increased, and all the residual preferable magnetic attraction posts are increased to the execution magnetic attraction posts.
And thirdly, analyzing the height of the added execution magnetic attraction column and the current optimal metal piece.
And fourthly, controlling the added execution magnetic attraction column to move downwards through the attraction execution module so as to attract the optimal metal piece.
The preset optimal metal piece stability coefficient threshold values comprise an optimal metal piece stability coefficient threshold value corresponding to one magnetic attraction column, an optimal metal piece stability coefficient threshold value corresponding to two magnetic attraction columns, and three or more optimal metal piece stability coefficient threshold values corresponding to the magnetic attraction columns, wherein the values of the three threshold values are sequentially reduced.
The management database is used for storing the overhead height of the magnetic attraction plate, the three-dimensional coordinates of each magnetic attraction column, the density of each metal piece, the stability coefficient threshold value of each optimal metal piece, the quality threshold value of the magnetic attraction column corresponding to the adsorbed metal piece, and storing the safety threshold value of the transverse, longitudinal and vertical movement distance of the optimal metal piece, the weight coefficient of the transverse, longitudinal and vertical movement distance and the deflection angle value of the optimal metal piece, and simultaneously storing the deflection angle value correction coefficient of the optimal metal piece.
The system screens the optimal metal pieces by analyzing the distance between each metal piece and the corresponding magnetic suction column, determines each magnetic suction column for adsorbing the optimal metal piece by analyzing the metal information image analysis of the optimal metal pieces, obtains the stability coefficient of the metal pieces by analyzing the distance and the inclined angle value of each movement of the optimal metal pieces, evaluates the adsorption stability condition, achieves the precise operation of sorting the metal pieces, improves the sorting efficiency, ensures the adsorption stability of the metal pieces, reduces the risk of dropping or loosening, and improves the efficiency and quality of the industrial automatic production process.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention, which is also intended to be covered by the present invention.
Claims (7)
1. An intelligent control system for an industrial robot is characterized by comprising the following modules:
The magnetic attraction planning module is used for numbering each magnetic attraction column arranged at the bottom of the magnetic attraction plate according to a preset sequence, and sequentially numbering the numbers of each magnetic attraction column as ；
The image acquisition module is used for acquiring images of the metal pieces placed in the stacking container and three-dimensional coordinate information of the metal pieces, and recording the images of the metal pieces as metal information images of the metal pieces;
the image position analysis module is used for determining the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces according to the three-dimensional coordinate information of the metal pieces, and screening out the optimal metal pieces by comparing the distance between the horizontal planes of the magnetic attraction posts of the metal pieces and the corresponding metal pieces;
The metal piece analysis module is used for obtaining the volume corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece, and further analyzing and obtaining the barycentric coordinates of the optimal metal piece;
The execution magnetic suction column screening module is used for projecting each covered magnetic suction column upwards according to the metal information image corresponding to the optimal metal piece, marking the magnetic suction column as each magnetic suction column to be selected, calculating the mass of the magnetic suction column according to the volume corresponding to the optimal metal piece, judging the number of the magnetic suction columns, and screening each execution magnetic suction column according to the barycentric coordinates of the metal piece;
The adsorption execution module is used for controlling each execution magnetic attraction column to move downwards and adsorb the optimal metal piece, and lifting the optimal metal piece to the required height after the adsorption is completed;
the adsorption stability analysis module is used for reading information of each movement of the optimal metal piece in the lifting process and analyzing to obtain an optimal metal piece stability coefficient;
the reset adsorption module is used for comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold value, and carrying out corresponding operation on the optimal metal piece according to the comparison result;
the management database is used for storing the overhead height of the magnetic attraction plate, the three-dimensional coordinates of each magnetic attraction column, the density of each metal piece, the stability coefficient threshold value of each optimal metal piece, the quality threshold value of the magnetic attraction column corresponding to the adsorbed metal piece, and storing the safety threshold value of the transverse, longitudinal and vertical movement distance of the optimal metal piece, the weight coefficient of the transverse, longitudinal and vertical movement distance and the deflection angle value of the optimal metal piece, and simultaneously storing the deflection angle value correction coefficient of the optimal metal piece.
2. The intelligent control system of an industrial robot according to claim 1, wherein the specific analysis method of the distance between each metal piece and the horizontal plane of each magnetic attraction post of the corresponding metal piece comprises the following steps:
The first step, the position coordinate set of each metal piece and the three-dimensional coordinate of each magnetic attraction column are led into a set three-dimensional position coordinate system, the three-dimensional position coordinate system uses the transverse direction of a stacking container for placing each metal piece as an X axis, the longitudinal direction of the stacking container as a Y axis, the vertical direction as a Z axis, the central point position of the stacking container is the top angle of the bottom of the stacking container, the position coordinates of the middle parts of the two ends of each metal piece are obtained, and the position coordinates are respectively recorded as the position coordinates of the two ends of each metal piece 、/>And the position coordinates of each magnetic attraction column on the magnetic attraction plate are obtained, and the distance of the horizontal plane of each magnetic attraction column on the vertical axis is recorded as/>，/>Represents the/>Number of individual metal pieces,/>，/>Expressed as/>Magnetic attraction column,/>；
Second, through the formula，/>，/>Obtaining the average value of the coordinates of the middle parts of the two ends of each metal piece, and recording the average value as the coordinates/>, of the points to be measured of each metal pieceBy calculating the formula/>Obtaining the distance between each metal piece and the horizontal plane of each magnetic attraction column of the corresponding metal piece;
and thirdly, sorting the distances between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces according to the sequence from small to large, screening out the minimum distance between the metal pieces and the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, further screening out the metal pieces corresponding to the minimum distance between the horizontal planes of the magnetic attraction posts of the corresponding metal pieces, and marking the metal pieces as the optimal metal pieces.
3. The intelligent control system of an industrial robot according to claim 2, wherein the specific analysis method of the barycentric coordinates of the metal piece is as follows:
The first step, the position of the best metal piece is led into a set three-dimensional position coordinate system, the distances of the best metal piece on the abscissa, the ordinate and the ordinate are respectively divided into a plurality of mass points in the three-dimensional position coordinate system, and the mass point coordinate set of the best metal piece is obtained and recorded as ，/>Number of particles representing division,/>，/>Represents the/>Abscissa of individual particles,/>Represents the/>Ordinate of individual particles,/>Represents the/>Vertical coordinates of individual particles;
step two, obtaining the volume corresponding to the optimal metal piece according to the metal information image corresponding to the optimal metal piece By the formulaObtaining the mass/>, of each particle of the optimal metal pieceΡ represents the density of the optimal metal piece, and the particle coordinate set of the optimal metal piece and the optimal metal piece are respectively substituted into the formula/>，/>，/>Obtaining the mass center/>, on the horizontal axis, the vertical axis and the vertical axis, of the optimal metal pieceThis is denoted as the barycentric coordinate/>。
4. An intelligent control system for an industrial robot according to claim 3, wherein the specific acquisition method for each execution magnetic attraction column comprises the steps of:
the first step, upward projection is carried out according to the metal information image corresponding to the optimal metal piece obtained by scanning, and each magnetic attraction column covered by the projection is marked as each magnetic attraction column to be selected;
Counting the vertical axis distance between each metal piece and the horizontal plane of each magnetic attraction post to be selected according to a three-dimensional position coordinate system, acquiring the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected according to the three-dimensional position coordinate system, comparing the vertical axis distance between each metal piece and the horizontal plane of each magnetic attraction post to be selected with the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected, screening out the vertical axis distance smaller than the vertical axis distance between the optimal metal piece and the horizontal plane of each magnetic attraction post to be selected, marking the vertical axis distance as the preferable vertical axis distance, and further screening out each metal piece corresponding to the preferable vertical axis distance, and marking the metal piece as each blocking metal piece;
thirdly, comparing the metal information image corresponding to each blocking metal piece with the metal information image corresponding to the optimal metal piece, marking the space which is pressed on the upper part of the optimal metal piece and intersected with the optimal metal piece as a blocking adsorption area, screening each magnetic attraction column to be selected which is not overlapped with the blocking adsorption area, and marking each magnetic attraction column to be selected as each magnetic attraction column to be selected;
Fourth, through the formula Obtain the best quality of metal piece/>Comparing the mass of the optimal metal piece with a preset mass threshold value of the single magnetic attraction column corresponding to the adsorption metal piece, and analyzing to obtain the number of the magnetic attraction columns corresponding to the mass threshold value of the adsorption metal piece;
And fifthly, taking the magnetic attraction column corresponding to the gravity center coordinate of the optimal metal piece as a central magnetic attraction column, screening each alternative magnetic attraction column symmetrically arranged on two sides of the central magnetic attraction column, recording each alternative magnetic attraction column as each preferential magnetic attraction column, measuring the distance between each preferential magnetic attraction column and the central magnetic attraction column to obtain the distance between each preferential magnetic attraction column and the central magnetic attraction column, sequencing the distances from small to large, screening the sequenced preferential magnetic attraction columns according to the number of the magnetic attraction columns, and taking the sequenced preferential magnetic attraction columns as each executive magnetic attraction column.
5. The intelligent control system of an industrial robot according to claim 1, wherein the specific analysis method of the stability of the optimal metal piece comprises the following steps:
The first step, monitoring each metal piece in the process of absorbing and lifting the metal piece, and reading corresponding transverse movement distance, longitudinal movement distance, vertical movement distance and deflection angle values of the optimal metal piece in each movement in the lifting process, wherein the values are respectively recorded as 、/>、/>、/>，/>Represents the best metal piece of the first/>Secondary movement,/>；
Secondly, substituting the acquired information of each movement of the optimal metal piece in the lifting process into a formulaObtaining the optimal metal piece stability coefficient/>，/>、/>、/>Safety thresholds respectively representing the transverse movement distance, the longitudinal movement distance and the vertical movement distance of a preset optimal metal piece in the lifting process,/>Weight coefficient respectively representing the optimal metal piece transverse moving distance, longitudinal moving distance, vertical moving distance and deflection angle value,/>A skew angle value correction coefficient representing the optimal metal piece;
And thirdly, comparing the optimal metal piece stability coefficient with a preset metal piece stability coefficient threshold, if the optimal metal piece stability coefficient is greater than or equal to the preset metal piece stability coefficient threshold, continuing to adsorb the metal piece through the adsorption execution module, otherwise stopping the adsorption action of the optimal metal piece through the adsorption execution module, and carrying out adsorption operation on the optimal metal piece again in a mode of additionally executing the magnetic attraction column.
6. The intelligent control system of an industrial robot according to claim 5, wherein the operation mode of the reset adsorption module for additionally executing the magnetic attraction column is as follows:
Firstly, comparing the stability coefficient of the best metal piece with a preset stability coefficient threshold value of each best metal piece, and further determining that the quantity of the best metal piece required to be increased for executing magnetic attraction columns;
secondly, reading the number of the optimal metal piece which is currently remained except for each execution magnetic attraction column and recording the number as the number of the remained optimal magnetic attraction columns, if the number of the optimal metal piece which is remained is larger than the number of the optimal metal piece which needs to be increased to execute the magnetic attraction columns, measuring the distances between the remained optimal magnetic attraction columns and each execution magnetic attraction column, and screening out the remained optimal magnetic attraction columns which are closest to each execution magnetic attraction column in distance to be increased to execute the magnetic attraction columns; if the number of the residual preferable magnetic attraction posts of the optimal metal piece is smaller than the number of the magnetic attraction posts required to be increased by the optimal metal piece, all the residual preferable magnetic attraction posts are increased to be the magnetic attraction posts;
thirdly, analyzing the height of the added execution magnetic attraction column and the current optimal metal piece;
And fourthly, controlling the added execution magnetic attraction column to move downwards through the attraction execution module so as to attract the optimal metal piece.
7. The intelligent control system of an industrial robot according to claim 6, wherein the preset optimal metal piece stability coefficient thresholds include increasing an optimal metal piece stability coefficient threshold corresponding to one magnetic attraction column, increasing optimal metal piece stability coefficient thresholds corresponding to two magnetic attraction columns, and increasing three or more optimal metal piece stability coefficient thresholds corresponding to the magnetic attraction columns, and the values of the three thresholds decrease in sequence.
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