Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines

The invention relates to a method for controlling the feeding and discharging of a mobile robot serving two numerically controlled machines, belonging to the technical filed of the system for controlling the feeding and discharging of the industrial robot. The position video information and shape video information of a wireless 2D-CCD acquisition workpiece which is arranged on the end effector ofthe robot are adopted, and after the acquired video information is subjected to video acquisition and compression and then transmitted wirelessly, the processed video signal is received by a wirelessUSB (universal serial bus) receiver and transmitted to a master control computer through a USB interface, and the end effector is controlled to grab workpieces by an embedded microprocessor accordingto the recognition algorithm. The workpieces can be identified correctly and grabbed by adopting the recognition algorithm, and the correct feeding and discharging can be realized, thus the working efficiency can be improved, a