CN108555902A - A kind of method, apparatus and robot of robot segregating articles - Google Patents
A kind of method, apparatus and robot of robot segregating articles Download PDFInfo
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- CN108555902A CN108555902A CN201711481231.9A CN201711481231A CN108555902A CN 108555902 A CN108555902 A CN 108555902A CN 201711481231 A CN201711481231 A CN 201711481231A CN 108555902 A CN108555902 A CN 108555902A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The present invention is suitable for technical field of automation in industry, provides a kind of method, apparatus and robot of robot segregating articles, wherein the method for the robot segregating articles includes：Obtain the location information of article to be sorted, control grabbing device is moved to the corresponding position of location information, and start to capture article to be sorted, when grabbing device grabs article to be sorted, apply active force to article to be sorted by grabbing device, the angle that grabbing device opens is recorded when active force reaches threshold value, the correspondence between the angle and item sizes to be sorted opened according to grabbing device determines the type of article to be sorted.Robot of the present invention can improve sorting efficiency according to the type of the size distinction article of article, have stronger usability and practicality.
Description
Technical field
The present invention relates to technical field of automation in industry more particularly to a kind of method, apparatus of robot segregating articles, machines
Device people and computer readable storage medium.
Background technology
With the raising of social productive forces, the type of article becomes increasingly abundant, and has caused people to the high-tech in sorting operation
The concern of skill.
However, in existing robot application, also need to complete sorting operation by manual control robot mostly,
Complicated for operation, sorting efficiency is low.
Invention content
In consideration of it, an embodiment of the present invention provides a kind of method, apparatus and robot of robot segregating articles, Ke Yigen
The type that article is distinguished according to the size of article, reduces manual intervention, is effectively improved the efficiency of sorting.
The first aspect of the embodiment of the present invention provides a kind of method of robot segregating articles, and the robot includes holding
Row end and grabbing device mounted on the actuating station, the method includes：
Obtain the location information of article to be sorted；
It controls the grabbing device and is moved to the corresponding position of the location information, and start to capture the object to be sorted
Product；
When the grabbing device grabs the article to be sorted, by the grabbing device to the article to be sorted
Apply active force；
The angle that the grabbing device opens is recorded when the active force reaches threshold value；
Correspondence between the angle and item sizes to be sorted opened according to the grabbing device, determine described in wait for point
Pick the type of article.
The second aspect of the embodiment of the present invention provides a kind of device of robot segregating articles, and the robot includes holding
Row end and grabbing device mounted on the actuating station, described device include：
Acquisition module, the location information for obtaining article to be sorted；
Control module is moved to the corresponding position of the location information for controlling the grabbing device, and starts to capture
The article to be sorted；
Execution module, for when the grabbing device grabs the article to be sorted, by the grabbing device to
The article to be sorted applies active force；
Logging modle, the angle opened for recording the grabbing device when the active force reaches threshold value；
Determining module, for according to the corresponding pass between the grabbing device angle opened and item sizes to be sorted
System, determines the type of the article to be sorted.
The third aspect of the embodiment of the present invention provides a kind of robot, including：Including memory, processor and it is stored in
On memory and the computer program that can run on a processor, above-mentioned processor are realized above-mentioned when executing above computer program
The method that first aspect refers to.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, including：This is computer-readable
Computer program is stored on storage medium, above computer program is realized mentioned in the first aspect when being executed by processor
Method.
Existing advantageous effect is the embodiment of the present invention compared with prior art：The embodiment of the present invention is to be sorted by obtaining
The location information of article controls the grabbing device and is moved to the corresponding position of the location information, and starts to wait for described in crawl
Segregating articles, when the grabbing device grabs the article to be sorted, by the grabbing device to the object to be sorted
Product apply active force, and the angle that the grabbing device opens is recorded when the active force reaches threshold value, is filled according to the crawl
The correspondence between the angle of opening and item sizes to be sorted is set, determines the type of the article to be sorted.By this hair
Bright embodiment can determine corresponding type according to the size of the article to be sorted, improve the efficiency of sorting.And this
Inventive embodiments are easy to operate, reduce manual intervention, and cost of implementation is low, have stronger usability and practicality.
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 the flow diagram for the robot segregating articles method that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of robot segregating articles method provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram for the robot segregating articles device that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.
Specific implementation mode
In being described below, for illustration and not for limitation, 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 specific
The present invention can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, the instruction of term " comprising " is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, element, component and/or its presence or addition gathered.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combinations and all possible combinations of one or more of associated item listed, and includes these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
Fig. 1 be the present embodiment one provide robot segregating articles method flow diagram, this method may include with
Lower step：
S101：Obtain the location information of article to be sorted.
Optionally, the location information for obtaining article to be sorted, including：
Obtain the picture of the location information comprising the article to be sorted；
Calculate coordinate position of the article to be sorted on the picture；
According to the correspondence between the coordinate position and real coordinate position on the picture, the object to be sorted is determined
The real coordinate position of product.
Wherein, coordinate position of the article to be sorted on the picture is two-dimensional coordinate.The picture may include
But it is not limited only to the location information of the article to be sorted, the picture can also include that the color of the article to be sorted is believed
Breath.Illustratively, the colouring information of the article to be sorted can be acquired in advance, and is waited for according to described in colouring information determination
Region where segregating articles determines the article to be sorted in the area further according to the location information of the article to be sorted
The final position in domain, to improve the efficiency of article positioning to be sorted.
Optionally, the picture for including the article to be sorted is obtained by the filming apparatus such as CCD camera or COMS cameras.
The capturing apparatus may be mounted in robot base, and the binocular as Binocular Stereo Vision System uses.
It should be appreciated that the image that above-mentioned capturing apparatus obtains is usually digital picture, if the coordinate system on image determined
Justice is image coordinate system (u, v), then is only two-dimensional signal by the information that piece image obtains, and robot is to be based on three dimensions
What coordinate was moved, it is therefore desirable to which the two-dimensional signal on image is converted into three dimensional space coordinate.Regarding based on binocular vision
Poor principle can obtain the relationship in three dimensions between any point and pixel coordinate by camera calibration, i.e., described in acquisition
Correspondence between coordinate position and real coordinate position of the article to be sorted on picture.
Optionally, pretreatment operation is carried out after obtaining the picture comprising the article to be sorted, removes ambient noise
Interference.
S102：It controls the grabbing device and is moved to the corresponding position of the location information, and start to wait for point described in crawl
Pick article.
Wherein, the robot includes actuating station and the grabbing device mounted on the actuating station, and the grabbing device can
With including acting at least two clamping jaws on the article side wall to be sorted simultaneously.If vertical direction passes through the object to be sorted
The straight line of product center of gravity is mass axis, when the grabbing device is two clamping jaws, described two clamping jaws and the target item
Line passes through the mass axis of the target item vertical direction between the contact point of side wall；When the grabbing device be two with
When upper gripper jaw, the contact point of described two above clamping jaws and the target item side wall, which is formed, encloses figure, the gravity axis
Line passes through the enclosing figure, to ensure that the grabbing device can go to capture the object to be sorted with correct posture
Product prevent the situation for occurring unclamping after clamping in the process of grasping.
It should be appreciated that after by obtaining the specific location that the article to be sorted is placed to visual identity, described in control
Grabbing device in actuating station is moved to the lower section or side of the article to be sorted, carries out grasping manipulation.
S103：When the grabbing device grabs the article to be sorted, waited for point to described by the grabbing device
It picks article and applies active force.
Wherein it is possible to obtain the active force that the grabbing device applies to the segregating articles by pressure sensor.
It should be appreciated that detecting the size of active force by pressure sensor, sensitivity and the reaction speed of detection can be improved, effectively
Ground ensure that the feedback speed of pressure, and article to be sorted is preferably protected not to be damaged.
S104：The angle that the grabbing device opens is recorded when the active force reaches threshold value.
Wherein, the threshold value be pre-set crawl pressure value, can according to the article self character to be sorted into
Row is flexibly set, such as the hardness based on the article to be sorted itself and gravity size, ensures that the grabbing device is having
While enough chucking powers, and it is unlikely to damage the article to be sorted.
Optionally, the robot end of the robot is equipped with press feedback device, can drive as the robot moves
Press feedback device moves, in the process of grasping, when grabbing device contacts and starts to act on article to be sorted, article to be sorted
Reaction force is generated to the grabbing device, pressure sensor, which generates pressure signal and send to robot to control by the signal, is
System, control system have shown article to be detected when a threshold is reached by the magnitude relationship between detecting the pressure codomain threshold value
It is firmly captured, control crawl stops crawl, into next process.
Further, the control system controls the speed that the grabbing device declines according to the size of the reaction force
Degree prevents the grabbing device wherein the speed that the grabbing device declines can reduce with the increase of the reaction force
When grabbing heavier article article to be sorted is collided because decrease speed is too fast.
It should be noted that the angle that the grabbing device opens refers to that clamping jaw is turned over from when opening up into closure around fulcrum
Angle.
S105：Correspondence between the angle and item sizes to be sorted opened according to the grabbing device, determines institute
State the type of article to be sorted.
It should be appreciated that the angle that the grabbing device opens reflects the size of the article to be sorted to a certain extent
Size, with the increase of item sizes to be sorted, under same active force, the angle that grabbing device opens can also increase therewith,
Correspondence between the angle and item sizes to be sorted opened according to grabbing device, it may be determined that the article to be sorted
Type.
The embodiment of the present invention controls the grabbing device and is moved to institute's rheme by the location information of acquisition article to be sorted
Confidence ceases corresponding position, and starts to capture the article to be sorted, can quickly grab the article to be sorted；Institute
When stating grabbing device and grabbing the article to be sorted, active force is applied to the article to be sorted by the grabbing device,
The error that detection is brought due to the operations such as accidentally touching can be effectively reduced；The crawl is recorded when the active force reaches threshold value
The angle that device opens, the correspondence between the angle and item sizes to be sorted opened according to the grabbing device, determines
The type of the article to be sorted may be implemented to classify to various sizes of article to be sorted, improve the efficiency of sorting.
And the embodiment of the present invention is easy to operate, and cost of implementation is low, has stronger usability and practicality.
Embodiment two
Fig. 2 is the flow diagram of robot segregating articles method provided by Embodiment 2 of the present invention, is to above-mentioned implementation
The further refinement of step S102, S105 in example one and explanation, this method may comprise steps of：
S201：Obtain the location information of article to be sorted.
Wherein, above-mentioned steps S201 is identical as the step S101 in embodiment one, so here is no more repetition.
S202：Obtain the current location information of the grabbing device, according to the current location information of the grabbing device and
The location information of the article to be sorted generates mobile route and controls the grabbing device according to the mobile route and be moved to
The corresponding position of location information of the article to be sorted, and start to capture the article to be sorted.
It is described to wait for point wherein it is possible to set the current position of the grabbing device to the initial position of the mobile route
The position for picking article is set as the final position of the mobile route.
Further, the mobile route can be shortest collisionless path, can specifically pass through probability map algorithm
To obtain.
S203：When the grabbing device grabs the article to be sorted, waited for point to described by the grabbing device
It picks article and applies active force.
S204：The angle that the grabbing device opens is recorded when the active force reaches threshold value.
Wherein, above-mentioned steps S203-S204 is identical as the step S103-S104 in embodiment one, is not repeated herein superfluous
It states.
S205：Correspondence between the angle and item sizes to be sorted opened according to the grabbing device, determines institute
State the type of article to be sorted.
Wherein, the type includes the first kind, Second Type and third type；
Correspondingly, according to the correspondence between the grabbing device angle opened and item sizes to be sorted, determine
The type of the article to be sorted includes：
When the angle that the grabbing device opens is more than zero degree and is spent less than M, determine that the article to be sorted is first
The article of type is waited for when the angle that the grabbing device opens is greater than or equal to M degree and is spent less than or equal to N described in determination
Segregating articles are the article of Second Type, when the angle that the grabbing device opens is spent more than N, determine the article to be sorted
For the article of third type；Wherein, the M is more than zero and is less than N.
Illustratively, when the article to be sorted is different types of apple, it is small that the above-mentioned first kind, which can be arranged,
Apple, Second Type are middle apple, and third type is Big Apple, and enables M that 40, N is taken to take 80, then are opened in the grabbing device
Angle when being less than 40 degree, determine that the apple that currently grabs is griggles；Be more than in the angle that the grabbing device opens etc.
When in 40 degree and less than or equal to 80 degree, determine that the apple currently grabbed is middle apple；When the angle that the grabbing device opens
When more than 80 degree, determine that the apple currently grabbed is Big Apple.
S206：2 D code information corresponding with the article to be sorted of the type is generated, 2 D code information setting is existed
On the article to be sorted of the type, and control the goods sorting to be sorted that the robot will be provided with the 2 D code information
To corresponding exit passageway.
It should be appreciated that the 2 D code information may include all or part of type of items information to be sorted；
It is described for the position of the Quick Response Code is arranged can be any position for not influencing user and taking, such as：Can be described wait for point
Pick the upper left corner, the lower left corner, the upper right corner or the lower right corner of article.
In the embodiment of the present invention, believed according to the position of the current location information of the grabbing device and the article to be sorted
Breath generates mobile route, according to the mobile route, controls the position letter that the grabbing device is moved to the article to be sorted
Corresponding position is ceased, and starts to capture the article to be sorted, may be implemented fast under the premise of not touching periphery barrier
Speed grabs the article to be sorted；When the angle that the grabbing device opens is more than zero degree and is spent less than M, waited for described in determination
Segregating articles are the article of the first kind, are greater than or equal to M degree in the angle that the grabbing device opens and are less than or equal to N degree
When, it determines that the article to be sorted is the article of Second Type, when the angle that the grabbing device opens is spent more than N, determines
The article to be sorted is the article of third type, is conducive to quickly determine the affiliated type of article to be sorted；In addition, generating and being somebody's turn to do
The article to be sorted in the type is arranged in the 2 D code information by the corresponding 2 D code information of article to be sorted of type
On, and control the robot and will be provided with the goods sorting to be sorted of the 2 D code information to corresponding exit passageway, it can
With more convenient and efficiently check the relevant information of the article to be sorted, there is stronger usability and practicality.
Embodiment three
Fig. 3 is that the structural schematic diagram for the robot segregating articles device that the present embodiment three provides only shows for convenience of description
Go out and the relevant part of the embodiment of the present invention.
The robot segregating articles device can be the software unit being built in robot, hardware cell or soft or hard knot
The unit of conjunction can also be used as independent pendant and be integrated into the robot.
The robot segregating articles device includes：
Acquisition module 31, the location information for obtaining article to be sorted；
Control module 32 is moved to the corresponding position of the location information for controlling the grabbing device, and starts to grab
Take the article to be sorted；
Execution module 33, for when the grabbing device grabs the article to be sorted, passing through the grabbing device
Apply active force to the article to be sorted；
Logging modle 34, the angle opened for recording the grabbing device when the active force reaches threshold value；
Determining module 35, for according to the corresponding pass between the grabbing device angle opened and item sizes to be sorted
System, determines the type of the article to be sorted.
Optionally, the type includes the first kind, Second Type and third type；
The determining module 35 specifically includes：
First determination unit, when the angle for being opened in the grabbing device is more than zero degree and is spent less than M, described in determination
Article to be sorted is the article of the first kind；
Second determination unit, the angle for being opened in the grabbing device are greater than or equal to M degree and are less than or equal to N degree
When, determine that the article to be sorted is the article of Second Type；
Third determination unit when the angle for being opened in the grabbing device is spent more than N, determines the article to be sorted
For the article of third type；Wherein, the M is more than zero and is less than N.
Optionally, described device further includes：
Generation module believes the Quick Response Code for generating 2 D code information corresponding with the article to be sorted of the type
It ceases and is arranged on the article to be sorted of the type, and control the robot to be provided with the to be sorted of the 2 D code information
Goods sorting is to corresponding exit passageway.
Example IV
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.As shown in figure 4, the machine of the embodiment
People 4 includes：Processor 40, memory 41 and it is stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes above-mentioned robot segregating articles embodiment of the method when executing the computer program 42
Step in one, such as step S101 to S105 shown in FIG. 1.Alternatively, realizing above-mentioned robot segregating articles embodiment of the method
Step in two, such as step S201 to S206 shown in Fig. 2.The processor 40 is realized when executing the computer program 42
The function of each module/unit in above-mentioned each device embodiment, for example, module 31 to 35 shown in Fig. 3 function.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the robot 4 is described.For example, the computer program 42 can be divided
At acquisition module, control module, execution module, logging modle and determining module, each module concrete function is as follows：
Acquisition module, the location information for obtaining article to be sorted；
Control module is moved to the corresponding position of the location information for controlling the grabbing device, and starts to capture
The article to be sorted；
Execution module, for when the grabbing device grabs the article to be sorted, by the grabbing device to
The article to be sorted applies active force；
Logging modle, the angle opened for recording the grabbing device when the active force reaches threshold value；
Determining module, for according to the corresponding pass between the grabbing device angle opened and item sizes to be sorted
System, determines the type of the article to be sorted.
The robot may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that
Fig. 4 is only the example of robot 4, does not constitute the restriction to robot 4, may include than illustrating more or fewer portions
Part either combines certain components or different components, such as the robot can also include input-output equipment, network
Access device, bus etc..
The processor 40 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.
The memory 41 can be the internal storage unit of the robot 4, such as the hard disk or memory of robot 4.
The memory 41 can also be that the plug-in type that is equipped on the External memory equipment of the robot 4, such as the robot 4 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 can also both include the internal storage unit of the robot 4 or wrap
Include External memory equipment.The memory 41 is used to store other programs needed for the computer program and the robot
And data.The memory 41 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 and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers 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 embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of flow in method can also instruct relevant hardware to complete, the 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, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
Including：Any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, light of the computer program code 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 the computer
The content that readable medium includes can carry out increase and decrease appropriate according to legislation in jurisdiction and the requirement of patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Stating embodiment, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method of robot segregating articles, which is characterized in that the robot includes actuating station and held mounted on described
The grabbing device at row end, the method includes：
Obtain the location information of article to be sorted；
It controls the grabbing device and is moved to the corresponding position of the location information, and start to capture the article to be sorted；
When the grabbing device grabs the article to be sorted, applied to the article to be sorted by the grabbing device
Active force；
The angle that the grabbing device opens is recorded when the active force reaches threshold value；
Correspondence between the angle and item sizes to be sorted opened according to the grabbing device, determines the object to be sorted
The type of product.
2. according to the method described in claim 1, it is characterized in that, the type includes the first kind, Second Type and
Three types；
Correspondingly, according to the correspondence between the grabbing device angle opened and item sizes to be sorted, described in determination
The type of article to be sorted includes：
When the angle that the grabbing device opens is more than zero degree and is spent less than M, determine that the article to be sorted is the first kind
Article, be greater than or equal to M degree in the angle that the grabbing device opens and when being spent less than or equal to N, determine described to be sorted
Article is the article of Second Type, when the angle that the grabbing device opens is spent more than N, determines that the article to be sorted is the
The article of three types；Wherein, the M is more than zero and is less than N.
3. according to the method described in claim 1, it is characterized in that, after the location information for obtaining article to be sorted, also wrap
It includes：
Obtain the current location information of the grabbing device；
According to the location information of the current location information of the grabbing device and the article to be sorted, mobile route is generated；
According to the mobile route, the corresponding position of location information that the grabbing device is moved to the article to be sorted is controlled
It sets.
4. according to the method described in claim 1, it is characterized in that, after the type for determining the article to be sorted, also wrap
It includes：
2 D code information corresponding with the article to be sorted of the type is generated, the 2 D code information is arranged in the type
On article to be sorted, and the robot is controlled by the goods sorting to be sorted for being provided with the 2 D code information to going out accordingly
Mouth channel.
5. such as Claims 1-4 any one of them method, which is characterized in that the grabbing device includes while acting on institute
State at least two clamping jaws on article side wall to be sorted.
6. a kind of device of robot segregating articles, which is characterized in that the robot includes actuating station and held mounted on described
The grabbing device at row end, described device include：
Acquisition module, the location information for obtaining article to be sorted；
Control module is moved to the corresponding position of the location information for controlling the grabbing device, and starts described in crawl
Article to be sorted；
Execution module, for when the grabbing device grabs the article to be sorted, by the grabbing device to described
Article to be sorted applies active force；
Logging modle, the angle opened for recording the grabbing device when the active force reaches threshold value；
Determining module is used for according to the correspondence between the grabbing device angle opened and item sizes to be sorted, really
The type of the fixed article to be sorted.
7. device according to claim 6, which is characterized in that the type includes the first kind, Second Type and
Three types；
The determining module specifically includes：
First determination unit, when angle for being opened in the grabbing device is more than zero degree and is spent less than M, determine described in wait for point
Pick the article that article is the first kind；
Second determination unit, when the angle for being opened in the grabbing device is greater than or equal to M degree and is spent less than or equal to N,
Determine that the article to be sorted is the article of Second Type；
Third determination unit when the angle for being opened in the grabbing device is spent more than N, determines that the article to be sorted is the
The article of three types；Wherein, the M is more than zero and is less than N.
8. device according to claim 6, which is characterized in that described device further includes：
Generation module sets the 2 D code information for generating 2 D code information corresponding with the article to be sorted of the type
It sets on the article to be sorted of the type, and controls the article to be sorted that the robot will be provided with the 2 D code information
It is sorted to corresponding exit passageway.
9. a kind of robot, 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 is realized when executing the computer program as in claim 1 to 5
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In when the computer program is executed by processor the step of realization any one of such as claim 1 to 5 the method.
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| CN201711481231.9A CN108555902B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and robot |
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| CN201711481231.9A CN108555902B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and robot |
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| CN108555902B CN108555902B (en) | 2021-05-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366472A (en) * | 2018-12-04 | 2019-02-22 | 广东拓斯达科技股份有限公司 | Article laying method, device, computer equipment and the storage medium of robot |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN112495805A (en) * | 2019-09-16 | 2021-03-16 | 星猿哲科技(上海)有限公司 | Sorting system and method based on multi-face code reading, electronic terminal and storage medium |
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| 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 |
| CN106272427A (en) * | 2016-09-12 | 2017-01-04 | 安徽理工大学 | A kind of industrial robot intelligence picking up system |
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| 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 |
| CN106272427A (en) * | 2016-09-12 | 2017-01-04 | 安徽理工大学 | A kind of industrial robot intelligence picking up system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366472A (en) * | 2018-12-04 | 2019-02-22 | 广东拓斯达科技股份有限公司 | Article laying method, device, computer equipment and the storage medium of robot |
| 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 |
| CN112495805A (en) * | 2019-09-16 | 2021-03-16 | 星猿哲科技(上海)有限公司 | Sorting system and method based on multi-face code reading, electronic terminal and storage medium |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN111230878B (en) * | 2020-02-14 | 2021-10-26 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
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