CN-121973178-A - Gripper control method and system for annular products

CN121973178ACN 121973178 ACN121973178 ACN 121973178ACN-121973178-A

Abstract

The application relates to a method and a system for controlling a gripper for an annular product, and relates to the field of product processing technology; the method comprises the steps of determining a product center position and a product actual size on a conveying area image, constructing a future arrival ray according to the product center position, constructing a simulation arrival point, determining a product moving distance according to the simulation arrival point and the product center position, determining a product moving time length according to the product moving distance and the conveying speed, determining a gripper moving distance according to the simulation arrival point and a gripper initial position, determining a gripper moving time length according to the gripper moving distance and the gripper speed, defining the corresponding simulation arrival point as a required arrival point when the product moving time length is consistent with the gripper moving time length, controlling the gripper to move to the required arrival point and controlling the gripper to operate in a required operation mode. The application has the effect of improving the overall processing efficiency of the annular product.

Inventors

DAI XIANG

Assignees

宁波大正工业机器人技术有限公司

Dates

Publication Date: 20260505
Application Date: 20241212

Claims (8)

1. A grip control method for an endless shaped product, comprising: acquiring an initial position of a gripper when the gripper receives a gripping task; synchronously acquiring a transmission area image when acquiring the initial position of the gripper; performing feature recognition on the transmission area image to determine the center position of the product and the actual size of the product; determining a required operation mode corresponding to the actual size of the product according to a preset operation matching relation; Constructing a future arrival ray according to the center position of the product and a preset transmission direction, and randomly constructing a simulation arrival point on the future arrival ray; Determining a product moving distance according to the simulated arrival point and the product center position, and calculating according to the product moving distance and a preset conveying speed to determine the product moving duration; Determining a gripper moving distance according to the simulated arrival point and the gripper initial position, and calculating according to the gripper moving distance and a preset gripper speed to determine gripper moving duration; when the product movement time length is consistent with the gripper movement time length, defining a corresponding simulation arrival point as a required arrival point, and determining a gripper movement path according to the initial position of the gripper and the required arrival point; And controlling the gripper to move along the gripper moving path, and controlling the gripper to operate in a required operation mode after the movement is finished.
2. The grip control method for annular products according to claim 1, wherein the step of performing feature recognition on the transfer area image to determine the center position of the product comprises: Acquiring pixel chromaticity values of all pixel points on the transmission area image; defining a pixel point of which the pixel chromaticity value is not in a preset conveyor belt chromaticity range as an external pixel point; Inducing adjacent external pixel points into the same preset initial empty external feature set, and randomly selecting two external pixel points in the same external feature set to determine the point separation distance; Determining the point separation distance with the maximum value according to a preset ordering rule, and defining the point separation distance as a theoretical outer diameter distance; counting according to the determined theoretical outer diameter distance to determine the number of effective outer diameters; Judging whether the number of the effective outer diameters is larger than the preset reference required number or not; If the number of the effective outer diameters is not greater than the reference required number, the theoretical outer diameter distance is removed, and the point spacing distance with the maximum value is determined again according to the ordering rule; if the number of the effective outer diameters is larger than the reference required number, an outer diameter line segment is constructed according to the outer pixel points corresponding to the theoretical outer diameter distance, and the center position of the product is determined according to the intersection point of each outer diameter line segment.
3. The grip control method for endless shaped products as recited in claim 2, wherein the step of performing feature recognition on the transfer area image to determine the actual size of the product comprises: Constructing an outer diameter contour circle according to the theoretical outer diameter distance at the center position of the product, and constructing an inner diameter contour circle according to the random theoretical inner diameter distance at the center position of the product; determining an annular area according to the outer diameter contour circle and the inner diameter contour circle, counting according to pixel points of the annular area to determine the overall number of the area, and counting according to external pixel points in the annular area to determine the effective number inside; Counting according to external pixel points in the external feature set to determine the integral quantity of the set, calculating according to the integral quantity of the set and the internal effective quantity to determine an internal occupation ratio, and calculating according to the internal effective quantity and the integral quantity of the region to determine an effective occupation ratio; calculating according to the internal occupation ratio and the effective occupation ratio to determine a reasonable adaptation value; and determining a reasonable adaptation value with the maximum numerical value according to the ordering rule, and determining the actual size of the product according to the theoretical inner diameter distance and the theoretical outer diameter distance corresponding to the reasonable adaptation value.
4. The grip control method for an endless shaped product according to claim 3, characterized in that after the determination of the rational fit value, the grip control method for an endless shaped product further comprises: Judging whether at least two theoretical inner diameter distances with the same reasonable adaptation value and the maximum theoretical inner diameter distance exist; If at least two theoretical inner diameter distances with the same reasonable adaptation value and the maximum theoretical inner diameter distance do not exist, determining the actual size of the product according to the theoretical inner diameter distance corresponding to the current maximum reasonable adaptation value; If at least two theoretical inner diameter distances with the same reasonable adaptation value and the maximum reasonable adaptation value exist, defining the theoretical inner diameter distance corresponding to the current maximum reasonable adaptation value as an alternative inner diameter distance; defining two end points as outer circle contour points on an outer diameter line segment, determining a theoretical inner circle contour point which is continuous and uninterrupted and farthest from one outer circle contour point to the other outer circle contour point by using the outer circle contour point, and determining the inner diameter distance of a single body according to the theoretical inner circle contour point determined on the same outer diameter line segment; Carrying out average value calculation according to all the monomer inner diameter distances to determine an average value inner diameter distance; and calculating according to the average inner diameter distance and the alternative inner diameter distance to determine an inner diameter deviation value, determining the inner diameter deviation value with the smallest numerical value according to a sequencing rule, and determining the actual size of the product according to the alternative inner diameter distance corresponding to the inner diameter deviation value.
5. The grip control method for an endless shaped product according to claim 1, wherein after the demand reaching point is determined, the grip control method for an endless shaped product further comprises: Determining a pause time point on a preset time axis according to the currently determined product movement time, and determining a carrying interval according to the current time point and the pause time point; Judging whether pause time points determined by other grippers exist in the carrying interval; If the pause time points determined by the rest grippers do not exist in the carrying interval, maintaining the current determined demand reaching point and controlling the operation of the grippers; If the pause time points determined by the rest grippers exist in the carrying interval, randomly generating a simulation arrival time point after the current time point, determining a simulation moving interval according to the current time point and the simulation arrival time point, and determining simulation moving duration according to the simulation moving interval; Counting according to a pause time point in the simulated moving interval to determine pause times, and calculating according to the pause times and preset unit time length to determine the whole pause time length; Calculating a difference value according to the simulated moving time length and the whole pause time length to determine the transmission moving time length, and calculating a future arrival ray according to the transmission moving time length and the transmission speed to determine the product simulation position; determining a simulated hand grip distance according to the product simulated position and the hand grip initial position, and calculating according to the simulated hand grip distance and the hand grip speed to determine hand grip simulation duration; And defining the product simulation position when the simulation movement time length is consistent with the gripper simulation time length as an effective product position, and controlling the gripper to move according to the effective product position.
6. The grip control method for endless shaped products according to claim 5, characterized in that after the grip is moved along the grip moving path and the movement is completed, the grip control method for endless shaped products further comprises: Acquiring the actual center position of a product; Judging whether the actual central position coincides with the required arrival point; if the actual central position coincides with the required arrival point, outputting an in-place signal and controlling the gripper to operate according to a required operation mode; and if the actual center position does not coincide with the required arrival point, outputting an offset signal, and redetermining a gripper moving path to control the gripper moving operation.
7. A gripper control system for a ring product, comprising: The acquisition module is used for synchronously acquiring the image of the transmission area when the initial position of the gripper is acquired; the processing module is connected with the acquisition module and the judging module and is used for storing and processing information; the judging module is connected with the acquisition module and the processing module and is used for judging information; The acquisition module acquires the initial position of the gripper when the gripper receives the grabbing task; the processing module performs feature recognition on the transmission area image to determine the center position of the product and the actual size of the product; the processing module determines a required operation mode corresponding to the actual size of the product according to a preset operation matching relation; The processing module constructs a future arrival ray according to the center position of the product and a preset transmission direction, and randomly constructs a simulation arrival point on the future arrival ray; the processing module determines the product moving distance according to the simulated arrival point and the product center position, and calculates according to the product moving distance and the preset conveying speed to determine the product moving duration; the processing module determines a gripper moving distance according to the simulation arrival point and the gripper initial position, and calculates according to the gripper moving distance and a preset gripper speed to determine gripper moving duration; when the judging module judges that the product moving time length is consistent with the gripper moving time length, the processing module defines a corresponding simulation arrival point as a required arrival point, and determines a gripper moving path according to the initial position of the gripper and the required arrival point; the processing module controls the gripper to move along the gripper moving path, and controls the gripper to operate in a required operation mode after the movement is finished.
8. A computer-readable storage medium, characterized in that a computer program capable of being loaded by a processor and executing the grip control method for an endless product as claimed in any one of claims 1 to 6 is stored.

Description

Gripper control method and system for annular products Technical Field The application relates to the field of product processing technology, in particular to a method and a system for controlling a gripper for an annular product. Background In the process of annular product production, annular products are generally required to be carried to a processing station by a production line, and then the use of a gripper is introduced to facilitate the movement of the annular products. For better adaptation annular product snatch, there is a tongs that is used for annular product specially, including interior subassembly and the outer subassembly that props, through the interior anchor subassembly butt annular product inner ring face, through the outer anchor subassembly butt annular product outer ring face, realize the product and compare the fixed between the tongs to be convenient for carry annular product. In the related art, after the annular product is output at the previous station of the gripper, the conveyor belt can move to a processing station which is close to the operation required by the gripper, but in order to facilitate the gripper to grasp the annular product, when the gripper receives the grasping task and approaches to the annular product, the conveyor belt can stop moving, and at the moment, the stationary product can be grasped by the gripper. In the above related art, when the gripper acquires the gripping task, the movement of the annular product is stopped, and only the gripper is moved at this time, which results in that the gripper needs to move a longer distance, so that the gripping efficiency of the annular product is reduced, and the overall processing efficiency of the product is reduced, which has room for improvement. Disclosure of Invention In order to improve the overall processing efficiency of annular products, the application provides a gripper control method and a gripper control system for annular products. In a first aspect, the present application provides a method for controlling a gripper for an annular product, which adopts the following technical scheme: A grip control method for an endless shaped product, comprising: acquiring an initial position of a gripper when the gripper receives a gripping task; synchronously acquiring a transmission area image when acquiring the initial position of the gripper; performing feature recognition on the transmission area image to determine the center position of the product and the actual size of the product; determining a required operation mode corresponding to the actual size of the product according to a preset operation matching relation; Constructing a future arrival ray according to the center position of the product and a preset transmission direction, and randomly constructing a simulation arrival point on the future arrival ray; Determining a product moving distance according to the simulated arrival point and the product center position, and calculating according to the product moving distance and a preset conveying speed to determine the product moving duration; Determining a gripper moving distance according to the simulated arrival point and the gripper initial position, and calculating according to the gripper moving distance and a preset gripper speed to determine gripper moving duration; when the product movement time length is consistent with the gripper movement time length, defining a corresponding simulation arrival point as a required arrival point, and determining a gripper movement path according to the initial position of the gripper and the required arrival point; And controlling the gripper to move along the gripper moving path, and controlling the gripper to operate in a required operation mode after the movement is finished. Optionally, the step of performing feature recognition on the transmission area image to determine the center position of the product includes: Acquiring pixel chromaticity values of all pixel points on the transmission area image; defining a pixel point of which the pixel chromaticity value is not in a preset conveyor belt chromaticity range as an external pixel point; Inducing adjacent external pixel points into the same preset initial empty external feature set, and randomly selecting two external pixel points in the same external feature set to determine the point separation distance; Determining the point separation distance with the maximum value according to a preset ordering rule, and defining the point separation distance as a theoretical outer diameter distance; counting according to the determined theoretical outer diameter distance to determine the number of effective outer diameters; Judging whether the number of the effective outer diameters is larger than the preset reference required number or not; If the number of the effective outer diameters is not greater than the reference required number, the theoretical outer diameter distance is removed, and the point spacing