Abstract
Objective:In order to solve the problems of poor accuracy and low efficiency of delta robot in dynamic target grasping in current food production.Methods:A new dynamic target grasping method was proposed for the grasping control of delta robot in food production line. The dynamic position of the target was calculated through the offset of the conveyor belt and the feedback value of the encoder, and the grasping order of the target was optimized. The dynamic target was grasped by combining the door trajectory and the improved trapezoidal acceleration and deceleration algorithm. The control methods before and after optimization were analyzed through experiments.Results:At the conveying speed of 20 mm/s, the missed grasping rate of the robot before and after optimization decreased from 3.33% to 0, and the grasping speed increased from 0.756 s-1to 0.860 s-1. At the conveying speed of 30 mm/s, the missed grasping rate of the robot before and after optimization was reduced from 8.83% to 0, and the grasping speed was increased from 0.885 pieces/s to 1.130 pieces/s.Conclusion:The dynamic target grasping method can effectively improve the grasping efficiency of delta robot.
Publication Date
9-5-2022
First Page
114
Last Page
119
DOI
10.13652/j.spjx.1003.5788.2022.90179
Recommended Citation
Xian-dong, BI; Zhen, WANG; and Chao-long, LI
(2022)
"Dynamic target grasping method of food production line based on Delta robot,"
Food and Machinery: Vol. 38:
Iss.
6, Article 21.
DOI: 10.13652/j.spjx.1003.5788.2022.90179
Available at:
https://www.ifoodmm.cn/journal/vol38/iss6/21
References
[1] 赵利平,吴德刚.基于小波与模糊相融合的苹果分级算法[J].食品与机械,2020,36(4):142-145.ZHAO Li-ping,WU De-gang.Apple grading algorithm based on Wavelet and fuzzy fusion[J].Food & Machinery,2020,36(4):142-145.
[2] 宋海涛,何文浩,原魁.一种基于SIFT特征的机器人环境感知双目立体视觉系统[J].控制与决策,2019,34(7):1 545-1 552.SONG Hai-tao,HE Wen-hao,YUAN Kui.A binocular stereo vision system for robot environment perception based on SIFT feature[J].Control and Decision Making,2019,34(7):1 545-1 552.
[3] 苏婷婷,张好剑,王云宽,等.基于费拉里法的Delta机器人动态目标抓取算法[J].华中科技大学学报(自然科学版),2018,46(6):128-132,110.SU Ting-ting,ZHANG Hao-jian,WANG Yun-kuan,et al.Delta robot dynamic target grasping algorithm based on Ferrari method[J].Journal of Huazhong University of Science and Technology(Natural Science Edition),2018,46(6):128-132,110.
[4] 郝大孝,舒志兵,孙学.基于机器视觉的Delta机器人分拣与跟踪系统设计[J].机床与液压,2019,47(17):36-42.HAO Da-xiao,SHU Zhi-bing,SUN Xue.Design of delta robot sorting and tracking system based on machine vision[J].Machine Tools and Hydraulics,2019,47(17):36-42.
[5] 陈志伟,徐世许,刘云鹏.基于视觉筛选的并联机器人平面抓取系统设计[J].制造业自动化,2018,40(5):44-47.CHEN Zhi-wei,XU Shi-xu,LIU Yun-peng.Design of parallel robot plane grasping system based on visual screening[J].Manufacturing Automation,2018,40(5):44-47.
[6] 胡斐,李维嘉,汪潇.基于视觉引导的Delta型并联机器人运动优化[J].机械与电子,2018,36(6):71-75.HU Fei,LI Wei-jia,WANG Xiao.Motion optimization of delta parallel robot based on vision guidance[J].Machinery and Electronics,2018,36(6):71-75.
[7] 董腾,秦腾飞,张如如,等.基于机器视觉的水果分拣系统[J].聊城大学学报(自然科学版),2017,30(1):93-96.DONG Teng,QIN Teng-fei,ZHANG Ru-ru,et al.Fruit sorting system based on machine vision[J].Journal of Liaocheng University(Natural Science Edition),2017,30(1):93-96.
[8] 周伟,徐颖若.基于PLC和图像处理的水果分类智能控制系统[J].农机化研究,2021,12(5):235-239.ZHOU Wei,XU Ying-ruo.Intelligent control system of fruit classification based on PLC and image processing[J].Agricultural Mechanization Research,2021,12(5):235-239.
[9] 赵小霞,李志强.基于PLC和机器视觉的水果自动分级系统研究[J].农机化研究,2021,12(8):75-79.ZHAO Xiao-xia,LI Zhi-qiang.Research on automatic fruit grading system based on PLC and machine vision[J].Agricultural Mechanization Research,2021,12(8):75-79.
[10] 李雅倩.并联机器人夹持机构串类水果夹取控制研究[D].镇江:江苏大学,2020:27-29.LI Ya-qian.Research on the control of parallel robot clamping mechanism for serial fruit clamping[D].Zhenjiang:Jiangsu University,2020:27-29.
[11] 杨双艳,杨紫刚,张四伟,等.基于近红外光谱和PSO-SVM算法的烟叶自动分级方法[J].贵州农业科学,2018,46(12):141-144.YANG Shuang-yan,YANG Zi-gang,ZHANG Si-wei,et al.Automatic tobacco grading method based on near infrared spectroscopy and PSO-SVM algorithm[J].Guizhou Agricultural Sciences,2018,46(12):141-144.
[12] 王阳阳,黄勋,陈浩,等.基于同态滤波和改进K-means的苹果分级算法研究[J].食品与机械,2019,35(12):47-51,112.WANG Yang-yang,HUANG Xun,CHEN Hao,et al.Apple grading algorithm based on homomorphic filtering and improved K-means[J].Food & Machinery,2019,35(12):47-51,112.
[13] 王立扬,张瑜,沈群,等.基于改进型LeNet-5的苹果自动分级方法[J].中国农机化学报,2020,41(7):105-110.WANG Li-yang,ZHAN Yu,SHEN Qun,et al.Automatic apple classification method based on improved LeNet-5[J].Chinese Journal of Agricultural Mechanochemistry,2020,41(7):105-110.
[14] 于蒙,李雄,杨海潮,等.基于图像识别的苹果的等级分级研究[J].自动化与仪表,2019,34(7):39-43.YU Meng,LI Xiong,YANG Hai-chao,et al.Apple grading based on image recognition[J].Automation and Instrumentation,2019,34(7):39-43.
[15] 樊泽泽,柳倩,柴洁玮,等.基于颜色与果径特征的苹果树果实检测与分级[J].计算机工程与科学,2020,42(9):1 599-1 607.FAN Ze-ze,LIU Qian,CHAI Jie-wei,et al.Apple fruit detection and grading based on color and fruit diameter characteristics[J].Computer Engineering and Science,2020,42(9):1 599-1 607.
[16] 王冉冉,刘鑫,尹孟,等.面向苹果硬度检测仪的声振信号激励与采集系统设计[J].浙江大学学报(农业与生命科学版),2020,46(1):111-118.WANG Ran-ran,LIU Xin,YIN Meng,et al.Design of acoustic vibration signal excitation and acquisition system for Apple hardness tester[J].Journal of Zhejiang University(Agriculture and Life Sciences Edition),2020,46(1):111-118.
[17] 于文妍,杨坤林.四旋翼无人机串级模糊自适应PID控制系统设计[J].机械设计与制造,2019,12(1):227-231.YU Wen-yan,YANG Kun-lin.Design of cascade fuzzy adaptive PID control system for quadrotor UAV[J].Mechanical Design and Manufacturing,2019,12(1):227-231.
[18] 张树生,马静雅,岑强,等.煤矿综采工作面巡检机器人系统研究[J].煤炭科学技术,2019,47(10):136-140.ZHANG Shu-sheng,MA Jing-ya,CEN Qiang,et al.Research on inspection robot system of fully mechanized coal mining face[J].Coal Science and Technology,2019,47(10):136-140.
[19] 滕游,刘安东,俞立.采用内点法和图像反馈的机器人视觉伺服预测控制[J].小型微型计算机系统,2021,42(1):196-200.TENG You,LIU An-dong,YU Li.Predictive control of robot visual servo based on interior point method and image feedback[J].Minicomputer System,2021,42(1):196-200.
[20] GAUTAM J V,PRAJAPATI H B,DABHI V K,et al.Empirical study of job scheduling algorithms inhadoop map reduce[J].Cybernetics and Information Technologies,2017,21(1):146-163.
[21] CAETANO C E F,LIMA A B,PAULINO J O S,et al.A conductor arrangement that overcomes the effective length issue in transmission line grounding[J].Electric Power Systems Research,2018,46(5):159-162.
[22] JIA Zhi-wei,WANG Li-jun,ZHANG Jin-chuan,et al.High efficiency,low power-consumption DFB quantum cascade lasers without lateral regrowth[J].Nanoscale Research Letters,2017,12(1):88-95.
[23] 刘洁,孙延永,高磊.基于NJ运动控制器的Delta机器人动态抓取控制系统设计[J].电子器件,2018,41(6):1 554-1 559.LIU Jie,SUN Yan-yong,GAO Lei.Design of delta robot dynamic grasping control system based on NJ motion controller[J].Electronic Devices,2018,41(6):1 554-1 559.