CN108098776A - A kind of automatic grasping means, device, manipulator and storage medium - Google Patents
A kind of automatic grasping means, device, manipulator and storage medium Download PDFInfo
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- CN108098776A CN108098776A CN201711489764.1A CN201711489764A CN108098776A CN 108098776 A CN108098776 A CN 108098776A CN 201711489764 A CN201711489764 A CN 201711489764A CN 108098776 A CN108098776 A CN 108098776A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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Abstract
The present invention provides a kind of automatic grasping means, device, manipulator and storage medium, which includes：If the detection execution end touches object, the execution end is controlled to capture the object with default dynamics, and the manipulator is controlled to move the object with default First Speed；During the manipulator moves the object with First Speed, if between the object and the execution end, there are relative displacements, then based on the relative displacement increase dynamics for performing end and capturing the object, wherein, the increased dynamics of institute is positively correlated with relative displacement.Pass through the present invention program, based on the relative displacement increase dynamics for performing end and capturing the object, the increased dynamics of institute is positively correlated with relative displacement, that is the more big increased dynamics of relative displacement is also bigger, the smaller increased dynamics of relative displacement is also smaller, so as to dynamically adjust the dynamics of crawl target object, intelligent crawl object is realized.
Description
Technical field
The invention belongs to technical field of automation more particularly to a kind of automatic grasping means, device, manipulator and storage to be situated between
Matter.
Background technology
With the development of modern science and technology and social economy, automatic technology is widely used in all trades and professions, manipulator
It is a kind of automation equipment in technical field of automation, manipulator can imitate some holding functions of human hand and arm, for example, to
Realize the functions such as crawl, carrying.
Current manipulator generally captures object with certain dynamics, works as object during capturing with mobile object
Vary in weight or during external environment difference, suitable dynamics crawl object can not be grasped, dynamics is excessive to be easily damaged, and dynamics is too small
It easily comes off, so as to be difficult to realize intelligent crawl object.
The content of the invention
In view of this, an embodiment of the present invention provides a kind of automatic grasping means, device, manipulator and storage medium, use
In the intelligent crawl object of realization.
The first aspect of the embodiment of the present invention provides a kind of automatic grasping means, described to grab automatically applied to manipulator
Method is taken to include：
During control machinery hand is moved to object, detect the manipulator execution end whether touch it is described
Object；
If detecting, the execution end touches the object, and the execution end is controlled to be captured with default dynamics
The object, and the manipulator is controlled to move the object with default First Speed；
During the manipulator moves the object with the First Speed, if the object performs end with described
There are relative displacement between end, then the dynamics based on the relative displacement increase execution end crawl object, until
There is no relative displacement between the object and the execution end, wherein, the increased dynamics of institute is positively correlated with relative displacement.
Based on first aspect present invention, in the first possible implementation, in the manipulator with the described first speed
During the mobile object of degree, the automatic grasping means further includes：
If the manipulator is controlled with second speed there is no relative displacement between the object and the execution end
The mobile object, wherein, the second speed is more than the First Speed.
The first realization method based on first aspect present invention, in second of possible realization method, the control
After the manipulator moves the object with second speed, further include：
When the object is moved into target location, the execution end is controlled to be gradually reduced the power for capturing the object
Degree, to discharge the object.
Based on first aspect present invention either the first realization method of above-mentioned first aspect or above-mentioned first aspect
Second of realization method, in the third possible realization method, the manipulator with the First Speed movement described in
During object, the automatic grasping means further includes：
It is detected by the displacement measurement algorithm of machine vision between the object and the execution end with the presence or absence of opposite
Displacement.
Based on first aspect present invention either the first realization method of above-mentioned first aspect or above-mentioned first aspect
Second of realization method, in the 4th kind of possible realization method, the manipulator with the First Speed movement described in
During object, the automatic grasping means further includes：
It is detected by displacement sensor between the object and the execution end with the presence or absence of relative displacement.
Based on first aspect present invention either the first realization method of above-mentioned first aspect or above-mentioned first aspect
Second of realization method, in the 5th kind of possible realization method, if the object and it is described execution end between deposit
In relative displacement, then included based on the relative displacement increase dynamics for performing the end crawl object：
If it is controlled between the object and the execution end there are relative displacement based on the relative displacement by PID
The algorithm increase dynamics for performing end and capturing the object processed.
The second aspect of the embodiment of the present invention provides a kind of automatic grabbing device, and the automatic grabbing device includes：
Detection unit during being moved in control machinery hand to object, detects the execution end of the manipulator
Whether the object is touched；
Control unit, if for detect it is described execution end touch the object, control it is described execution end with
Default dynamics captures the object, and the manipulator is controlled to move the object with default First Speed；
Adjustment unit, during moving the object in the manipulator with the First Speed, if the object
There are relative displacement between body and the execution end, then the object is captured based on the relative displacement increase execution end
The dynamics of body, until there is no relative displacement between the object and the execution end, wherein, the increased dynamics of institute with it is opposite
The size of displacement is positively correlated.
Based on second aspect of the present invention, in the first possible implementation, described control unit is additionally operable to：
If the manipulator is controlled with second speed there is no relative displacement between the object and the execution end
The mobile object, wherein, the second speed is more than the First Speed.
The third aspect of the embodiment of the present invention provides a kind of manipulator, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor performs real during the computer program
The automatic grasping means referred in existing above-mentioned first aspect or any possible realization method of above-mentioned first aspect.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Matter is stored with computer program, which is characterized in that above computer program realized when being executed by processor above-mentioned first aspect or
The automatic grasping means referred in any possible realization method of the above-mentioned first aspect of person.
Existing advantageous effect is the embodiment of the present invention compared with prior art：In the technical solution of the present invention, controlling
During manipulator is moved to object, whether the execution end for detecting the manipulator touches the object；If detection institute
It states execution end and touches the object, then the execution end is controlled to capture the object with default dynamics, and controls institute
It states manipulator and the object is moved with default First Speed；The object is moved with the First Speed in the manipulator
In the process, if there are relative displacement between the object and the execution end, based on being held described in relative displacement increase
Row end captures the dynamics of the object, until there is no relative displacement between the object and the execution end, wherein, institute
Increased dynamics is positively correlated with relative displacement.The object is captured by being then based on the relative displacement increase execution end
The dynamics of body, the increased dynamics of institute are positively correlated with relative displacement, i.e. the more big increased dynamics of relative displacement is also bigger, with respect to position
It moves that smaller increased dynamics is also smaller, so as to dynamically adjust the dynamics of crawl target object, realizes intelligent crawl object.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is automatic grasping means one embodiment flow diagram provided by the invention；
Fig. 2 is another embodiment flow diagram of automatic grasping means provided by the invention；
Fig. 3 is automatic grabbing device one embodiment structure diagram provided by the invention；
Fig. 4 is manipulator one embodiment structure diagram provided by the invention.
Specific embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specifically
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details interferes description of the invention.
It is to be understood that the size of the sequence number of each step is not meant to the priority of execution sequence in following methods embodiment, respectively
The execution sequence of process should determine that the implementation process without tackling each embodiment forms any limit with its function and internal logic
It is fixed.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
The embodiment of the present invention provides a kind of automatic grasping means, which can be applied to manipulator, the machinery
Hand can be independent automation mechanized operation device, alternatively, the manipulator can also be integrated in automation equipment (such as with more work(
The robot of energy) in, it does not limit herein.
As shown in Figure 1, the automatic grasping means of the embodiment of the present invention includes：
Step 101, control machinery hand to object move during, whether the execution end for detecting above-mentioned manipulator connects
Contact above-mentioned object；
In the embodiment of the present invention, the execution end of above-mentioned manipulator can be the grasping workpiece or instrument for capturing object, and can
According to the type for being crawled object there are many structure type, do not limit herein.Optionally, moved in control machinery hand to object
During, whether the execution end for detecting above-mentioned manipulator touches above-mentioned object above-mentioned hold can be detected by touch sensor
Whether row end touches object, wherein, above-mentioned touch sensor can be contacting feeling sensor, pressure sensor or Li-power
Square feels the sensor of the types such as sensor.
If step 102 detects that above-mentioned execution end touches above-mentioned object, above-mentioned execution end is controlled with default
Dynamics captures above-mentioned object, and above-mentioned manipulator is controlled to move above-mentioned object with default First Speed；
In embodiments of the present invention, above-mentioned default dynamics can be a pre-set low-force, this is smaller
Active force is less than the active force of conventional crawl object, and being that dynamics is excessive in order to prevent damages object and increase power consumption.It is above-mentioned pre-
If First Speed can be regarded as a smaller speed of preset value (i.e. relatively low speed).Optionally, if detecting above-mentioned hold
Row end touches object, then above-mentioned execution end is controlled to remove crawl object with a smaller active force, and controls above-mentioned machine
Tool hand attempts mobile above-mentioned object with relatively low speed, wherein, the size of above-mentioned default dynamics and the big I root of First Speed
It specifically sets according to the field of manipulator practical application, does not limit herein.
Step 103, during above-mentioned manipulator moves above-mentioned object with the First Speed, if above-mentioned object with it is upper
It states and performs between end there are relative displacement, then the power that above-mentioned execution end captures above-mentioned object is increased based on above-mentioned relative displacement
Degree, until relative displacement is not present between above-mentioned object and above-mentioned execution end；
In the embodiment of the present invention, the above-mentioned increased dynamics of institute is positively correlated with relative displacement.Above-mentioned manipulator is with above-mentioned
One speed moves the process of above-mentioned object, can be that above-mentioned manipulator has moved above-mentioned object with First Speed, alternatively, on
It states manipulator and the mobile object is attempted with First Speed, but above-mentioned target object is un-shifted.Optionally, above-mentioned manipulator with
During above-mentioned First Speed moves above-mentioned object, can the object and institute be detected by the displacement measurement algorithm of machine vision
It states and performs between end with the presence or absence of relative displacement, alternatively, detecting the object and the execution end by displacement sensor
Between whether there is relative displacement.
Specifically, the displacement measurement algorithm of above-mentioned vision can be based on lens imaging and the compound measurement model of laser point
Displacement measurement algorithm, alternatively, the displacement measurement algorithm based on pinhole imaging system Yu the compound measurement model of laser point.Certainly also may be used
To be that other displacement measurement algorithms or microdisplacement measurement algorithm are detected and whether there is between the object and the execution end
Relative displacement does not limit herein.
Optionally, if there are relative displacement between above-mentioned object and above-mentioned execution end, increased based on above-mentioned relative displacement
Big above-mentioned execution end captures the dynamics of above-mentioned object, specifically, can pass through proportional-integral-differential based on above-mentioned relative displacement
Described in (Proportion-Integration-Differentiation, PID) control algolithm increase execution end crawl
The dynamics of object, pid control algorithm are the closed-loop automatic control algorithms for having input feedback, that is, the control algolithm for having input feedback.
In embodiments of the present invention, input quantity is desired relative displacement, due to desired relative displacement when manipulator captures object
It is zero, therefore above-mentioned desired relative displacement is zero, feedback quantity is above-mentioned relative displacement, when input quantity is (desired
Relative displacement) with feedback quantity (existing relative displacement) difference be zero when (i.e. there is no relative displacements), keep above-mentioned and perform end
The dynamics of end crawl object is constant, i.e., the above-mentioned dynamics remained unchanged is that can just capture the dynamics of object；When the input quantity (phase
The relative displacement of prestige) with feedback quantity (existing relative displacement) difference be not zero when (i.e. there are relative displacements), based on input quantity
Pass through ratio (P), differential (I) and the above-mentioned execution end of integration (D) co- controlling in pid control algorithm with the difference of feedback quantity
The dynamics of above-mentioned object is captured, so as to increase the dynamics of above-mentioned execution end crawl object.Wherein, the increased dynamics of institute is with existing
Relative displacement be positively correlated relation, i.e. relative displacement is bigger, and increased dynamics is also bigger；Relative displacement is smaller, increased power
Degree is also smaller.
Alternatively, increasing the dynamics for performing end and capturing above-mentioned object based on above-mentioned relative displacement, opposite position can be directly based upon
The dynamics that increase performs end crawl object is moved, i.e., directly increases the size for performing end grasping force according to the size of displacement,
The increased dynamics of institute is positively correlated with relative displacement, i.e. relative displacement is bigger, and increased dynamics is also bigger；Relative displacement is smaller,
Increased dynamics is also smaller.Until when relative displacement is not present between the object and the execution end, power at this time is kept
It spends constant, i.e., there are during relative displacement, the dynamics for performing end crawl object can be increased according to algorithm always, until there is no phases
During to displacement, keep the dynamics for performing end crawl object at this time constant.
Certainly, increase the dynamics for performing end and capturing above-mentioned object based on above-mentioned relative displacement, can be calculated by other adjustings
Method increases the dynamics of above-mentioned execution end crawl object, does not limit herein.
Optionally, during above-mentioned manipulator moves above-mentioned object with above-mentioned First Speed, if above-mentioned object with it is upper
It states and performs between end there is no relative displacement, then above-mentioned manipulator is controlled to move above-mentioned object with second speed, wherein, it is above-mentioned
Second speed is more than above-mentioned First Speed.After above-mentioned control machinery hand moves above-mentioned object with second speed, when above-mentioned object
When being moved into target location, above-mentioned execution end is controlled to be gradually reduced the dynamics for capturing above-mentioned object, to discharge above-mentioned object.
It can be seen that in embodiments of the present invention, during control machinery hand is moved to object, detect above-mentioned machinery
Whether the execution end of hand touches above-mentioned object；If detecting above-mentioned execution end touches above-mentioned object, above-mentioned hold is controlled
Row end captures above-mentioned object with default dynamics, and above-mentioned manipulator is controlled to move above-mentioned object with default First Speed；
During above-mentioned manipulator moves above-mentioned object with above-mentioned First Speed, if being deposited between above-mentioned object and above-mentioned execution end
In relative displacement, the then dynamics based on the above-mentioned object of the above-mentioned execution end crawl of above-mentioned relative displacement increase, until above-mentioned object
There is no relative displacement between above-mentioned execution end, wherein, the increased dynamics of institute is positively correlated with relative displacement.Due to being base
Increase the dynamics of the above-mentioned object of above-mentioned execution end crawl, the increased dynamics of institute and relative displacement into positive in above-mentioned relative displacement
It closes, i.e. the more big increased dynamics of relative displacement is also bigger, and the smaller increased dynamics of relative displacement is also smaller, so as to dynamically adjust
The dynamics of section crawl target object realizes intelligent crawl object.
Embodiment two
The embodiment of the present invention provides another automatic grasping means, as shown in Fig. 2, the automatic crawl in the embodiment of the present invention
Method includes：
Step 201, control machinery hand to object move during, whether the execution end for detecting above-mentioned manipulator connects
Contact above-mentioned object；
If step 202 detects that above-mentioned execution end touches above-mentioned object, above-mentioned execution end is controlled with default
Dynamics captures above-mentioned object, and above-mentioned manipulator is controlled to move above-mentioned object with default First Speed；
In the embodiment of the present invention, above-mentioned steps 201 and 202 are identical with above-mentioned steps 101 and 102 respectively, for details, reference can be made to
The associated description of above-mentioned steps 101 and 102, details are not described herein again.
Step 203 is detected between above-mentioned object and above-mentioned execution end with the presence or absence of relative displacement；
If entering step 204 there are relative displacement between above-mentioned object and above-mentioned execution end, if above-mentioned object with it is upper
It states and performs between end there is no relative displacement, then enter step 205.
Optionally, during above-mentioned manipulator is with First Speed mobile object, above-mentioned object and above-mentioned execution are detected
With the presence or absence of relative displacement between end, if detecting between above-mentioned object and above-mentioned execution end there are relative displacement, i.e., on
The requirement that grasping force is unsatisfactory for crawl object is stated, then increases the power of above-mentioned execution end crawl object based on above-mentioned relative displacement
It spends (entering step 204)；If detecting, there is no relative displacement, i.e., above-mentioned crawls between above-mentioned object and above-mentioned execution end
Dynamics meets the requirement of crawl object, then keeps grasping force constant at this time and control machinery hand is with the above-mentioned object of second speed movement
Body (enters step 205).It whether there is the method for relative displacement between above-mentioned detection object and execution end in above-mentioned steps
It was described in detail in 103, details are not described herein again.
Step 204 increases the dynamics that above-mentioned execution end captures above-mentioned object based on above-mentioned relative displacement；
In embodiments of the present invention, the above-mentioned increased dynamics of institute is positively correlated with relative displacement；It is above-mentioned to be based on relative displacement
The method that increase performs end crawl object dynamics was described in detail in above-mentioned steps 103, and details are not described herein again.
After the above-mentioned dynamics for increasing above-mentioned execution end crawl object based on above-mentioned relative displacement, it will continue to detect above-mentioned
With the presence or absence of relative displacement between object and above-mentioned execution end, i.e., return to step 203 after step 204.It should be noted that step
Rapid 203 and step 204 in real work, be to be detected whether in real time there are relative displacement, if there are relative displacement, according to phase
The size of above-mentioned execution end crawl object dynamics is adjusted in real time to displacement, until keeping grasp force when can't detect relative displacement
It spends constant, step 203 and step 204 is divided into here for understanding is facilitated.
Step 205, the above-mentioned manipulator of control move above-mentioned object with second speed；
In inventive embodiments, above-mentioned second speed is more than above-mentioned First Speed；Above-mentioned second speed can be normal movement
The speed of object or faster speed, the big I of second speed are specifically set according to manipulator practical application area, herein
It does not limit.
Step 206, when above-mentioned object is moved into target location, control above-mentioned execution end be gradually reduced crawl it is above-mentioned
The dynamics of object, to discharge above-mentioned object；
In embodiments of the present invention, above-mentioned object is moved into target location, can be moved object by default path
It moves to target location or object is moved to by target position according to the path dynamically calculated by dynamic programming path algorithm
It puts or selects path that object is moved to target location by other intelligent algorithms, do not limit herein.Optionally, when upper
When stating object and being moved into target location, above-mentioned execution end is controlled to be gradually reduced the dynamics for capturing above-mentioned object, in release
State object.In a kind of application scenarios, if target location is fixed position, by the way that execution end is controlled to be gradually reduced crawl
The dynamics of object can cause object to place steady rear release object in above-mentioned fixed position.Alternatively, if above-mentioned target location is
Human hand or other actuating stations, i.e., will complete the transmission of object, by controlling the dynamics for performing end and gradually decreasing crawl object,
The object (i.e. human hand or other actuating stations) for receiving object can be caused to discharge object after completing the operation of crawl, so as to protect
Demonstrate,prove the stability of object transfer.
It can be seen that in embodiments of the present invention, during control machinery hand is moved to object, detect above-mentioned machinery
Whether the execution end of hand touches above-mentioned object；If detecting above-mentioned execution end touches above-mentioned object, above-mentioned hold is controlled
Row end captures above-mentioned object with default dynamics, and above-mentioned manipulator is controlled to move above-mentioned object with default First Speed；
During above-mentioned manipulator moves above-mentioned object with above-mentioned First Speed, if being deposited between above-mentioned object and above-mentioned execution end
In relative displacement, the then dynamics based on the above-mentioned object of the above-mentioned execution end crawl of above-mentioned relative displacement increase, until above-mentioned object
There is no relative displacement between above-mentioned execution end, wherein, the increased dynamics of institute is positively correlated with relative displacement.Due to being base
Increase the dynamics of the above-mentioned object of above-mentioned execution end crawl, the increased dynamics of institute and relative displacement into positive in above-mentioned relative displacement
It closes, i.e. the more big increased dynamics of relative displacement is also bigger, and the smaller increased dynamics of relative displacement is also smaller, so as to dynamically adjust
The dynamics of section crawl target object realizes intelligent crawl object.
Embodiment three
A kind of automatic grabbing device that the embodiment of the present invention also provides, as shown in figure 3, grabbing automatically in the embodiment of the present invention
Device 300 is taken to include：
Detection unit 301, during being moved in control machinery hand to object, that detects above-mentioned manipulator performs end
Whether end touches above-mentioned object；
Optionally, detection unit 301 is specifically used for the mistake for moving above-mentioned object with above-mentioned First Speed in above-mentioned manipulator
Cheng Zhong is detected by the displacement measurement algorithm of machine vision and be whether there is opposite position between above-mentioned object and above-mentioned execution end
It moves.Alternatively, detection unit 301 is specifically used for during above-mentioned manipulator moves above-mentioned object with above-mentioned First Speed, leading to
Displacement sensor is crossed to detect between above-mentioned object and above-mentioned execution end with the presence or absence of relative displacement.
If control unit 302 for detecting that above-mentioned execution end touches above-mentioned object, controls above-mentioned execution end
Above-mentioned object is captured with default dynamics, and above-mentioned manipulator is controlled to move above-mentioned object with default First Speed；
Optionally, if control unit 302 is additionally operable between above-mentioned object and above-mentioned execution end there is no relative displacement,
Above-mentioned manipulator is controlled to move the object with second speed, wherein, the second speed is more than the First Speed.
Alternatively, after control unit 302 is additionally operable to the above-mentioned manipulator of above-mentioned control with the above-mentioned object of second speed movement, when
When above-mentioned object is moved into target location, above-mentioned execution end is controlled to be gradually reduced the dynamics for capturing above-mentioned object, with release
Above-mentioned object.
Adjustment unit 303, during moving above-mentioned object in above-mentioned manipulator with above-mentioned First Speed, if above-mentioned
There are relative displacement between object and above-mentioned execution end, then it is above-mentioned above-mentioned execution end crawl to be increased based on above-mentioned relative displacement
The dynamics of object, until there is no relative displacement between above-mentioned object and above-mentioned execution end, wherein, the increased dynamics of institute and phase
The size of displacement is positively correlated.
Optionally, if adjustment unit 303 is specifically used between above-mentioned object and above-mentioned execution end there are relative displacement,
Increase the dynamics of the above-mentioned object of above-mentioned execution end crawl by pid control algorithm based on above-mentioned relative displacement.
It can be seen that in embodiments of the present invention, detection unit is used for during control machinery hand is moved to object,
Whether the execution end for detecting above-mentioned manipulator touches above-mentioned object；If control unit contacts for detecting above-mentioned execution end
To above-mentioned object, then above-mentioned execution end is controlled to capture above-mentioned object with default dynamics, and control above-mentioned manipulator with default
First Speed move above-mentioned object；Adjustment unit is used to move the mistake of above-mentioned object with above-mentioned First Speed in above-mentioned manipulator
Cheng Zhong, if increasing above-mentioned execution based on above-mentioned relative displacement there are relative displacement between above-mentioned object and above-mentioned execution end
End captures the dynamics of above-mentioned object, until there is no relative displacement between above-mentioned object and above-mentioned execution end, wherein, increased
The dynamics added is positively correlated with relative displacement.Increase the above-mentioned object of above-mentioned execution end crawl by being then based on above-mentioned relative displacement
Dynamics, the increased dynamics of institute is positively correlated with relative displacement, i.e. the more big increased dynamics of relative displacement is also bigger, relative displacement
Smaller increased dynamics is also smaller, so as to dynamically adjust the dynamics of crawl target object, realizes intelligent crawl object.
Example IV
Fig. 4 is a kind of manipulator that the embodiment of the present invention is provided.As shown in figure 4, the manipulator in the embodiment of the present invention
400 include：It processor 401, memory 402 and is stored in above-mentioned memory 402 and can be run on above-mentioned processor 401
Computer program 403.Above-mentioned processor 401 realizes that above-mentioned automatic grasping means is implemented when performing above computer program 403
Step in example, such as step 101 shown in FIG. 1 is to 103 or step 201 as shown in Figure 2 to 206.
Illustratively, above computer program 403 can be divided into one or more units, said one or multiple
Unit is stored in above-mentioned memory 402, and is performed by above-mentioned processor 401, to complete the present invention.Said one is multiple
Unit can be the series of computation machine program instruction section that can complete specific function, which is used to describe above computer
Implementation procedure of the program 403 in above-mentioned manipulator 400.For example, above computer program 403 can be divided into detection list
Member, control unit, adjustment unit, each unit concrete function have been described in above-described embodiment three, are not repeating herein.
Above-mentioned manipulator 400 may include, but be not limited only to, processor 401, memory 402.Those skilled in the art can be with
Understand, Fig. 4 is only the example of manipulator 400, does not form the restriction to manipulator 400, can include than illustrate it is more or
Less component either combines some components or different components, such as above-mentioned manipulator 400 can also be defeated including inputting
Go out equipment, network access equipment, bus etc..
Alleged processor 401 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
Above-mentioned memory 402 can be the internal storage unit of manipulator 400, such as the hard disk or memory of manipulator 400.
Above-mentioned memory 402 can also be the External memory equipment of above-mentioned manipulator 400, such as be equipped on above-mentioned manipulator 400 slotting
Connect formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card) etc..Further, above-mentioned memory 402 can also both include the storage inside list of above-mentioned manipulator 400
Member also includes External memory equipment.Above-mentioned memory 402 is used to store needed for above computer program and above-mentioned manipulator 400
Other programs and data.Above-mentioned memory 402 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of above device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated
The form that hardware had both may be employed in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Above-mentioned machinery
Unit, the specific work process of module, may be referred to the corresponding process in preceding method embodiment, details are not described herein in hand.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be not described in detail or remember in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of above-mentioned module or unit,
Only a kind of division of logic function, can there is an other dividing mode in actual implementation, such as multiple units or component can be with
With reference to or be desirably integrated into another system or some features can be ignored or does not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical, machinery or other forms.
The above-mentioned unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be employed in member is realized, can also be realized in the form of SFU software functional unit.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and is independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-described embodiment side
All or part of flow in method can also instruct relevant hardware to complete, above-mentioned computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, above computer program includes computer program code, and above computer program code can
Think source code form, object identification code form, executable file or some intermediate forms etc..Above computer readable medium can be with
Including：Any entity of above computer program code or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, light can be carried
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above computer
The content that readable medium includes can carry out appropriate increase and decrease according to legislation in jurisdiction and the requirement of patent practice, such as
In some jurisdictions, according to legislation and patent practice, computer-readable medium does not include being electric carrier signal and telecommunications letter
Number.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each
Technical solution recorded in embodiment modifies or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is not made to depart from the spirit and scope of various embodiments of the present invention technical solution, it should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of automatic grasping means, applied to manipulator, which is characterized in that the automatic grasping means includes：
During control machinery hand is moved to object, whether the execution end for detecting the manipulator touches the object
Body；
If detecting, the execution end touches the object, controls the execution end with described in the crawl of default dynamics
Object, and the manipulator is controlled to move the object with default First Speed；
During the manipulator moves the object with the First Speed, if the object and the execution end it
Between there are relative displacement, then based on the relative displacement increase dynamics for performing end and capturing the object, until described
There is no relative displacement between object and the execution end, wherein, the increased dynamics of institute is positively correlated with relative displacement.
2. automatic grasping means as described in claim 1, which is characterized in that moved in the manipulator with the First Speed
During the object, the automatic grasping means further includes：
If there is no relative displacement the manipulator is controlled to be moved with second speed between the object and the execution end
The object, wherein, the second speed is more than the First Speed.
3. automatic grasping means as claimed in claim 2, which is characterized in that the control manipulator is moved with second speed
After moving the object, further include：
When the object is moved into target location, the execution end is controlled to be gradually reduced the dynamics for capturing the object,
To discharge the object.
4. automatic grasping means as described in any one of claims 1 to 3, which is characterized in that in the manipulator with described
During one speed moves the object, the automatic grasping means further includes：
It is detected by the displacement measurement algorithm of machine vision and whether there is relative displacement between the object and the execution end.
5. automatic grasping means as described in any one of claims 1 to 3, which is characterized in that in the manipulator with described
During one speed moves the object, the automatic grasping means further includes：
It is detected by displacement sensor between the object and the execution end with the presence or absence of relative displacement.
6. automatic grasping means as described in any one of claims 1 to 3, which is characterized in that if the object with it is described
There are relative displacement between execution end, then based on the relative displacement increase dynamics for performing end and capturing the object
Including：
If it is calculated between the object and the execution end there are relative displacement based on the relative displacement by PID control
The method increase dynamics for performing end and capturing the object.
7. a kind of automatic grabbing device, which is characterized in that the automatic grabbing device includes：
Detection unit, for control machinery hand to object move during, detect the manipulator execution end whether
Touch the object；
If control unit for detecting that the execution end touches the object, controls the execution end with default
Dynamics capture the object, and the manipulator is controlled to move the object with default First Speed；
Adjustment unit, during moving the object in the manipulator with the First Speed, if the object with
There are relative displacement between the execution end, then the object is captured based on the relative displacement increase end that performs
Dynamics, until there is no relative displacement between the object and the execution end, wherein, the increased dynamics of institute and relative displacement
Size be positively correlated.
8. automatic grabbing device as claimed in claim 7, which is characterized in that described control unit is additionally operable to：
If there is no relative displacement the manipulator is controlled to be moved with second speed between the object and the execution end
The object, wherein, the second speed is more than the First Speed.
9. a kind of manipulator, including memory, processor and it is stored in the memory and can transports on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 6 times when performing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization such as any one of claim 1 to 6 the method.
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| CN201711489764.1A CN108098776B (en) | 2017-12-29 | 2017-12-29 | Automatic grabbing method and device, mechanical arm and storage medium |
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| CN201711489764.1A CN108098776B (en) | 2017-12-29 | 2017-12-29 | Automatic grabbing method and device, mechanical arm and storage medium |
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| CN109249392A (en) * | 2018-08-31 | 2019-01-22 | 先临三维科技股份有限公司 | Calibration method, calibration element, device, equipment and the medium of workpiece grabbing system |
| CN110826604A (en) * | 2019-10-24 | 2020-02-21 | 西南交通大学 | Material sorting method based on deep learning |
| WO2020057440A1 (en) * | 2018-09-17 | 2020-03-26 | 鲁班嫡系机器人（深圳）有限公司 | Assembling method, assembling apparatus and assembling device |
| CN111558936A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Multi-station battery manipulator control method and device, storage medium and manipulator |
| CN113043262A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Method and system for grading speed regulation of manipulator for grabbing object |
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|---|---|
| CN108098776B (en) | 2020-08-25 |
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