CN108555901B - Method and device for sorting objects by robot and mechanical arm - Google Patents
Method and device for sorting objects by robot and mechanical arm Download PDFInfo
- Publication number
- CN108555901B CN108555901B CN201711479125.7A CN201711479125A CN108555901B CN 108555901 B CN108555901 B CN 108555901B CN 201711479125 A CN201711479125 A CN 201711479125A CN 108555901 B CN108555901 B CN 108555901B
- Authority
- CN
- China
- Prior art keywords
- target object
- gripping
- type
- clamping jaws
- value
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention is applicable to the technical field of mechanical arms, and provides a method for sorting objects by a robot, wherein the mechanical arm comprises an execution end and a gripping device arranged at the execution end, the gripping device comprises a clamping part and a plurality of clamping jaws arranged side by side, the clamping part acts on the side wall of a target object, and the clamping jaws act on the opposite side wall of the target object, and the method comprises the following steps: and respectively applying different pressures to the target object through the clamping jaws, acquiring corresponding coordinates of each clamping jaw when applying force, and determining the type of the target object according to the corresponding coordinates. The mechanical arm can distinguish the types of the articles according to the hardness of the articles, and has higher practicability and usability.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a method and a device for sorting objects by a robot and a mechanical arm.
Background
A robotic arm is an automatic operating device that mimics certain movements of a human hand and arm for grasping, handling objects or operating tools in a fixed sequence.
However, in the existing mechanical arm application, for mixed sorting of multiple articles, the mixed sorting is mostly finished by means of a manual control mechanical arm, so that the operation is complex and the sorting efficiency is low.
Disclosure of Invention
In view of the above, the invention provides a method, a device and a mechanical arm for sorting objects by a robot, which can distinguish the types of the objects according to the hardness of the objects, reduce manual intervention and effectively improve sorting efficiency.
A first aspect of the present invention provides a method of robotically sorting objects, the robotic arm including an implement end and a gripping device mounted to the implement end, the gripping device including a gripping portion and a plurality of gripping jaws arranged side by side, wherein the gripping portion acts on a side wall of the target object, the plurality of gripping jaws each acting on an opposite side wall of the target object, the method comprising:
and respectively applying different pressures to the target object through the clamping jaws, acquiring corresponding coordinates of each clamping jaw when applying force, and determining the type of the target object according to the corresponding coordinates.
A second aspect of the present invention provides an apparatus for sorting objects by a robot arm, the robot arm including an actuating end and a gripping device mounted on the actuating end, the gripping device including a gripping portion and a plurality of gripping jaws arranged side by side, wherein the gripping portion acts on a side wall of the target object, the plurality of gripping jaws each acting on an opposite side wall of the target object, the apparatus comprising:
the control modules are used for applying pressure to the target object through the corresponding clamping jaws when the grabbing device grabs the target object, and acquiring corresponding coordinates when the clamping jaws apply pressure;
and the classification module is used for determining the type of the target object according to a plurality of corresponding coordinates.
A third aspect of the invention provides a robotic arm comprising a memory, an execution end, gripping means mounted on said execution end, and a computer program stored in said memory and executable on said execution end, said execution end implementing the steps of the method as described above when said computer program is executed.
A fourth aspect of the invention provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of the aforementioned method.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, when the grabbing device grabs the target object, different acting forces are applied by the clamping jaws, feedback of the target object when the target object receives the different acting forces is detected, and the type of the target object can be determined according to the feedback, namely, sorting of the object is realized by distinguishing the hardness of the object, so that the sorting efficiency is improved. The invention has simple operation, reduced manual intervention, low realization cost and higher usability and practicability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic implementation flow chart of a method for sorting objects by a mechanical arm according to a first embodiment of the present invention;
fig. 2 is a schematic implementation flow chart of a method for sorting objects by a mechanical arm according to a second embodiment of the present invention;
fig. 3 is a schematic view of an apparatus for sorting articles by a mechanical arm according to a third embodiment of the present invention;
fig. 4 is a schematic view of a mechanical arm 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 the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present 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 should 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 this specification 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 the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Fig. 1 is a schematic flow chart of a method for sorting objects by using a mechanical arm according to an embodiment of the present invention, where the mechanical arm includes an execution end and a gripping device installed at the execution end, and the gripping device includes a gripping portion that acts on a sidewall of a target object and a plurality of two gripping jaws that act on opposite sidewalls of the target object at the same time, and as shown in fig. 1, the method may include the following steps:
step S101, when the gripping device grips the target object, applying a plurality of gripping claws to the target object, and acquiring corresponding coordinates when each gripping claw applies pressure.
Step S102, after each corresponding coordinate is acquired, the type of the target object is determined.
Illustratively, the gripping device of the present embodiments may apply a first pressure to the target article via a first jaw in contact with a sidewall of the target article, a second jaw applies a second pressure to the target article, and so on; the plurality of gripping claws cooperate with the gripping portion to grip the article, and the gripping portion is not particularly limited in this embodiment, and may be of a simple plate-like structure or have a concave surface or the like that cooperates with the target article.
Optionally, in the embodiment of the present invention, the pressure applied by the different clamping jaws may be preset pressure, and may be set according to conditions including, but not limited to, the type of the target article, the type to be distinguished in sorting, and the like; it may be determined depending on conditions such as an initial value of pressure, without being set in advance.
For example, if the first pressure threshold for determining the failed target object exceeds the preset variation is 10N and the second pressure threshold for keeping the coordinates of the failed target object unchanged is 20N, the first pressure may be set to be 1N and the second pressure may be set to be 15N, so that the deformation of the failed target object reaches the threshold and the failed target object is not deformed, thereby distinguishing the target object.
In addition, the method for acquiring the coordinates corresponding to the clamping jaw in the embodiment of the invention can be various, for example, a related vision collector can be installed, a certain point on the grabbing device is selected as a monitoring point, and judgment is carried out according to the position change of the point. The corresponding coordinates of the gripping device when applying pressure can also be detected by means of a sensor, which may be a displacement sensor, which detects displacement in the direction of the pressure, mounted on the gripping jaws.
In the embodiment of the invention, when the grabbing device grabs the target object, a plurality of clamping jaws apply a plurality of pressures to the target object, the target object has a certain hardness and has different deformation degrees when being subjected to different pressures, the corresponding clamping jaws also have different corresponding coordinates, and the judgment information for distinguishing and determining the hardness of the target object can be obtained according to a group of applied force, so that the type of the target object is determined.
Optionally, the mechanical arm may further include a photographing device, and the method may further include acquiring image information of the target object by the photographing device before the gripping device grips the target object.
Accordingly, determining the type of the target item after acquiring each corresponding coordinate may include: and determining the type of the target object according to the image information and the judgment value of the target object.
By way of 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, etc. of the target object. The image information acquired by the shooting device can be processed through visual recognition, and the target objects are distinguished according to the image information, for example, the target objects with the surface color-changing area reaching a preset value are distinguished first, and then the target objects are distinguished again by combining the detected judgment value, so that the sorting precision is improved.
Fig. 2 is a schematic implementation flow chart of a method for sorting objects by using a mechanical arm according to a second embodiment of the present invention, where the mechanical arm includes an execution end and a gripping device installed at the execution end, and the gripping device includes at least two gripping jaws that simultaneously act on a sidewall of a target object, and as shown in fig. 2, the method may include the following steps:
in step S201, when the gripping device grips the target object, the gripping devices control the gripping jaws to apply a plurality of pressures to the target object, and obtain the corresponding coordinates when each gripping jaw applies a force.
Step S202, after each corresponding coordinate is acquired, the type of the target object is determined.
The steps S201 and S202 in this embodiment are the same as the steps S101 and S102 described above, and specific reference may be made to the descriptions related to the steps S101 and S102, which are not repeated here.
In step S203, two clamping jaws corresponding to two adjacent corresponding coordinates with the largest difference among the corresponding coordinates are selected, and the larger value of the pressures output by the two clamping jaws is used as the judgment value.
Step S204, when the judgment value is greater than or equal to the threshold value, determining that the target object is of a qualified type; and determining that the target object is of a disqualified type when the judging value is smaller than the threshold value.
Since many target articles with certain rigidity have certain hardness limit, when a certain part is subjected to pressure exceeding the limit, collapse deformation occurs, therefore, when the acting force exerted by a certain clamping jaw just exceeds the hardness limit and the acting force exerted by an adjacent clamping jaw is smaller than the hardness limit, the two clamping jaws just correspond to the side walls of the target articles in the two states of normal and collapse deformation respectively, and the larger value of the pressure of the two clamping jaws is selected as a judging value, and the judging value can be approximately understood as the pressure-bearing limit value of the measured target articles. And comparing the judgment value with a preset threshold value to judge the type of the target object. For example, if the hardness limit of the target article exceeds 5N, the predetermined threshold is 5, the target article having a judgment value of 4 is judged to be a non-acceptable product, and the target article having a judgment value of 6 is judged to be acceptable.
For example, in other embodiments, the hardness may be divided into a plurality of zones, each zone corresponds to the same type or a plurality of zones are combined to correspond to the same type, for example, three thresholds may be set, the product may be divided into four types of softer, harder and harder, and the target article may be judged to be one of the four types by comparing the judgment value with the threshold.
Optionally, after determining that the target object is of a qualified type, the method may further generate marking information corresponding to the target object, set the marking information on the target object, and control the mechanical arm to sort the target object with the marking information to a corresponding outlet channel. The marking information may include, but is not limited to, two-dimensional code information, text information, label information, etc., by which the type of the target article may be distinguished and/or article information of the target article may be acquired, such as article name, size, place of origin, etc., among others.
Optionally, the mechanical arm may further include a photographing device, and the method may further include acquiring image information of the target object by the photographing device before the gripping device grips the target object.
Accordingly, the type of the target object can be determined according to the image information of the target object and the judgment value.
In order to better understand the present invention and to highlight the advantageous effects thereof, the following describes the above technical solution by means of a specific example.
Illustratively, the target object is an apple, and good apples (qualified apples) and bad apples (unqualified apples, such as apples with soft deterioration) are sorted out by the mechanical arm of the embodiment of the invention. Wherein, three clamping jaws are arranged in the grabbing device.
Specifically, when the first clamping jaw, the second clamping jaw, the third clamping jaw and the grabbing part grab an apple, the three clamping jaws apply a first pressure, a second pressure and a third pressure to the apple in sequence, and a first corresponding coordinate, a second corresponding coordinate and a third corresponding coordinate when the three clamping jaws apply corresponding pressures are obtained, for example, (3, 0) and (1, 0) in sequence; after three corresponding coordinates are obtained, the second corresponding coordinate and the third corresponding coordinate are found to be two adjacent corresponding coordinates with the largest difference, then the larger value of the pressure applied by the second clamping jaw and the third clamping jaw, namely the third pressure is used as a judging value, the larger value is compared with a threshold value corresponding to the hardness value of the qualified apples, whether the apples are qualified or not is determined, then corresponding marking information is generated, the marking information is attached to the apples, and the mechanical arm is controlled to encase the apples with the marking information.
According to the embodiment of the invention, the types of the target articles are determined according to the judging values by applying different pressures, and when the target articles are of the qualified type, the marking information containing the information of the target articles is generated, and the mechanical arm is controlled to sort the target articles provided with the marking information to the corresponding outlet channels, so that the sorting information of the target articles can be managed and tracked, the sorting efficiency is improved, and the practicability and usability are higher.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Fig. 3 is a schematic view of a mechanical arm sorting device according to a third embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown.
In an embodiment of the present invention, the mechanical arm may include an execution end and a gripping device installed at the execution end, where the gripping device includes a gripping portion and at least two gripping jaws that simultaneously act on a target object, where the gripping portion acts on a sidewall of the target object, and the at least two gripping jaws act on opposite sidewalls of the target object, that is, opposite sidewalls of the gripping portion, and the apparatus may include:
a plurality of control modules 32 for applying a specific pressure to the target object by the corresponding clamping jaw when the gripping device grips the target object, and acquiring corresponding coordinates when the clamping jaw applies the pressure;
a classification module 33, configured to determine the type of the target object according to a plurality of the corresponding coordinates.
Optionally, the types include a pass type and a fail type.
Correspondingly, the classification module 33 is specifically configured to determine, after acquiring all the corresponding coordinates, the jaw corresponding to the two adjacent coordinates with the largest change, and determine that the target article is of a qualified type by using a larger value of pressures output by the two jaws as a judgment value if the judgment value is greater than or equal to a threshold value; and if the judgment value is smaller than the threshold value, determining that the target object is of a disqualified type.
Optionally, the apparatus may further include:
the generation module is used for generating marking information corresponding to the target object, setting the marking information on the target object, and controlling the mechanical arm to sort the target object provided with the marking information to the corresponding outlet channel.
Optionally, the apparatus may further include:
the shooting device is used for collecting image information of the target object;
accordingly, the classification module 33 is specifically configured to determine the type of the target object according to the image information and the judgment value of the target object.
Fig. 4 is a schematic diagram of a mechanical arm provided in the fourth embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown.
As shown in fig. 4, the robot arm 4 of this embodiment includes: the device comprises an execution end 40, a memory 41, a gripping means 43 installed on the execution end and a computer program 42 stored in the memory and executable on the execution end. The steps in the method embodiments described above for the respective robotic arms to sort items are implemented by the processor 40 when executing the computer program 42, such as steps 101 to 103 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 31 to 33 shown in fig. 3.
By way of example, the computer program 42 may be partitioned into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function, the instruction segments describing the execution of the computer program 42 in the robotic arm 4. For example, the computer program 42 may be divided into a plurality of control modules, classification modules, each of which functions specifically as follows:
the control modules are used for applying pressure to the target object through the corresponding clamping jaws when the grabbing device grabs the target object and acquiring corresponding coordinates when the clamping jaws apply pressure;
and the classification module is used for determining the type of the target object according to a plurality of corresponding coordinates.
The robotic arm 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the robotic arm 4 and is not meant to be limiting of the robotic arm 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the robotic arm may further include control circuitry, servo motors, network access devices, buses, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot arm 4, such as a hard disk or a memory of the robot arm 4. The memory 41 may also be an external storage device of the robot arm 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, which are provided on the robot arm 4. Further, the memory 41 may also include both an internal memory unit and an external memory device of the robot arm 4. The memory 41 is used to store computer programs and other programs and data required by the robot arm. 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-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a 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 process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
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 solution. 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 manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (5)
1. A method for sorting objects by a robot, the robot comprising an execution end and a gripping device mounted on the execution end, the gripping device comprising a gripping portion and a plurality of gripping jaws arranged side by side, wherein the gripping portion and the plurality of gripping jaws respectively act on two opposite sidewalls of a target object, the method comprising: when the grabbing device grabs a target object, applying pressure to the target object through a plurality of clamping jaws, and acquiring corresponding coordinates when each clamping jaw applies pressure, wherein the pressures output by the clamping jaws are sequentially increased;
selecting two adjacent clamping jaws with the largest corresponding coordinate difference value, wherein the larger value of the pressure applied by the two clamping jaws is used as a judging value for judging the type of the target object;
the types include a pass type and a fail type;
correspondingly, determining the type of the target object according to a plurality of corresponding coordinates:
when the judging value is greater than or equal to a threshold value, determining that the target object is of a qualified type;
and when the judging value is smaller than a threshold value, determining that the target object is of a disqualified type.
2. An apparatus for sorting articles by a robotic arm, the robotic arm comprising an actuating end and a gripping device mounted at the actuating end, the gripping device comprising a gripping portion and a plurality of gripping jaws disposed side-by-side, wherein the gripping portion acts on a side wall of a target article, the plurality of gripping jaws each acting on an opposite side wall of the target article, the apparatus comprising:
the control modules are used for controlling the corresponding clamping jaws to apply specific pressure to the target object when the grabbing device grabs the target object, and acquiring corresponding coordinates when the clamping jaws apply the pressure;
the classification module is used for determining the type of the target object according to a plurality of corresponding coordinates;
the types include a pass type and a fail type;
correspondingly, the classification module is specifically configured to determine two clamping jaws corresponding to two adjacent corresponding coordinates with the largest difference after acquiring all the corresponding coordinates, and determine that the target object is of a qualified type by using a larger value of pressures output by the two clamping jaws as a judgment value if the judgment value is greater than or equal to a threshold value;
and if the judging value is smaller than the threshold value, determining that the target object is of a disqualified type.
3. The apparatus of claim 2, wherein the apparatus further comprises:
the generation module is used for generating marking information corresponding to the target object, setting the marking information on the target object and controlling the mechanical arm to sort the target object provided with the marking information to a corresponding outlet channel.
4. A robotic arm comprising a memory, an execution end, gripping means mounted on said execution end, and a computer program stored in said memory and executable on said execution end, characterized in that said execution end implements the steps of the method according to claim 1 when said computer program is executed by said execution end.
5. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711479125.7A CN108555901B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting objects by robot and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711479125.7A CN108555901B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting objects by robot and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555901A CN108555901A (en) | 2018-09-21 |
| CN108555901B true CN108555901B (en) | 2023-07-21 |
Family
ID=63529527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711479125.7A Active CN108555901B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting objects by robot and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555901B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720499B (en) * | 2020-12-30 | 2022-06-17 | 深兰智能科技(上海)有限公司 | Control method and device for manipulator, pickup device and storage medium |
| CN112884825B (en) * | 2021-03-19 | 2022-11-04 | 清华大学 | Deep learning model-based grabbing method and device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6170441A (en) * | 1984-09-14 | 1986-04-11 | Fujitsu Ltd | Hardness detector |
| CN106289588A (en) * | 2015-05-27 | 2017-01-04 | 鸿富锦精密工业（深圳）有限公司 | Pressure sensor device, the mechanical hand with this pressure sensor device and robot |
| CN105107753B (en) * | 2015-08-14 | 2018-03-02 | 临海市劳尔机械有限公司 | A kind of automatic eyeglass sorting machine |
| CN105252519A (en) * | 2015-11-12 | 2016-01-20 | 中国船舶重工集团公司第七一六研究所 | Grabbing system |
| CN106000904B (en) * | 2016-05-26 | 2018-04-10 | 北京新长征天高智机科技有限公司 | A kind of house refuse Automated Sorting System |
| CN106272427A (en) * | 2016-09-12 | 2017-01-04 | 安徽理工大学 | A kind of industrial robot intelligence picking up system |
| 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 |
| CN107046933B (en) * | 2017-04-19 | 2019-08-06 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
-
2017
- 2017-12-29 CN CN201711479125.7A patent/CN108555901B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108555901A (en) | 2018-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108212807B (en) | Method and device for sorting articles by robot and mechanical arm | |
| CN108044627B (en) | Method and device for detecting grabbing position and mechanical arm | |
| CN102164718B (en) | Method for taking out work | |
| CN108115688B (en) | Grabbing control method and system of mechanical arm and mechanical arm | |
| Chang et al. | Interactive singulation of objects from a pile | |
| CN110660104A (en) | Industrial robot visual identification positioning grabbing method, computer device and computer readable storage medium | |
| CN108127666B (en) | Mechanical arm grabbing method and system and mechanical arm | |
| CN108098776B (en) | Automatic grabbing method and device, mechanical arm and storage medium | |
| CN110599544B (en) | Workpiece positioning method and device based on machine vision | |
| CN108555901B (en) | Method and device for sorting objects by robot and mechanical arm | |
| CN111015655A (en) | Mechanical arm grabbing method and device, computer readable storage medium and robot | |
| US10518417B2 (en) | Article retrieval system | |
| CN108555902B (en) | Method and device for sorting articles by robot and robot | |
| KR20160012934A (en) | Method and means for designing and/or operating a robot | |
| US11813754B2 (en) | Grabbing method and device for industrial robot, computer storage medium, and industrial robot | |
| CN112464410B (en) | Method and device for determining workpiece grabbing sequence, computer equipment and medium | |
| CN109955244B (en) | Grabbing control method and device based on visual servo and robot | |
| CN107953338B (en) | Method and device for sorting articles by robot and mechanical arm | |
| CN111086889A (en) | Control method and device of palletizing robot and palletizing robot | |
| CN108145712B (en) | Method and device for sorting articles by robot and robot | |
| CN108284075B (en) | Method and device for sorting articles by robot and robot | |
| CN113762159B (en) | Target grabbing detection method and system based on directional arrow model | |
| Martinez et al. | Automated 3D vision guided bin picking process for randomly located industrial parts | |
| Dirr et al. | Localization and grasp planning for bin picking of deformable linear objects | |
| CN114750164B (en) | Transparent object grabbing method, transparent object grabbing system and computer readable storage medium |
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 | ||
| CB02 | Change of applicant information |
Address after: 518000 4th floor, building 8, area a, Tanglang Industrial Zone, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Yuejiang Technology Co.,Ltd. Address before: 518000 4th floor, building 8, area a, Tanglang Industrial Zone, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |