CN105964567B - A kind of vial sorting control system being directed in house refuse - Google Patents
A kind of vial sorting control system being directed in house refuse Download PDFInfo
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- CN105964567B CN105964567B CN201610362689.1A CN201610362689A CN105964567B CN 105964567 B CN105964567 B CN 105964567B CN 201610362689 A CN201610362689 A CN 201610362689A CN 105964567 B CN105964567 B CN 105964567B
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- 239000000463 material Substances 0.000 claims abstract description 9
- 239000011521 glass Substances 0.000 claims description 43
- 238000003384 imaging method Methods 0.000 claims description 35
- 239000010813 municipal solid waste Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 238000002360 preparation method Methods 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 8
- 238000005303 weighing Methods 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 5
- 239000010791 domestic waste Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000007812 deficiency Effects 0.000 abstract 1
- 230000005484 gravity Effects 0.000 abstract 1
- 238000004364 calculation method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0072—Sorting of glass
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- Manipulator (AREA)
Abstract
The invention discloses a kind of vial sorting control system being directed in house refuse, the system includes bottle pose receiving module, multi-robot dispatching control module, multiple TRAJECTORY CONTROL modules and the manipulator with gravity detection function, multi-robot dispatching control module judges whether multiple vials enter the operation interval of idle manipulator simultaneously, the coordinate of the vial and attitude angle information are distributed into manipulator TRAJECTORY CONTROL module corresponding to the manipulator of free time, manipulator TRAJECTORY CONTROL module control machinery hand captures to bottle, and bottle weight is judged, if the weight characteristics with vial, crawl thing is then placed into material container, otherwise it is placed back into conveyer belt.Multiple sorting tasks are distributed to more manipulators simultaneously and sorted by the present invention, in addition, increasing weight sensor on a robotic arm, extract the weight characteristics of bottle, compensate for Machine Vision Recognition system can not recognize the deficiency of destination object material.
Description
Technical Field
The invention relates to a sorting control system for glass bottles in household garbage, and belongs to the field of environment-friendly automatic equipment.
Background
At the front end of domestic waste recovery production line, need sort the glass bottle in the rubbish and retrieve, prevent that broken glass from causing the destruction to subsequent production line equipment. The existing method for recovering the glass bottles in the household garbage adopts a manual sorting method, has certain dangerousness, and has the defects of severe working environment, high labor intensity and low working efficiency of sorting personnel. The glass bottles can be sorted by adopting a mechanical arm grabbing method, and the mechanical arm grabbing has the advantages of high efficiency, low cost and continuous work, so that the glass bottles are widely applied.
At present, a glass bottle sorting system in household garbage is constructed by arranging a machine vision system at the front end of a conveyor belt, carrying out image acquisition and image processing on garbage paved on the conveyor belt, transmitting recognized bottle shape and pose information to a manipulator controller, and controlling the tail end of the manipulator to reach an appointed coordinate point by the manipulator controller to grab a glass bottle in a certain hand grabbing gesture.
However, most of the conventional robot controls are motion controls for a single robot, and even controls for a plurality of robots are sorting tasks for different kinds of sorting targets in different processes. Aiming at the practical application condition of garbage sorting of multiple targets on a mobile production line, the sorting method is easy to miss detection and low in efficiency. In addition, in the existing sorting and identifying technology, a CCD optical camera is generally used as an image acquisition element for identifying an object, and only the shape of the object to be sorted can be identified by an image processing method, but the material of the object cannot be identified. Glass bottle and plastic bottle are the bottle class letter sorting object that confuses more easily, if will realize the letter sorting to the glass bottle, when just will snatching the letter sorting object at the manipulator, detect its weight to discern the glass bottle. A general robot cannot distinguish whether or not the gripped object is a glass bottle.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcome prior art's not enough, provide a glass bottle letter sorting control system to among the domestic waste, solve the quick automatic sorting problem of glass bottle among the domestic waste, improve rubbish letter sorting efficiency, reduce workman's intensity of labour, improve the degree of automation of rubbish letter sorting production line.
The technical solution of the invention is as follows: the utility model provides a multimanipulator letter sorting control system to glass bottle among domestic waste, this system includes bottle position appearance receiving module, multimanipulator dispatch control module, N manipulator, N control mechanical hand's orbit control module and weighing sensor, manipulator and orbit control module one-to-one, weighing sensor is used for gathering the common weight of manipulator hand claw and grabbing thing, wherein:
the bottle pose receiving module receives an externally input bottle pose information frame and stores the externally input bottle pose information frame into a receiving buffer area, wherein the bottle pose information frame comprises coordinates, attitude angles and shooting time of a bottle in an imaging plane coordinate system;
a multi-manipulator scheduling control module for extracting the bottle position and attitude information frame in the receiving buffer area and calculating the t position of the bottle in the bottle position and attitude information frame2The predicted coordinates at time + Δ T in the plane coordinate system of the conveyor, said T2At the current moment, delta T is the time required by the manipulator to receive an instruction and grab a bottle, whether the predicted coordinate falls into the working space of any manipulator is judged, if the predicted coordinate enters the working space of a certain manipulator, whether the working state of the manipulator is idle is judged, and if the predicted coordinate is idle, the coordinate and attitude angle information under the imaging plane coordinate system of the bottle are distributed to a manipulator track control module corresponding to the idle manipulator;
the manipulator track control module is used for controlling the manipulator to be positioned at a preset preparation position during initialization; the method comprises the steps of receiving coordinate information of a bottle in an imaging plane coordinate system, setting the working state to be busy, carrying out coordinate conversion on the coordinate information and an attitude angle of the bottle to obtain coordinates of the bottle in a local manipulator coordinate system, controlling the manipulator to move to a bottle position, enabling the angle of a rotary manipulator to be consistent with the attitude angle, grabbing the bottle, reading a weight sensor value when the bottle leaves the surface of a conveyor belt, judging whether the grabbed bottle has the weight characteristic of a glass bottle according to the weight, if so, sending the bottle to a designated material storage area outside the conveyor belt, if not, putting the bottle back to the conveyor belt, and then, controlling the manipulator to return to a preset preparation position to set the working state to be idle.
The method for judging whether the grabbed bottle is a glass bottle or not by the manipulator track control module according to the weight of the bottle comprises the following steps:
and judging whether the weight is within a preset threshold range, if so, judging the bottle to be a glass bottle, otherwise, judging the bottle to be other bottles, wherein the threshold is determined by the sum of the statistical weights of the manipulator paw and the glass bottle.
The N manipulators are arranged along the moving direction of the conveyor belt, the serial numbers are 1-N, and the multi-manipulator scheduling control module circularly executes the following steps:
(1) judging whether a new bottle pose information frame exists in the receiving buffer area at the current moment, if so, storing the new bottle pose information frame into a current grabbing queue, and entering the step (2), otherwise, directly entering the step (2);
(2) selecting a first bottle position and posture information frame in a grabbing queue according to a first-in first-out principle;
(3) analyzing the coordinate information (x) of the bottle in the imaging plane coordinate system in the bottle pose information frameP_0,yP_0) And a photographing time t1；
(4) Coordinate information (x) of the bottle in an imaging plane coordinate systemP_0,yP_0) Coordinate conversion is carried out to obtain coordinate information (x) under a plane coordinate system of the conveyor beltC_0,yC_0)；
(5) Calculate the bottle at t2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)；
(6) Sequentially judging the predicted coordinates (x) of the bottle at the current momentC_target,yC_target) Whether the bottle enters the working space of the 1 st manipulator to the Nth manipulator or not, if the bottle enters the working space of one manipulator, the manipulator is determined to be the manipulator to be grabbed, the step (7) is carried out, and whether the bottle enters the working space of the other manipulator or not is carried outThen, the bottle pose information frame is stored in a temporary storage queue, and the step (8) is carried out;
(7) judging whether the working state of the manipulator to be grabbed is idle or not, if so, sending the coordinates and the attitude angle information of the imaging plane coordinate system in the bottle pose information frame to a track control module corresponding to the manipulator, and entering the step (8); if the working state is busy, storing the bottle pose information frame into a temporary storage queue, and entering the step (8);
(8) selecting the next bottle pose information frame, re-executing the steps (3) to (7) until all bottle pose information frames in the grabbing queue are judged, and entering the step (9);
(9) and emptying the grabbing queue, and storing all bottle pose information frames in the temporary storage queue into the grabbing queue.
The step (5) calculates the bottle t by solving the following equation set2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)：
xC_target＝xC_0+v×(t2+ΔT-t1)
yC_target＝yC_0
zR_target＝0
Wherein (x)R_int，yR_int，zR_int) Coordinates in the manipulator coordinate system for the preparation position of the ith manipulator; vR_handA predetermined speed for the manipulator to move linearly point to point, v is the speed of the conveyor belt, MC_R_iIs a coordinate transformation matrix from a conveyor belt plane coordinate system to an ith manipulator coordinate system, t2Is the current time.
The multi-manipulator scheduling control module judges the bottle prediction coordinate (x)C_target,yC_target) The method for judging whether to enter the working interval of the ith manipulator comprises the following steps:
(6a) placing the ith manipulator in the ith manipulator plane coordinate system XRiORiYRiThe coordinate origin (0,0) is subjected to coordinate conversion to obtain the coordinate (x) of the coordinate origin in the plane coordinate system of the conveyor beltC_i,yC_i)；
(6b) Judgment (x)C_target,yC_target) Whether the condition is satisfied:
when the working space of the manipulator is a sector area with the radius of R, and if the radius is satisfied, (x) is considered to beC_target,yC_target) Fall into the working interval of the ith manipulator, otherwise, consider (x)C_target,yC_target) Not within the working space of the robot.
The bottle position and posture information frames in the grabbing queue in the step (1) are arranged according to the following rules: the bottle position and orientation information frames at different shooting moments are arranged according to the time sequence, and the bottle position and orientation information frames at the same shooting moment are arranged in front according to the position arrangement of the bottles.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the garbage sorting system, the mechanical hands are arranged to sort garbage, the sorting capacity of each mechanical hand is fully utilized, a plurality of sorting tasks are simultaneously distributed to the mechanical hands to be sorted, the sorting capacity of the maximum target grabbing object of the whole system can be realized, and the working efficiency is high.
2. The invention defines a fixed plane coordinate system of the conveyor belt, and the calculation of whether the coordinate falls into the grabbing range of the manipulator is carried out on the plane coordinate system of the conveyor belt, thereby being beneficial to reducing the calculation amount and improving the calculation efficiency.
3. In addition, the multi-manipulator control modules only need to send the coordinates of the bottle imaging plane coordinate system to each manipulator track control module, and each manipulator track control module is responsible for carrying out coordinate conversion on the coordinates of bottles which need to be grabbed, so that the complexity of the multi-manipulator control modules is simplified.
4. The invention solves the problems that the appearance of a sorted object can only be identified in a general sorting identification link and the sorted object can not be identified to be a glass bottle or a plastic bottle, and provides a method for detecting the weight characteristic of the sorted object when a manipulator picks the sorted object as a condition for judging whether the picked object is a glass bottle sorting object or not to automatically sort the glass bottle, thereby effectively preventing the broken glass from damaging subsequent production line equipment.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a flow chart of a control method of the present invention;
fig. 3 sorting robot distribution.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the embodiment of the invention relates to the following coordinate systems, which are defined as follows:
(1) imaging plane coordinate system
The intersection point of the optical axis of the camera and the plane of the conveying belt is taken as the origin of coordinates, and the moving direction of the imaging plane along the conveying belt is taken as XPAxis, with XPThe direction perpendicular to the axial direction is YPAxis, imaging plane is the conveyor plane.
(2) Conveyor belt plane coordinate system
The origin of the plane coordinate system of the conveyor belt is a fixed point O of the edge of the conveyor beltC，XCThe axis being in the direction of movement of the belt, YCIn the plane of the conveyor and with XCThe axis is vertical.
(3) Coordinate system of N manipulators
The manipulator coordinate system of the ith manipulator is XRiORiYRiThe origin is the intersection of the base of the manipulator and the plane of the conveyor belt, axis ZRPerpendicular to the plane of the conveyor, axis XRAxis YRRespectively with axis X of the plane coordinate system of the conveyor beltCAnd axis YCThe directions are consistent.
The imaging plane coordinate system is changed along with the imaging plane, and the plurality of manipulator coordinate systems are changed along with the installation position of the manipulator, so that the difficulty in obtaining imaging coordinates and the processing complexity of the manipulator track control module can be reduced.
Fig. 1 is a block diagram of a sorting control system for glass bottles in household garbage. As shown in the figure, this system includes bottle position appearance receiving module, many manipulators dispatch control module, N manipulators, N control manipulator's orbit control module and weighing sensor, manipulator and orbit control module one-to-one, and weighing sensor is used for gathering manipulator hand claw and the common weight of grabbing thing, installs directly over the manipulator hand claw, and weighing sensor's atress axis passes the focus of hand claw, wherein:
the bottle pose information receiving module receives an externally input bottle pose information frame in a serial port communication mode, stores the externally input bottle pose information frame into a receiving buffer area, and has the transmission standards of RS232, RS485 and RS422, wherein the bottle pose information frame comprises the coordinates, the attitude angle and the shooting time of the bottle in an imaging plane coordinate system; the coordinate in the pose information is the geometric center coordinate of the minimum circumscribed rectangle of the bottle, and the attitude angle information is the included angle between the long edge of the minimum circumscribed rectangle of the bottle and the X axis; the bottle pose information frame is referred to the imaging plane coordinate system, has short content and contains all information required by grabbing, and is beneficial to shortening the transmission time and the transmitted data volume.
The multi-manipulator scheduling control module performs scheduling control on a plurality of manipulators controlled by the multi-manipulator scheduling control module, and communication with the manipulator trajectory control module can be realized in an industrial field bus mode. A multi-manipulator scheduling control module for extracting the bottle position and attitude information frame in the receiving buffer area and calculating the t position of the bottle in the bottle position and attitude information frame2The predicted coordinates at time + Δ T in the plane coordinate system of the conveyor, said T2And at the current moment, delta T is the time required by the manipulator to receive the instruction and grab the bottle, whether the predicted coordinate enters the working space of any manipulator is judged, if the predicted coordinate enters the working space of a certain manipulator, whether the working state of the manipulator is idle is judged, and if the predicted coordinate is idle, the coordinate and attitude angle information under the imaging plane coordinate system of the bottle are distributed to the manipulator track control module corresponding to the idle manipulator. The multi-manipulator scheduling control module polls the running state of each manipulator in a millisecond-level control period, and timely performs task allocation on the idle manipulators, so that the manipulators can efficiently grab the bottles.
The manipulator track control module is used for controlling the manipulator to be positioned at a preset preparation position during initialization; after receiving coordinate information of a bottle in an imaging plane coordinate system, setting the working state to be busy, performing coordinate conversion on the coordinate information and the attitude angle of the bottle to obtain the coordinate of the bottle in the manipulator coordinate system, controlling the manipulator to move to the position of the bottle, enabling the angle of the rotary manipulator to be consistent with the attitude angle, grabbing the bottle, and detecting the manipulator paw after the bottle leaves the plane of the conveyor beltAnd judging whether the weight of the gripper and the grabbed objects is within a certain threshold range, if so, judging that the glass bottles are conveyed to a designated material storage area outside the conveyor belt, otherwise, judging that the bottles are made of other materials, loosening the gripper, and putting the grippers back to the conveyor belt, wherein the threshold is determined by the sum of the statistical weights of the manipulator gripper and the glass bottles. And then, controlling the manipulator to return to a preset preparation position, and setting the working state to be idle. The predetermined preparation position may be directly above the plane of the conveyor belt, the projection of which onto the plane of the conveyor belt is located in YPThe center position in the axial direction. This position facilitates the robot to quickly reach the conveyor surface for gripping.
The multi-manipulator control module only needs to send the coordinates of the bottles in the imaging plane coordinate system to each manipulator track control module, and each manipulator track control module is responsible for carrying out coordinate conversion on the coordinates of the bottles which need to be grabbed, so that the complexity of the multi-manipulator control module is simplified.
N manipulators are arranged along the moving direction of the conveyor belt, the serial number is 1-N, and the multi-manipulator scheduling control module circularly executes the following steps:
(1) judging whether a receiving buffer area has a new bottle position and attitude information frame, if so, storing the new bottle position and attitude information frame into a current grabbing queue, and entering the step (2), otherwise, directly entering the step (2)
(2) Selecting a first bottle position and posture information frame in a grabbing queue according to a first-in first-out principle;
(3) analyzing the coordinate information (x) of the bottle pose information frame in the imaging plane coordinate systemP_0,yP_0) And a photographing time t1；
(4) Coordinate information (x) of the bottle in an imaging plane coordinate systemP_0,yP_0) Coordinate conversion is carried out to obtain coordinate information (x) under a plane coordinate system of the conveyor beltC_0,yC_0)；
MP_CA coordinate transformation matrix from an imaging plane coordinate system to a conveyor belt plane coordinate system;
at the origin O of the plane coordinate system of the conveyor beltCAnd XCAxis and YCObvious physical marks are arranged on any point on the shaft, and a coordinate conversion matrix M from the imaging plane coordinate system to the conveyor belt plane coordinate system can be calculated through coordinate values corresponding to the obvious physical marks in the imaging plane coordinate system and the coordinate values in the conveyor belt plane coordinate systemP_C。
(5) Calculating target grab at t by solving the following equation set2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)：
xC_target＝xC_0+v×(t2+ΔT-t1) (2)
yC_target＝yC_0(3)
zR_target＝0 (6)
Wherein (x)R_int，yR_int，zR_int) Coordinates in the manipulator coordinate system for the preparation position of the ith manipulator; vR_handA preset speed for the manipulator to move along a point-to-point straight line, v is the speed of the conveyor belt, t2For the current time, MC_R_iAnd the coordinate transformation matrix from the ith mechanical coordinate system to the plane coordinate system of the conveyor belt is shown, wherein i is 1-N.
The conical tool arranged at the tail end of the manipulator is in point contact with three special points on the conveyor belt to determine a manipulator coordinate system XRiORiYRiPlane XRiORiYRiCoinciding with the plane of the conveyor belt. Measuring origin and edge X of plane coordinate system of conveyer belt by precise optical instrumentCAxis and edge YCAnd measuring coordinate values of a point on the axis by a precision optical instrument at three non-collinear positions of a sharp point of the conical tool of the manipulator and coordinate values of the sharp point under a manipulator coordinate system. The transformation matrix M can be solved by the above relationC_R_i。
The prediction method of the target coordinates when the manipulator reaches the grabbing position is beneficial to accurately judging the object grabbing position of the target and increasing the grabbing accuracy. The problem that the target grabbed object is not in the working space when the manipulator grabs due to calculation errors, and grabbing failure is caused is avoided.
(6) Sequentially judging the predicted coordinates (x) of the target object grabber at the current momentC_target,yC_target) Whether the robot enters the working space of the 1 st manipulator to the Nth manipulator or not, if the target grabbing object enters the working space of one manipulator, determining that the manipulator is a manipulator to be grabbed, and entering the step (7), otherwise, storing the target pose information frame into a temporary storage queue, and entering the step (8);
the multi-manipulator scheduling control module judges the predicted coordinate (x) of the target grabbing objectC_target,yC_target) The method for judging whether to enter the working interval of the ith manipulator comprises the following steps:
(6a) placing the ith manipulator in the ith manipulator coordinate system XRiORiYRiThe coordinate origin (0,0) is subjected to coordinate conversion to obtain the coordinate (x) of the coordinate origin in the plane coordinate system of the conveyor beltC_i,yC_i)；
(6b) Judgment (x)C_target,yC_target) Whether the condition is satisfied:
when the working space of the manipulator is a sector area with the radius of R, and if the radius is satisfied, (x) is considered to beC_target,yC_target) Falls within the working area of the i-th manipulator, otherwise, (x) is consideredC_target,yC_target) Not in the working area of the robot.
(7) Judging whether the working state of the manipulator to be grabbed is idle or not, if so, sending the coordinate of the imaging plane coordinate system and the attitude angle information in the target pose information frame to a track control module corresponding to the manipulator, and entering the step (8); if the working state is busy, storing the target pose information frame into a temporary storage queue, and entering the step (8);
(8) selecting the next target pose information frame according to a first-in first-out principle, re-executing the steps (3) to (7) until all target pose information frames in the capture queue are selected, and entering the step (9);
(9) and emptying the grabbing queue, and storing all the target pose information frames in the temporary storage queue into the grabbing queue.
When the grabbed object leaves the conveyor belt, the manipulator track control module reads a detection value of the weight sensor and judges whether the detection value is within a preset threshold range, if so, the grabbed object is placed in a material container, and if not, the gripper is released, and the grabbed object falls back to the conveyor belt.
Most of the coordinate calculation is carried out in a plane coordinate system of the conveyor belt, so that the calculation amount is reduced, and the calculation efficiency is improved.
Example (b):
a sorting control system for glass bottles in household garbage is provided with 3 mechanical arms, as shown in figure 3. The manipulators are arranged in sequence along the conveying direction of the conveying belt, wherein the manipulator 1 and the manipulator 2 are positioned at the same side of the conveying belt, and the manipulator 3 is positioned at the other side. The origin of the plane coordinate system of the conveyor belt is a point O of the edge of the conveyor beltC，XCThe axis being in the direction of movement of the belt, YCIn the plane of the conveyor and with XCThe axis is vertical.
In this embodiment, if the imaging plane coordinate system coincides with the conveyor plane coordinate system,
the manipulator coordinate system of the manipulator 1 is XRYRZRORThe origin is the base of the manipulator and is located on the plane of the conveyor belt, the axis ZRPerpendicular to the plane of the conveyor, axis XRAxis YRRespectively with axis XCAnd axis YCThe directions are consistent.
The bottles to be grabbed move along the direction of the conveyor belt, wherein the bottles are plastic bottles, the rest are glass bottles, and before the bottles enter the working space of the manipulator 1, information frames of the bottles are sent to the posture information receiving module. The pose information receiving module stores all received information frames in a receiving buffer, and the multi-manipulator scheduling module can be a Siemens S7-300 series Programmable Logic Controller (PLC). In each program execution period (within 1 ms) of the PLC, the following steps are performed for the loop: .
(1) And (3) judging whether a new bottle pose information frame exists in the receiving buffer, if so, storing the new bottle pose information frame into the current grabbing queue, and entering the step (2), otherwise, directly entering the step (2). There are 4 bottle pose information frames in the current fetch queue shown in fig. 2. The bottle position and posture information frames in the grabbing queue are arranged according to the following rules: and arranging the bottle position and orientation information frames at different shooting moments according to the time sequence, and arranging the bottle position and orientation information frames close to the manipulator in front of the bottle position and orientation information frames at the same shooting moment according to the position arrangement of the bottle position and orientation information frames.
(2) And selecting the information frames of the bottles in the grabbing queue.
(3) Resolving coordinate information (x) of the information frame of the bottle ① in the imaging plane coordinate systemP_0,yP_0) (0,300) and shooting time t1＝1；
(4) Coordinate information (x) of the bottle ① in the imaging plane coordinate systemP_0,yP_0) Coordinate conversion is performed to obtain coordinate information (x) in a conveyor plane coordinate system (0,300)C_0,yC_0)；
Wherein,
MP_Cfor coordinate transformation matrices of the imaging plane coordinate system to the conveyor plane coordinate system, the two coordinate systems coincide, i.e., (x)C_0,yC_0)＝(0,300)；
(5) Let current time t23s, the coordinate (x) of the preparation position of the 1 st robot in the robot coordinate systemR_int,yR_int,zR_int) (0,600,500); Δ T is the time required for the manipulator to receive the command and to grasp the target object, VR_hand2000, the speed v of the conveyor belt is 1000, MC_R_iA coordinate transformation matrix from a plane coordinate system of the conveyor belt to a coordinate system of the ith manipulator;
the coordinate transformation matrix from the 1 st manipulator coordinate system to the conveyor plane coordinate system is as follows:
the two coordinate systems are in a translation relation.
Solving the equation set (formula (2) to formula (6)) to obtain the target grab thing at t2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)：
Wherein z isR_target＝0，xC_0＝0，yC_0＝yC_target＝300
Is calculated to obtain (x)C_target,yC_target)＝(2288.675,300)，ΔT＝0.289。
(6) Sequentially judging the predicted coordinates (x) of the bottle at the current momentC_target,yC_target) Whether the robot enters the working space of the 1 st manipulator to the 3 rd manipulator or not, if the target grabbing object enters the working space of one manipulator, the manipulator is determined to be the manipulator to be grabbed, the step (7) is carried out, otherwise, the bottle position and pose information frame is stored in a temporary storage queue, and the step (8) is carried out;
judgment (x)C_target,yC_target) Whether the radius R of the working space of the robot 1 on the conveyor is 1000mm is determined in the working space range of the robot 1.
(xC_1,yC_1)＝(2000,-300)
xC_targetSatisfy the requirement ofAccordingly, the bottle ① is in the working space of the robot 1, and the process proceeds to step (7);
(7) judging whether the working state of the manipulator 1 to be grabbed is idle or not, if so, sending the coordinate information of the imaging plane coordinate system in the target pose information frame to a track control module corresponding to the manipulator, and entering the step (8); if the working state is busy, storing the target pose information frame into a temporary storage queue, and entering the step (9);
(8) the manipulator grabs the bottle, when the bottle leaves the conveyer belt, the manipulator track control module detects the input quantity of the weight sensor and judges whether the input quantity is in a preset threshold value, in the embodiment, the manipulator is made of ultra-light materials, the sum of the weight of the manipulator and the weight of a common glass bottle is generally 800-850 g, therefore, the threshold value range is [800,850], the bottle is an empty plastic bottle and should be about 420g, and obviously not in the threshold value range, the manipulator is controlled to be loosened, and the bottle falls back to the conveyer belt.
(9) According to the first-in first-out principle, the multi-manipulator scheduling control module selects the next bottle pose information frame, re-executes the steps (3) to (7) until all bottle pose information frames in the grabbing queue are selected, and enters the step (10);
(10) and the multi-manipulator scheduling control module empties the grabbing queue and stores all bottle pose information frames in the temporary storage queue into the grabbing queue.
According to the invention, a plurality of mechanical hands are arranged to sort the bottles in the garbage, the sorting capacity of each mechanical hand can be fully utilized, a plurality of sorting tasks are simultaneously distributed to the plurality of mechanical hands for sorting, the sorting capacity of the maximum target grabbing object of the whole system can be realized, and the working efficiency is high. Because the speed of the conveyor belt is low, and the circulating control speed of the multi-manipulator control module is high, for the same object grabbing object, the object grabbing object has multiple opportunities to enter the working spaces of the multiple manipulators, and the low omission factor can be achieved.
In addition, the invention detects the weight characteristics of the sorted objects when the manipulator picks the sorted objects, and automatically sorts the glass bottles as the condition for judging whether the picked objects are the sorted objects of the glass bottles, thereby effectively preventing the broken glass from damaging subsequent production line equipment.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. The utility model provides a glass bottle letter sorting control system to among domestic waste, its characterized in that includes bottle position appearance receiving module, many manipulators dispatch control module, N manipulator, N control manipulator's orbit control module and weighing sensor, manipulator and orbit control module one-to-one, weighing sensor is used for gathering the common weight of manipulator claw and grabbing thing, wherein:
the bottle pose receiving module receives an externally input bottle pose information frame and stores the externally input bottle pose information frame into a receiving buffer area, wherein the bottle pose information frame comprises coordinates, attitude angles and shooting time of a bottle in an imaging plane coordinate system;
a multi-manipulator scheduling control module for extracting the bottle position and attitude information frame in the receiving buffer area and calculating the t position of the bottle in the bottle position and attitude information frame2The predicted coordinates at time + Δ T in the plane coordinate system of the conveyor, said T2At the current moment, delta T is the time required by the manipulator to receive an instruction and grab a bottle, whether the predicted coordinate falls into the working space of any manipulator is judged, if the predicted coordinate enters the working space of a certain manipulator, whether the working state of the manipulator is idle is judged, and if the predicted coordinate is idle, the coordinate and attitude angle information under the imaging plane coordinate system of the bottle are distributed to a manipulator track control module corresponding to the idle manipulator;
the manipulator track control module is used for controlling the manipulator to be positioned at a preset preparation position during initialization; the method comprises the steps of receiving coordinate information of a bottle in an imaging plane coordinate system, setting the working state to be busy, carrying out coordinate conversion on the coordinate information and an attitude angle of the bottle to obtain coordinates of the bottle in a local manipulator coordinate system, controlling the manipulator to move to a bottle position, enabling the angle of a rotary manipulator to be consistent with the attitude angle, grabbing the bottle, reading a weight sensor value when the bottle leaves the surface of a conveyor belt, judging whether the grabbed bottle has the weight characteristic of a glass bottle according to the weight, if so, sending the bottle to a designated material storage area outside the conveyor belt, if not, putting the bottle back to the conveyor belt, and then, controlling the manipulator to return to a preset preparation position to set the working state to be idle.
2. The sorting control system for glass bottles in household garbage according to claim 1, wherein the method for judging whether the grabbed bottles are glass bottles or not by the manipulator trajectory control module according to the weight of the bottles comprises the following steps:
and judging whether the weight is within a preset threshold range, if so, judging the bottle to be a glass bottle, otherwise, judging the bottle to be other bottles, wherein the threshold is determined by the sum of the statistical weights of the manipulator paw and the glass bottle.
3. The sorting control system for glass bottles in household garbage according to claim 1, wherein the N manipulators are arranged along the moving direction of the conveyor belt, the serial number is 1-N, and the multi-manipulator scheduling control module circularly executes the following steps:
(1) judging whether a new bottle pose information frame exists in the receiving buffer area at the current moment, if so, storing the new bottle pose information frame into a current grabbing queue, and entering the step (2), otherwise, directly entering the step (2);
(2) selecting a first bottle position and posture information frame in a grabbing queue according to a first-in first-out principle;
(3) analyzing the coordinate information (x) of the bottle in the imaging plane coordinate system in the bottle pose information frameP_0,yP_0) And a photographing time t1；
(4) Coordinate information (x) of the bottle in an imaging plane coordinate systemP_0,yP_0) Coordinate conversion is carried out to obtain coordinate information (x) under a plane coordinate system of the conveyor beltC_0,yC_0)；
(5) Calculate the bottle at t2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)；
(6) Sequentially judging the predicted coordinates (x) of the bottle at the current momentC_target,yC_target) Whether the bottle enters the working space of the 1 st manipulator to the Nth manipulator or not is judged, if the bottle enters the working space of one manipulator, the manipulator is determined to be a manipulator to be grabbed, the step (7) is carried out, otherwise, the bottle pose information frame is stored in a temporary storage queue, and the step (8) is carried out;
(7) judging whether the working state of the manipulator to be grabbed is idle or not, if so, sending the coordinates and the attitude angle information of the imaging plane coordinate system in the bottle pose information frame to a track control module corresponding to the manipulator, and entering the step (8); if the working state is busy, storing the bottle pose information frame into a temporary storage queue, and entering the step (8);
(8) selecting the next target pose information frame according to a first-in first-out principle, re-executing the steps (3) to (7) until all target pose information frames in the capture queue are selected, and entering the step (9);
(9) and emptying the grabbing queue, and storing all the target pose information frames in the temporary storage queue into the grabbing queue.
4. The sorting control system for glass bottles in household garbage according to claim 3, wherein the step (5) is to calculate the bottle t by solving the following equation system2Predicted coordinates (x) in the conveyor plane coordinate system at time + Δ TC_target,yC_target)：
xC_target＝xC_0+v×(t2+ΔT-t1)
yC_target＝yC_0
<mrow> <mi>&Delta;</mi> <mi>T</mi> <mo>=</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>int</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>int</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>z</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>int</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>/</mo> <msub> <mi>V</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>h</mi> <mi>a</mi> <mi>n</mi> <mi>d</mi> </mrow> </msub> </mrow>
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mrow> <mi>R</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mi>M</mi> <mrow> <mi>C</mi> <mo>_</mo> <mi>R</mi> <mo>_</mo> <mi>i</mi> </mrow> </msub> <mo>&CenterDot;</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mrow> <mi>C</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mrow> <mi>C</mi> <mo>_</mo> <mi>t</mi> <mi>arg</mi> <mi>e</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>
zR_target＝0
Wherein (x)R_int，yR_int，zR_int) Coordinates in the manipulator coordinate system for the preparation position of the ith manipulator; vR_handA predetermined speed for the manipulator to move linearly point to point, v is the speed of the conveyor belt, MC_R_iIs a coordinate transformation matrix from a conveyor belt plane coordinate system to an ith manipulator coordinate system, t2Is the current time.
5. The sorting control system for glass bottles in household garbage according to claim 3, wherein said multiple manipulator scheduling control module determines the bottle prediction coordinates (x)C_target,yC_target) The method for judging whether to enter the working interval of the ith manipulator comprises the following steps:
(6a) placing the ith manipulator in the ith manipulator plane coordinate system XRiORiYRiThe coordinate origin (0,0) is subjected to coordinate conversion to obtain the coordinateCoordinates (x) of origin in the plane coordinate system of the conveyor beltC_i,yC_i)；
(6b) Judgment (x)C_target,yC_target) Whether the condition is satisfied:
when the working space of the manipulator is a sector area with the radius of R, and if the radius is satisfied, (x) is considered to beC_target,yC_target) Fall into the working interval of the ith manipulator, otherwise, consider (x)C_target,yC_target) Not within the working space of the robot.
6. The sorting control system for glass bottles in household garbage according to claim 3, wherein the bottle position information frames in the grabbing queue in the step (1) are arranged according to the following rules: the bottle position and orientation information frames at different shooting moments are arranged according to the time sequence, and the bottle position and orientation information frames at the same shooting moment are arranged in front according to the position arrangement of the bottles.
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| CN108273761A (en) * | 2018-03-12 | 2018-07-13 | 华侨大学 | A kind of device and method of sorting building waste |
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| CN108910508B (en) * | 2018-05-08 | 2020-12-04 | 清华大学 | Multi-machine cooperation rule and device in high-speed sorting task |
| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN109261531A (en) * | 2018-10-30 | 2019-01-25 | 福建省亿顺机械设备有限公司 | Stacking baling line based on intelligent sorting |
| CN109584298B (en) * | 2018-11-07 | 2020-07-28 | 上海交通大学 | Robot-oriented autonomous object picking task online self-learning method |
| CN110689059A (en) * | 2019-09-12 | 2020-01-14 | 华中科技大学 | Automatic garbage sorting method |
| CN111702760B (en) * | 2020-06-11 | 2021-06-11 | 湖北美和易思教育科技有限公司 | Internet of things mechanical arm cooperative operation system and method |
| CN113751339B (en) * | 2021-09-23 | 2023-05-23 | 浙江工业大学 | Multi-robot task allocation method based on intelligent sorting assembly line |
| CN114789151B (en) * | 2022-03-25 | 2023-08-04 | 四川硅旺新材料科技有限公司 | Dynamic scheduling method for intelligent manufacturing system |
| CN118106248A (en) * | 2024-03-01 | 2024-05-31 | 湖州霍里思特智能科技有限公司 | Method for controlling a pusher mechanism in a sorting apparatus and corresponding sorting apparatus |
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