CN108145712B - Method and device for sorting articles by robot and robot - Google Patents

Method and device for sorting articles by robot and robot Download PDF

Info

Publication number
CN108145712B
CN108145712B CN201711481214.5A CN201711481214A CN108145712B CN 108145712 B CN108145712 B CN 108145712B CN 201711481214 A CN201711481214 A CN 201711481214A CN 108145712 B CN108145712 B CN 108145712B
Authority
CN
China
Prior art keywords
target
coordinate
pressure
type
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711481214.5A
Other languages
Chinese (zh)
Other versions
CN108145712A (en
Inventor
郎需林
刘培超
刘主福
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rizhao Yuejiang Intelligent Technology Co.,Ltd.
Original Assignee
Shenzhen Yuejiang Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yuejiang Technology Co Ltd filed Critical Shenzhen Yuejiang Technology Co Ltd
Priority to CN201711481214.5A priority Critical patent/CN108145712B/en
Publication of CN108145712A publication Critical patent/CN108145712A/en
Application granted granted Critical
Publication of CN108145712B publication Critical patent/CN108145712B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081Touching devices, e.g. pressure-sensitive
    • B25J13/082Grasping-force detectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

The invention is suitable for the technical field of robots, and provides a method, a device and a robot for sorting objects by the robot, wherein the robot comprises an execution end and a gripping device arranged at the execution end, the gripping device comprises at least two clamping jaws simultaneously acting on the side wall of a target object, and the method comprises the following steps: when the target object is grabbed by the grabbing device, applying first pressure to the target object through the clamping jaws, and acquiring first coordinates when the first pressure is applied by the clamping jaws; after acquiring the first coordinate, applying a preset second pressure to the target object through the clamping jaws, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure; and obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value. The robot can distinguish the type of the object according to the hardness of the object.

Description

Method and device for sorting articles by robot and robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method and a device for sorting articles by a robot and the robot.
Background
Robots are robotic devices that perform work automatically, and in everyday production applications, robots may be used to grasp, carry objects or manipulate tools in a fixed sequence by simulating some movements of hands and arms.
However, in the existing robot application, for the mixed sorting of a plurality of articles, most of the articles need to be finished by means of a manual control robot, the operation is complex, and the sorting efficiency is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for sorting articles by a robot, and the robot, which can distinguish types of articles according to hardness of the articles, reduce manual intervention, and effectively improve sorting efficiency.
A first aspect of an embodiment of the present invention provides a method of sorting an article by a robot, the robot comprising an actuation end and a gripping arrangement mounted at the actuation end, the gripping arrangement comprising at least two gripping jaws acting simultaneously on a side wall of the target article, the method comprising:
when the target object is grabbed by the grabbing device, applying first pressure to the target object through the clamping jaws, and acquiring first coordinates when the first pressure is applied by the clamping jaws;
after acquiring the first coordinate, applying a preset second pressure to the target object through the clamping jaws, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure;
and obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value.
A second aspect of an embodiment of the present invention provides an apparatus for sorting an article by a robot, the robot comprising an execution end and a gripping device mounted at the execution end, the gripping device comprising at least two gripping jaws acting simultaneously on a side wall of the target article, the apparatus comprising:
the first control module is used for applying first pressure to the target object through the clamping jaws when the target object is grabbed by the grabbing device, and acquiring first coordinates when the first pressure is applied by the clamping jaws;
the second control module is used for applying a preset second pressure to the target object through the clamping jaws after acquiring the first coordinate, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure;
and the classification module is used for obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate and determining the type of the target object according to the coordinate change value.
A third aspect of the embodiments of the present invention provides a robot, including a memory, an execution end, a grasping apparatus installed at the execution end, and a computer program stored in the memory and operable on the execution end, wherein the execution end implements the steps of the method described above when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, characterized in that, when being executed by an execution end, the computer program implements the steps of the method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, when the target object is grabbed by the grabbing device, a first pressure is applied to the target object through the clamping jaw, and a first coordinate when the first pressure is applied to the clamping jaw is obtained; after acquiring the first coordinate, applying a preset second pressure to the target object through the clamping jaws, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure; and obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value. According to the embodiment of the invention, the type of the target object can be determined according to the coordinate change value by applying different pressures, namely, the object is sorted by distinguishing the hardness of the object, so that the sorting efficiency is improved. The embodiment of the invention has simple operation, low implementation cost, higher usability and practicability, and reduces manual intervention.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a method for sorting articles by a robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for sorting articles by a robot according to a second embodiment of the present invention;
fig. 3 is a schematic view of an apparatus for sorting articles by a robot according to a third embodiment of the present invention;
fig. 4 is a schematic view of a robot according to a fourth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation of a method for sorting objects by a robot according to an embodiment of the present invention, where the robot includes an execution end and a gripping device installed at the execution end, and the gripping device includes at least two gripping jaws simultaneously acting on a sidewall of the object, and the method may include the following steps as shown in fig. 1:
step S101, when the target object is grabbed by the grabbing device, applying a first pressure to the target object through the clamping jaws, and acquiring a first coordinate when the first pressure is applied by the clamping jaws.
For example, the gripping device of the present embodiment may apply a first pressure to the target object through the clamping jaw contacting the side wall of the target object; setting a straight line passing through the gravity center of the target object in the vertical direction as a gravity center axis, and when the gripping device is provided with two clamping jaws, connecting lines between contact points of the two clamping jaws and the side wall of the target object pass through the gravity center axis of the target object in the vertical direction; when the gripping device is more than two clamping jaws, contact points of the more than two clamping jaws and the side wall of the target object form a closed graph, and the gravity center axis penetrates through the closed graph.
Optionally, in the embodiment of the present invention, the first pressure may be a preset pressure, and may be set according to conditions including, but not limited to, a type of the target object, a type to be distinguished for sorting, and the like; the first pressure may be determined according to a condition such as an initial pressure value, and the like, without being set in advance.
In addition, the embodiment of the invention can obtain the first coordinate when the clamping jaw applies the first pressure in various ways, for example, a related vision collector can be installed, a certain point on the gripping device is selected as a monitoring point, and the coordinate change is judged according to the position change of the point. The first coordinate of the gripping device when applying the first pressure may also be detected, for example, by a sensor mounted on the gripping jaw, which may be a displacement sensor, by which a displacement in the direction of the pressure is detected.
Step S102, after the first coordinate is obtained, a preset second pressure is applied to the target object through the clamping jaw, and a second coordinate when the clamping jaw applies the second pressure is obtained, wherein the second pressure is larger than the first pressure.
In the embodiment of the present invention, the second pressure may be a preset pressure, and may be set according to conditions including, but not limited to, a type of the target object, a type to be distinguished for sorting, and the like. For example, a first pressure threshold value that allows the coordinate change of the unqualified target object to exceed the preset variation amount is set to 10N, a second pressure threshold value that allows the coordinate change of the qualified target object to be unchanged is set to 20N, the first pressure may be set to 1N, and the second pressure may be set to 15N, so that the deformation of the unqualified target object reaches the threshold value and the unqualified target object does not deform, thereby distinguishing the target objects.
And S103, obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value.
In the embodiment of the present invention, the types of the target articles may be two or more. For example, the coordinate change value may be compared with a preset coordinate change range, and the coordinate change value is divided into a plurality of sections, each section corresponds to the same type or a combination of the plurality of sections corresponds to the same type, for example, the sections may be divided into a qualified type and an unqualified type, or divided into four types of severe damage, moderate damage, mild damage and perfect damage according to the coordinate change, so as to classify the target object and determine the type of the target object.
Optionally, the robot may further include a photographing device, and before the grasping device grasps the target object, the method may further include acquiring image information of the target object by the photographing device.
Accordingly, determining the type of the target item according to the coordinate change value may include determining the type of the target item according to the image information of the target item and the coordinate change value.
For example, the image information of the target object in the embodiment of the present invention may include, but is not limited to, position information, color information, shape information, and the like of the target object. For example, the image information collected by the shooting device may be processed through visual recognition, and the target objects may be distinguished according to the image information, for example, the target objects with a surface color change area reaching a predetermined value may be distinguished first, and then the target objects may be distinguished again by combining the detected coordinate change value, so as to improve the sorting accuracy.
In the embodiment of the invention, when the target object is grabbed by the grabbing device, a first pressure is applied to the target object through the clamping jaw, and a first coordinate when the first pressure is applied to the clamping jaw is obtained; after acquiring the first coordinate, applying a preset second pressure to the target object through the clamping jaws, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure; and obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value. According to the embodiment of the invention, the type of the target object can be determined according to the coordinate change value by applying different pressures, so that the object can be sorted by distinguishing the hardness of the object, the sorting efficiency is improved, and the method has higher practicability and usability.
Fig. 2 is a schematic flow chart of an implementation of a method for sorting objects by a robot according to a second embodiment of the present invention, where the robot includes an execution end and a gripping device installed at the execution end, and the gripping device includes at least two gripping jaws simultaneously acting on a sidewall of the target object, and the method may include the following steps as shown in fig. 2:
step S201, when the target object is grabbed by the grabbing device, applying a first pressure to the target object through the clamping jaws, and acquiring a first coordinate when the first pressure is applied by the clamping jaws.
Step S202, after the first coordinate is obtained, a preset second pressure is applied to the target object through the clamping jaw, and a second coordinate when the clamping jaw applies the second pressure is obtained, wherein the second pressure is larger than the first pressure.
Steps S201 and S202 in this embodiment are the same as steps S101 and S102, and reference may be specifically made to the description related to steps S101 and S102, which is not repeated herein.
And S203, obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate.
Step S204, when the change value of the X-axis coordinate is less than or equal to a first threshold value, the change value of the Y-axis coordinate is less than or equal to a second threshold value, and the change value of the Z-axis coordinate is less than or equal to a third threshold value, determining that the target article is of a qualified type; and when the variation value of the X-axis coordinate is larger than the first threshold value and/or the variation value of the Y-axis coordinate is larger than the second threshold value, determining that the target article is of a failed type.
The type of the target object in the embodiment of the present invention may include a qualified type and a rejected type, the coordinate change value may include a change value of an X-axis coordinate, a change value of a Y-axis coordinate, and a change value of a Z-axis coordinate, and the type of the target object is determined by the coordinate change value.
Optionally, after determining the type of the target object, tag information corresponding to the target object may be generated, the tag information may be set on the target object, and the robot may be controlled to sort the target object with the tag information set thereon to a corresponding exit lane. For example, the tag information may include, but is not limited to, two-dimensional code information, text information, tag information, and the like, and the tag information may be used to distinguish the type of the target item and/or obtain item information of the target item, such as an item name, a size, a place of origin, and the like.
Optionally, the robot may further include a photographing device, and before the grasping device grasps the target object, the method may further include acquiring image information of the target object by the photographing device.
Accordingly, the type of the target item may be determined according to the image information of the target item and the coordinate change value.
In order to better understand the present invention and highlight the beneficial effects of the present invention, the above technical solution is illustrated by a specific example below.
Illustratively, taking the target article as an apple as an example, good apples (qualified apples) and bad apples (unqualified apples, such as soft and rotten apples) are sorted by the robot of the embodiment of the present invention. Wherein, the grabbing device is two clamping jaws.
Specifically, when the two clamping jaws grab the apple, a first pressure is applied to the apple through the two clamping jaws, and first X-axis coordinates of the two clamping jaws applying the first pressure are acquired, wherein the first X-axis coordinates are (-3,0) and (3, 0); after acquiring the first X-axis coordinate, applying a second pressure to the apple through the two jaws, and acquiring a second X-axis coordinate when the second pressure is applied by the two jaws, such as (-2.5,0) and (2, 0). Wherein the second pressure is greater than the first pressure; and obtaining coordinate change values of the two clamping jaws on the X axis according to the first X axis coordinate and the second X axis coordinate, wherein the coordinate change values are (0.5,0) and (1,0), and the change values on the X axis coordinate (one change is 0.5, the other change is 1, and the total change value on the X axis coordinate is 1.5) are greater than a first threshold value 1, so that the apple is determined to be unqualified, namely, the apple is the apple which is already degenerated and softened. If the second X-axis coordinates of the two clamping jaws when the second pressure is applied to the two clamping jaws are (-2.8,0) and (2.5,0), the coordinate change values of the two clamping jaws on the X axis are (0.,2,0) and (0.5,0) according to the first X-axis coordinate and the second X-axis coordinate, the change values (one change is 0.2, the other change is 0.5, and the total change value of the X-axis coordinate is 0.7) of the two clamping jaws on the X axis are smaller than a first threshold value 1, so that the apples are determined to be qualified apples, namely good apples, corresponding mark information is generated, the mark information is attached to the apples, and the robot is controlled to pack the apples provided with the mark information.
In the embodiment of the invention, different pressures are applied, the type of the target object is determined according to the coordinate change value, the mark information containing the information of the target object is generated after the type of the target object is determined, and the robot is controlled to sort the target object provided with the mark information to the corresponding exit channel, so that the management and tracking of the classification information of the target object are facilitated, the classification efficiency is improved, and the practicability and the usability are higher.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 3 is a schematic diagram of a robotic sorting apparatus according to a third embodiment of the present invention, and only the parts related to the third embodiment of the present invention are shown for convenience of illustration.
In an embodiment of the present invention, the robot may include an execution end and a gripping device installed at the execution end, the gripping device includes at least two gripping jaws simultaneously acting on a side wall of the target object, and the device may include:
the first control module 31 is used for applying a first pressure to the target object through the clamping jaws when the target object is grabbed by the grabbing device, and acquiring a first coordinate when the first pressure is applied by the clamping jaws;
a second control module 32, configured to apply a preset second pressure to the target object through the clamping jaws after acquiring the first coordinate, and acquire a second coordinate when the clamping jaws apply the second pressure, where the second pressure is greater than the first pressure;
and the classification module 33 is configured to obtain a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determine the type of the target object according to the coordinate change value.
Optionally, the types include a pass type and a fail type. Correspondingly, the classification module 33 is specifically configured to determine that the target item is a qualified type when the variation value of the X-axis coordinate is less than or equal to a first threshold, the variation value of the Y-axis coordinate is less than or equal to a second threshold, and the variation value of the Z-axis coordinate is less than or equal to a third threshold; and when the variation value of the X-axis coordinate is larger than the first threshold value and/or the variation value of the Y-axis coordinate is larger than the second threshold value, determining that the target article is of a failed type.
Optionally, the apparatus may further include:
and the generating module is used for generating mark information corresponding to the target object, setting the mark information on the target object and controlling the robot to sort the target object with the mark information to a corresponding outlet channel.
Optionally, the apparatus may further include:
the shooting device is used for acquiring the image information of the target object;
correspondingly, the classification module 33 is specifically configured to determine the type of the target item according to the image information of the target item and the coordinate change value.
Fig. 4 is a schematic view of a robot according to a fourth embodiment of the present invention, and only a part related to the fourth embodiment of the present invention is shown for convenience of description.
As shown in fig. 4, the robot 4 of this embodiment includes: an execution end 40, a memory 41, a gripping means 43 mounted on the execution end, and a computer program 42 stored in the memory and executable on the execution end. The execution end 40, when executing the computer program 42, implements the steps in the above-described embodiments of the method for robot sorting of articles, such as the steps 101 to 103 shown in fig. 1. Alternatively, the execution end 40 implements the functions of the modules/units in the above device embodiments, such as the functions of the modules 31 to 33 shown in fig. 3, when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the execution side 40 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot 4. For example, the computer program 42 may be divided into a first control module, a second control module, and a classification module, and the specific functions of each module are as follows:
the first control module is used for applying first pressure to the target object through the clamping jaws when the target object is grabbed by the grabbing device, and acquiring first coordinates when the first pressure is applied by the clamping jaws;
the second control module is used for applying a preset second pressure to the target object through the clamping jaws after acquiring the first coordinate, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure;
and the classification module is used for obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate and determining the type of the target object according to the coordinate change value.
The robot 4 may include, but is not limited to, an execution end 40, and a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a robot 4 and does not constitute a limitation of robot 4 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include control circuitry, servo motors, network access devices, buses, etc.
The execution end 40 may include a Central Processing Unit (CPU), and may further include other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the execution side may include any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used for storing the computer program and other programs and data required by the robot. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by an execution end, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A method of robotic sorting of articles, the robot comprising an actuation end and a gripping arrangement mounted at the actuation end, the gripping arrangement comprising at least two gripping jaws simultaneously acting on a side wall of a target article, the method comprising:
when the target object is grabbed by the grabbing device, applying first pressure to the target object through the clamping jaws, and acquiring first coordinates when the first pressure is applied by the clamping jaws;
after acquiring the first coordinate, applying a preset second pressure to the target object through the clamping jaws, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure; the first pressure and the second pressure are preset pressures and are set according to the type of the target object and the type to be distinguished for sorting;
and obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate, and determining the type of the target object according to the coordinate change value.
2. The method of claim 1, wherein the types include a pass type and a fail type;
correspondingly, the determining the type of the target item according to the coordinate variation value comprises:
when the change value of the X-axis coordinate is less than or equal to a first threshold value, the change value of the Y-axis coordinate is less than or equal to a second threshold value, and the change value of the Z-axis coordinate is less than or equal to a third threshold value, determining that the target article is of a qualified type;
and when the variation value of the X-axis coordinate is larger than the first threshold value and/or the variation value of the Y-axis coordinate is larger than the second threshold value, determining that the target article is of a failed type.
3. The method of claim 2, after determining the type of the target item, further comprising:
generating mark information corresponding to the target object, setting the mark information on the target object, and controlling the robot to sort the target object with the mark information to a corresponding outlet channel.
4. The method of any of claims 1 to 3, wherein the robot further comprises a camera, and prior to the grasping device grasping the target item, the method further comprises:
acquiring image information of the target object through the shooting device;
correspondingly, the determining the type of the target item according to the coordinate variation value comprises:
and determining the type of the target object according to the image information of the target object and the coordinate change value.
5. A device for robot sorting of objects, characterized in that the robot comprises an execution end and a gripping device mounted at the execution end, the gripping device comprising at least two gripping jaws acting simultaneously on a side wall of a target object, the device for robot sorting of objects comprising:
the first control module is used for applying first pressure to the target object through the clamping jaws when the target object is grabbed by the grabbing device, and acquiring first coordinates when the first pressure is applied by the clamping jaws;
the second control module is used for applying a preset second pressure to the target object through the clamping jaws after acquiring the first coordinate, and acquiring a second coordinate when the clamping jaws apply the second pressure, wherein the second pressure is greater than the first pressure; the first pressure and the second pressure are preset pressures and are set according to the type of the target object and the type to be distinguished for sorting;
and the classification module is used for obtaining a coordinate change value of the clamping jaw according to the first coordinate and the second coordinate and determining the type of the target object according to the coordinate change value.
6. A device for robotic sorting of articles as claimed in claim 5, wherein the types include a pass type and a fail type;
correspondingly, the classification module is specifically configured to determine that the target item is of a qualified type when the variation value of the X-axis coordinate is less than or equal to a first threshold, the variation value of the Y-axis coordinate is less than or equal to a second threshold, and the variation value of the Z-axis coordinate is less than or equal to a third threshold; and when the variation value of the X-axis coordinate is larger than the first threshold value and/or the variation value of the Y-axis coordinate is larger than the second threshold value, determining that the target article is of a failed type.
7. The apparatus for robotic sorting of articles as in claim 6, wherein the apparatus for robotic sorting of articles further comprises:
and the generating module is used for generating mark information corresponding to the target object, setting the mark information on the target object and controlling the robot to sort the target object with the mark information to a corresponding outlet channel.
8. A device for robotic sorting of articles as claimed in any one of claims 5 to 7, wherein the device for robotic sorting of articles further comprises:
the shooting device is used for acquiring the image information of the target object;
correspondingly, the classification module is specifically configured to determine the type of the target item according to the image information of the target item and the coordinate change value.
9. A robot comprising a memory, an execution end, a grasping apparatus mounted on the execution end, and a computer program stored in the memory and executable on the execution end, characterized in that the execution end implements the steps of the method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by an execution end, carries out the steps of the method according to any one of claims 1 to 4.
CN201711481214.5A 2017-12-29 2017-12-29 Method and device for sorting articles by robot and robot Active CN108145712B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711481214.5A CN108145712B (en) 2017-12-29 2017-12-29 Method and device for sorting articles by robot and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711481214.5A CN108145712B (en) 2017-12-29 2017-12-29 Method and device for sorting articles by robot and robot

Publications (2)

Publication Number Publication Date
CN108145712A CN108145712A (en) 2018-06-12
CN108145712B true CN108145712B (en) 2020-07-31

Family

ID=62460221

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711481214.5A Active CN108145712B (en) 2017-12-29 2017-12-29 Method and device for sorting articles by robot and robot

Country Status (1)

Country Link
CN (1) CN108145712B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109366472B (en) * 2018-12-04 2020-11-27 广东拓斯达科技股份有限公司 Method and device for placing articles by robot, computer equipment and storage medium

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU835337A1 (en) * 1977-03-04 1981-06-07 Чувашский Сельскохозяйственныйинститут Device for sorting fruits according to stiffness
CN106852224B (en) * 2016-12-23 2019-05-28 东莞理工学院 A kind of automatic information collecting device based on wine-growing
CN206731593U (en) * 2017-04-11 2017-12-12 四川农业大学 A kind of apple grading device

Also Published As

Publication number Publication date
CN108145712A (en) 2018-06-12

Similar Documents

Publication Publication Date Title
CN108044627B (en) Method and device for detecting grabbing position and mechanical arm
US9483707B2 (en) Method and device for recognizing a known object in a field of view of a three-dimensional machine vision system
CN109955244B (en) Grabbing control method and device based on visual servo and robot
CN108115688B (en) Grabbing control method and system of mechanical arm and mechanical arm
CN108127666B (en) Mechanical arm grabbing method and system and mechanical arm
US20140180743A1 (en) Workflow monitoring and analysis system and method thereof
CN108145712B (en) Method and device for sorting articles by robot and robot
CN108555902B (en) Method and device for sorting articles by robot and robot
CN111015655A (en) Mechanical arm grabbing method and device, computer readable storage medium and robot
Rodriguez-Garavito et al. 3D object pose estimation for robotic packing applications
CN108098776B (en) Automatic grabbing method and device, mechanical arm and storage medium
CN108284075B (en) Method and device for sorting articles by robot and robot
Lin et al. Vision based object grasping of industrial manipulator
DE102014113179B4 (en) Method of determining representative points that indicate edges and vertices of a 3D object
CN108960246B (en) Binarization processing device and method for image recognition
CN108312179B (en) Elastic part testing method and device based on mechanical arm and mechanical arm
CN109992691A (en) A kind of image-recognizing method and device
Martinez et al. Automated 3D vision guided bin picking process for randomly located industrial parts
Zalhan et al. Vision-based egg grade classifier
Hargas et al. Novel machine vision tools applied in biomechatronic tasks
JP6041710B2 (en) Image recognition method
Sadykov et al. Recognition of separate flat objects based on dimensionless signs of their contours by linear discriminant analysis
Li et al. Robot Vision Model Based on Multi-Neural Network Fusion
Pyo et al. Precise angle estimation using geometry features for bin picking
WO2018161305A1 (en) Grasp quality detection method, and method and system employing same

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210119

Address after: 276800 north of Shantou Road, west of Hangzhou Road, east of Luzhou Road, Rizhao Economic Development Zone, Shandong Province

Patentee after: Rizhao Yuejiang Intelligent Technology Co.,Ltd.

Address before: 518000 18 / F, building C2, Nanshan wisdom Park, 1001 Xueyuan Avenue, Xili University Town, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province

Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd.