CN-121973240-A - Industrial robot automatic grabbing system based on industrial vision

CN121973240ACN 121973240 ACN121973240 ACN 121973240ACN-121973240-A

Abstract

The invention discloses an industrial robot automatic grabbing system based on industrial vision, which relates to the technical field of industrial robots and adopts the technical scheme that industrial field real-time grabbing task data are collected, wherein the industrial field real-time grabbing task data correspond to production stations and robot operation terminals, target grabbing task data of the industrial field real-time grabbing task data are obtained according to a pre-built visual characteristic dynamic matching library, adaptive grabbing task data and dynamic fitting coefficients are obtained according to actual dynamic parameters of the target grabbing task data and dynamic grabbing calibration standards, terminal dynamic operation parameters of the adaptive operation terminals corresponding to the adaptive grabbing task data are obtained, dynamic grabbing fitting degrees of the adaptive operation terminals are obtained according to the terminal dynamic operation parameters and the dynamic fitting coefficients, and industrial robot grabbing instructions are generated according to the comprehensive dynamic fitting degrees and the dynamic grabbing fitting degrees.

Inventors

QIU FENG
WANG LEI
SUN GUANG

Assignees

共福通达(安徽)科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (10)

1. Industrial robot automatic grabbing system based on industrial vision, characterized by comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module acquires industrial field real-time grabbing task data, and the industrial field real-time grabbing task data corresponds to a production station and a robot operation terminal; The first processing module is used for obtaining target grabbing task data of industrial field real-time grabbing task data according to a pre-constructed visual characteristic dynamic matching library and obtaining adaptive grabbing task data and dynamic fit coefficients according to actual dynamic parameters of the target grabbing task data and a dynamic grabbing calibration standard; The analysis module is used for processing and analyzing the adaptive grabbing task data, the dynamic fit coefficient, the production station and the robot operation terminal to obtain comprehensive dynamic adaptation degree; the second processing module is used for acquiring terminal dynamic operation parameters of the adaptive operation terminal corresponding to the adaptive grabbing task data and acquiring the dynamic grabbing adaptation degree of the adaptive operation terminal according to the terminal dynamic operation parameters and the dynamic adaptation coefficients; And the generation instruction module is used for generating an industrial robot grabbing instruction according to the comprehensive dynamic adaptation degree and the dynamic grabbing adaptation degree.
2. The industrial vision-based automatic industrial robot gripping system according to claim 1, wherein the dynamic gripping calibration standard comprises a dynamic speed threshold, a dynamic accuracy threshold and a dynamic load adjustment threshold corresponding to the gripping task working condition type; The visual characteristic dynamic matching library comprises dynamic contour characteristic data and dynamic texture characteristic data corresponding to the grabbing task working condition type.
3. The automatic industrial robot gripping system based on industrial vision according to claim 2, wherein the target gripping task data of the industrial field real-time gripping task data is obtained according to the pre-constructed vision characteristic dynamic matching library, and specifically comprises the following steps: According to the dynamic contour feature and dynamic texture feature data of the visual feature dynamic matching library, carrying out dynamic feature matching on the industrial field real-time capturing task data to obtain target dynamic features; And carrying out dynamic characteristic association data extraction on the industrial field real-time grabbing task data according to the target dynamic characteristics to obtain target task data to be grabbed corresponding to the target dynamic characteristics.
4. The industrial robot automatic grabbing system based on industrial vision according to claim 1, wherein the adaptive grabbing task data and the dynamic fit coefficients are obtained according to the actual dynamic parameters of the target grabbing task data and the dynamic grabbing calibration standard, and specifically comprises the following steps: Obtaining actual dynamic parameters of target grabbing task data according to grabbing task working condition types corresponding to the target task data to be grabbed; the actual dynamic parameters comprise an actual dynamic speed value, an actual dynamic precision value and an actual dynamic load adjusting value which correspond to the target task data to be grabbed; If all values of the actual dynamic parameters in the industrial field real-time grabbing task data are within the range of the threshold corresponding to the dynamic grabbing calibration standard, judging the industrial field real-time grabbing task data to be adaptive grabbing task data, and determining the dynamic deviation rate of the actual dynamic parameters and the corresponding threshold; And obtaining a dynamic fit coefficient of the adaptive grabbing task data according to the threshold value corresponding to the dynamic deviation rate and the dynamic grabbing calibration standard.
5. The industrial robot automatic grabbing system based on industrial vision according to claim 1, wherein the comprehensive dynamic adaptation degree is obtained by processing and analyzing the adaptive grabbing task data, the dynamic adaptation coefficient, the production station and the robot operation terminal, and specifically comprises the following steps: Obtaining a first station adaptation coefficient of the production station according to the task dynamic distribution parameters and the dynamic adaptation coefficients of the adaptive grabbing task data; marking a robot operation terminal corresponding to the adaptive grabbing task data as an adaptive operation terminal; obtaining a second station adaptation coefficient of the production station according to the dynamic operation parameters of the adaptation operation terminal in the production station; and obtaining comprehensive dynamic adaptation degree according to the first station adaptation coefficient and the second station adaptation coefficient.
6. The industrial robot automatic grabbing system based on industrial vision according to claim 5, wherein the first station adaptation coefficient of the production station is obtained according to the task dynamic distribution parameter and the dynamic adaptation coefficient of the adapting grabbing task data, and specifically comprises the following steps: Setting a working condition dynamic weight of the adaptive grabbing task data according to the grabbing task working condition type corresponding to the adaptive grabbing task data, and obtaining a dynamic adaptation coefficient of the adaptive grabbing task data according to the dynamic adaptation coefficient and the working condition dynamic weight of the adaptive grabbing task data; The task dynamic distribution parameters comprise time dynamic distribution density and space dynamic coverage range of the adaptive grabbing task data in the production station; obtaining a first dynamic adaptation condition value corresponding to the production station according to the time dynamic distribution density, the space dynamic coverage area and the dynamic adaptation coefficient; acquiring the total task number of the industrial field real-time grabbing task data in the production station, and acquiring a second dynamic adaptation condition value of the production station according to the total task number and the number of the adaptation grabbing task data of the production station; And obtaining a first station adaptation coefficient of the production station according to the first dynamic adaptation condition value and the second dynamic adaptation condition value.
7. The industrial vision-based automatic industrial robot gripping system according to claim 5, wherein the second station adaptation coefficient of the production station is obtained according to the dynamic operation parameter of the adaptation operation terminal in the production station, and specifically comprises the following steps: Judging the cooperative association characteristic between the dynamic operation parameters of the adaptive operation terminal in the production station, and screening to obtain target parameter items influencing the operation circulation of the production station according to the cooperative association characteristic; Determining operation connection nodes of each adaptive operation terminal based on the production station operation flow sequence, and establishing a corresponding relation between target parameter items and the connection nodes; Judging the adaptation coordination of the terminal target dynamic parameters at the connection nodes according to the corresponding relation to obtain the coordination adaptation degree; prioritizing the cooperative adaptation degree of each engagement node by combining the total circulation efficiency requirement of the station operation to obtain a key engagement node and a normal engagement node; correcting the cooperative deviation of the terminal target dynamic parameters according to the cooperative adaptation degree of the key engagement nodes and the adaptation condition of the normal engagement nodes to obtain a terminal engagement adaptation value; And evaluating the adaptation capability of the station operation circulation according to the terminal engagement adaptation value and the terminal operation engagement frequency to obtain a second station adaptation coefficient of the production station.
8. The industrial robot automatic grabbing system based on industrial vision according to claim 1, wherein the terminal dynamic operation parameters comprise dynamic operation stability, dynamic energy consumption fluctuation value and dynamic fault early warning response speed of the adaptive operation terminal corresponding to the adaptive grabbing task data.
9. The industrial robot automatic gripping system based on industrial vision according to claim 8, wherein the dynamic gripping adaptation degree of the adapted operation terminal is obtained according to the terminal dynamic operation parameter and the dynamic adaptation coefficient, and specifically comprises the following steps: Obtaining a dynamic stable adaptation coefficient according to the dynamic operation stability; Obtaining a dynamic energy consumption adaptation coefficient according to the ratio of the dynamic energy consumption fluctuation value to a preset dynamic energy consumption threshold value, and obtaining a dynamic early warning adaptation coefficient according to the dynamic fault early warning response speed; Weighting and summing the dynamic stable adaptation coefficient, the dynamic energy consumption adaptation coefficient and the dynamic early warning adaptation coefficient to obtain a terminal dynamic operation adaptation coefficient; And obtaining the dynamic grabbing adaptation degree of the adaptive operation terminal according to the dynamic operation adaptation coefficient of the terminal and the dynamic adaptation coefficient of the adaptive grabbing task data.
10. The industrial robot automatic gripping system based on industrial vision according to claim 9, wherein the industrial robot gripping instruction is generated according to the comprehensive dynamic adaptation degree and the dynamic gripping adaptation degree, and specifically comprises the following steps: the comprehensive dynamic adaptation degree and the dynamic grabbing adaptation degree are subjected to priority judgment to form an adaptation degree deviation value; adjusting the weight ratio of the comprehensive dynamic adaptation degree and the dynamic grabbing adaptation degree according to the adaptation degree deviation value; Obtaining a final adaptation evaluation value according to the comprehensive dynamic adaptation degree, the dynamic grabbing adaptation degree and the weight ratio, and determining basic parameters of grabbing actions according to the final adaptation evaluation value and terminal dynamic operation parameters of an adaptation operation terminal, wherein the basic parameters comprise grabbing strength, a motion track and an attitude adjustment amplitude; And generating a grabbing instruction comprising an action sequence, an execution time sequence and a safety threshold according to the basic parameters and the station parameters of the production station.

Description

Industrial robot automatic grabbing system based on industrial vision Technical Field The invention relates to the technical field of industrial robots, in particular to an industrial robot automatic grabbing system based on industrial vision. Background Most of early robot grabbing systems adopt mechanical positioning or simple visual recognition technology, only static or low-dynamic target objects can be recognized, and the tolerance to illumination of grabbing environments and object posture changes is extremely low. In an automobile part mixed flow production line or a 3C electronic product assembly workshop, when the shape, the material or the movement speed of an object to be grabbed changes, the object cannot be quickly adapted, the problem of false grabbing and positioning deviation is easy to occur, and production interruption or product quality defect is caused. The system lacks of dynamic adaptation capability assessment of production stations and robot terminals, cannot adjust operation strategies according to real-time task loads and equipment states, and often has the conditions of station resource idling and terminal overload coexistence, so that the overall production efficiency is difficult to improve. With the development of industrial vision technology, part of improved systems introduce a vision feature matching mechanism, but most of the improved systems still adopt a static feature library, and cannot cope with the dynamic change of the contour and texture of an object in the motion process. Meanwhile, the suitability evaluation of the existing system focuses on a single dimension, only focuses on the matching degree of tasks and equipment, or only evaluates the running state of a terminal, and the comprehensive consideration of station bearing capacity and terminal cooperative efficiency is lacked, so that the generation of a grabbing instruction is lacked comprehensive data support, and the dynamic control requirement under the complex working condition is difficult to meet. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide an industrial robot automatic grabbing system based on industrial vision. In order to achieve the above purpose, the present invention provides the following technical solutions: an industrial robot automatic gripping system based on industrial vision, comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module acquires industrial field real-time grabbing task data, and the industrial field real-time grabbing task data corresponds to a production station and a robot operation terminal; The first processing module is used for obtaining target grabbing task data of industrial field real-time grabbing task data according to a pre-constructed visual characteristic dynamic matching library and obtaining adaptive grabbing task data and dynamic fit coefficients according to actual dynamic parameters of the target grabbing task data and a dynamic grabbing calibration standard; The analysis module is used for processing and analyzing the adaptive grabbing task data, the dynamic fit coefficient, the production station and the robot operation terminal to obtain comprehensive dynamic adaptation degree; the second processing module is used for acquiring terminal dynamic operation parameters of the adaptive operation terminal corresponding to the adaptive grabbing task data and acquiring the dynamic grabbing adaptation degree of the adaptive operation terminal according to the terminal dynamic operation parameters and the dynamic adaptation coefficients; And the generation instruction module is used for generating an industrial robot grabbing instruction according to the comprehensive dynamic adaptation degree and the dynamic grabbing adaptation degree. Preferably, the dynamic grabbing calibration standard comprises a dynamic speed threshold, a dynamic precision threshold and a dynamic load adjustment threshold which correspond to the grabbing task working condition type; The visual characteristic dynamic matching library comprises dynamic contour characteristic data and dynamic texture characteristic data corresponding to the grabbing task working condition type. Preferably, target capturing task data of industrial field real-time capturing task data is obtained according to a pre-constructed visual characteristic dynamic matching library, and the method specifically comprises the following steps: According to the dynamic contour feature and dynamic texture feature data of the visual feature dynamic matching library, carrying out dynamic feature matching on the industrial field real-time capturing task data to obtain target dynamic features; And carrying out dynamic characteristic association data extraction on the industrial field real-time grabbing task data according to the target dynamic characteristics to obtain target task data to be grabbed correspondi