Abstract
With the development of the technologies such as computer vision, natural language interaction, process control technology, and sensor technology, the discussion of automatic sorting system of robot hits a hotspot in the robot community. This paper presents an automatic sorting system for industrial robot with the technologies of 3D visual perception, natural language interaction and automatic programming. Therein, a ‘rule-scene’ matching and interaction algorithm is proposed to combine all these modules together. By utilising our algorithm, robot can interact with human beings according to the real-time actual three-dimensional scene information and can guide users to give correct rules through speech when the rule is invalid. After getting the correct rules, robot can sort the object automatically using the automatic programming and execution algorithm designed in this study. In the experimental section, the designed system is applied to a fruit-sorting scene, which proves the effectiveness and practicability of the system.
Highlights
With the development of the technologies such as computer vision, natural language interaction, process control technology, and sensor technology, the discussion of automatic sorting system of robot hits a hotspot in waste recycling domain[1] and parcel or product sorting domain[2,3] these years
Robot programming languages can be divided into action-level, object-level, and task-level programming languages according to the levels of operation description.[5]
A tasklevel programming language refers to a language showing a higher level than the former two languages and is the ideal programming language
Summary
With the development of the technologies such as computer vision, natural language interaction, process control technology, and sensor technology, the discussion of automatic sorting system of robot hits a hotspot in waste recycling domain[1] and parcel or product sorting domain[2,3] these years. Passing points are obtained in accordance with the coordinates of objects to be sorted and destination for placement, and the tracks of each passing points typedef enum {START, INID, INNUM, DONE, INPOINT // defining word library of the state words in word segmentation }StateType; The second word library contains all codes for the robot and special characters in the language text file These characters include carriage return, terminator, data volume, and undefined words. When the first code is segmented and matched to be operation command, the corresponding analytical function is invoked to calculate the variables in accordance with the previous grammar rules of the robot language set. Define the state of word segmentation as INID and save the characters in letter?
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