CN108555902B - Method and device for sorting articles by robot and robot - Google Patents
Method and device for sorting articles by robot and robot Download PDFInfo
- Publication number
- CN108555902B CN108555902B CN201711481231.9A CN201711481231A CN108555902B CN 108555902 B CN108555902 B CN 108555902B CN 201711481231 A CN201711481231 A CN 201711481231A CN 108555902 B CN108555902 B CN 108555902B
- Authority
- CN
- China
- Prior art keywords
- sorted
- article
- gripping device
- type
- articles
- 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
Images
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
- B25J9/16—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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of industrial automation, and provides a method and a device for sorting articles by a robot and the robot, wherein the method for sorting the articles by the robot comprises the following steps: the method comprises the steps of obtaining position information of an article to be sorted, controlling a gripping device to move to a position corresponding to the position information, starting to grip the article to be sorted, applying acting force to the article to be sorted through the gripping device when the article to be sorted is gripped by the gripping device, recording the opening angle of the gripping device when the acting force reaches a threshold value, and determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted. The robot can distinguish the types of the articles according to the sizes of the articles, improves the sorting efficiency, and has stronger usability and practicability.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a method and a device for sorting articles by a robot, the robot and a computer readable storage medium.
Background
With the improvement of social productivity, the variety of articles is increasingly abundant, and people are attracted to high-tech attention in sorting operation.
However, in the existing robot application, most of the robots need to be controlled manually to complete the sorting operation, so that 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 sizes of the articles, reduce manual intervention, and effectively improve sorting efficiency.
A first aspect of an embodiment of the present invention provides a method for sorting articles by a robot, the robot including an execution end and a gripping device mounted on the execution end, the method including:
acquiring position information of an article to be sorted;
controlling the gripping device to move to a position corresponding to the position information, and starting to grip the article to be sorted;
when the gripping device grips the article to be sorted, applying acting force to the article to be sorted through the gripping device;
recording the opening angle of the gripping device when the acting force reaches a threshold value;
and determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
A second aspect of an embodiment of the present invention provides an apparatus for sorting articles by a robot, the robot including an execution end and a gripping device mounted on the execution end, the apparatus including:
the acquisition module is used for acquiring the position information of the articles to be sorted;
the control module is used for controlling the gripping device to move to a position corresponding to the position information and start to grip the article to be sorted;
the execution module is used for applying acting force to the to-be-sorted articles through the gripping device when the gripping device grips the to-be-sorted articles;
the recording module is used for recording the opening angle of the gripping device when the acting force reaches a threshold value;
and the determining module is used for determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
A third aspect of embodiments of the present invention provides a robot, including: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.
A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, including: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method as mentioned in the first aspect above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the position information of the article to be sorted is acquired, the gripping device is controlled to move to the position corresponding to the position information, the article to be sorted is gripped, when the article to be sorted is gripped by the gripping device, an acting force is applied to the article to be sorted through the gripping device, the opening angle of the gripping device is recorded when the acting force reaches a threshold value, and the type of the article to be sorted is determined according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted. According to the embodiment of the invention, the corresponding type can be determined according to the size of the article to be sorted, so that the sorting efficiency is improved. The embodiment of the invention has simple operation, low implementation cost, stronger 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 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 structural diagram of a device for sorting articles by a robot according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram 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 ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
Fig. 1 is a schematic flow chart of a method for sorting articles by a robot according to an embodiment, which may include the following steps:
s101: and acquiring the position information of the articles to be sorted.
Optionally, the acquiring the position information of the to-be-sorted item includes:
acquiring a picture containing the position information of the article to be sorted;
calculating the coordinate position of the article to be sorted on the picture;
and determining the actual coordinate position of the article to be sorted according to the corresponding relation between the coordinate position on the picture and the actual coordinate position.
And the coordinate position of the article to be sorted on the picture is a two-dimensional coordinate. The picture may include, but is not limited to, position information of the item to be sorted, and the picture may further include color information of the item to be sorted. For example, the color information of the article to be sorted can be collected in advance, the area where the article to be sorted is located can be determined according to the color information, and then the final position of the article to be sorted in the area can be determined according to the position information of the article to be sorted, so that the efficiency of positioning the article to be sorted is improved.
Optionally, a picture containing the to-be-sorted item is acquired by a shooting device such as a CCD camera or a COMS camera. The shooting device can be installed on a robot base and used as two eyes of a binocular stereoscopic vision system.
It should be understood that the image acquired by the above-mentioned capturing apparatus is generally a digital image, and if a coordinate system on the image is defined as an image coordinate system (u, v), information obtained from one image is only two-dimensional information, whereas the robot moves based on three-dimensional space coordinates, and thus it is necessary to convert the two-dimensional information on the image into the three-dimensional space coordinates. Based on the binocular vision parallax principle, the relation between any point in a three-dimensional space and a pixel coordinate can be obtained through camera calibration, namely the corresponding relation between the coordinate position of the article to be sorted on the picture and the actual coordinate position is obtained.
Optionally, a preprocessing operation is performed after the picture containing the article to be sorted is obtained, so as to remove the interference of background noise.
S102: and controlling the gripping device to move to the position corresponding to the position information, and starting to grip the article to be sorted.
The robot comprises an execution end and a gripping device arranged at the execution end, wherein the gripping device can comprise at least two clamping jaws simultaneously acting on the side wall of the object to be sorted. Setting a straight line which vertically passes through the gravity center of the object to be sorted as a gravity center axis, and when the gripping device is provided with two clamping jaws, connecting lines between the two clamping jaws and contact points of the side walls of the target object pass through the gravity center axis of the target object in the vertical direction; when the gripping device is provided with more than two gripping jaws, contact points of the more than two gripping jaws and the side wall of the target object form a closed pattern, and the gravity center axis penetrates through the closed pattern, so that the gripping device can grip the object to be sorted in a correct posture, and the situation that the object to be sorted is loosened after being clamped in the gripping process is prevented.
It should be understood that after the specific position where the article to be sorted is placed is obtained through visual recognition, the gripping device on the execution end is controlled to move to the lower side or the side of the article to be sorted, and the gripping operation is carried out.
S103: when the gripping device grips the article to be sorted, acting force is applied to the article to be sorted through the gripping device.
Wherein the force applied by the gripping means to the sorted articles can be acquired by means of a pressure sensor. It should be understood that, by detecting the magnitude of the acting force through the pressure sensor, the detection sensitivity and the reaction speed can be improved, the feedback speed of the pressure is effectively ensured, and the articles to be sorted are better protected from being damaged.
S104: and recording the opening angle of the gripping device when the acting force reaches a threshold value.
The threshold value is a preset grabbing pressure value, and can be flexibly set according to the characteristics of the object to be sorted, for example, based on the hardness and gravity of the object to be sorted, the grabbing device is guaranteed to have enough clamping force, and meanwhile the object to be sorted is not damaged.
Optionally, a pressure feedback device is installed at the tail end of the robot, the pressure feedback device can be driven to move when the robot moves, in the grabbing process, when the grabbing device contacts and starts to act on the articles to be sorted, the articles to be sorted generate a reaction force on the grabbing device, the pressure sensor generates a pressure signal and sends the signal to the robot control system, the control system detects the size relation between the pressure value domain thresholds, when the threshold is reached, the situation that the articles to be detected are firmly grabbed is indicated, the grabbing is controlled to stop grabbing, and the next procedure is started.
Further, the control system controls the descending speed of the gripping device according to the magnitude of the reaction force, wherein the descending speed of the gripping device can be reduced along with the increase of the reaction force, and the gripping device is prevented from colliding with the object to be sorted due to the too high descending speed when the gripping device grips the heavier object.
It should be noted that the angle of opening of the gripping device refers to the angle of rotation of the jaws about the fulcrum from opening to closing.
S105: and determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
It should be understood that the opening angle of the gripping device reflects the size of the article to be sorted to a certain extent, and as the size of the article to be sorted increases, the opening angle of the gripping device also increases under the same acting force, and the type of the article to be sorted can be determined according to the corresponding relationship between the opening angle of the gripping device and the size of the article to be sorted.
According to the embodiment of the invention, the position information of the article to be sorted is acquired, the gripping device is controlled to move to the position corresponding to the position information, the article to be sorted is gripped, and the article to be sorted can be rapidly gripped; when the gripping device grips the article to be sorted, acting force is applied to the article to be sorted through the gripping device, so that detection errors caused by operations such as mistaken collision can be effectively reduced; when the acting force reaches the threshold value, the opening angle of the gripping device is recorded, the type of the article to be sorted is determined according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted, the article to be sorted with different sizes can be classified, and the sorting efficiency is improved. The embodiment of the invention has the advantages of simple operation, low implementation cost, and strong usability and practicability.
Example two
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, which is further detailed and described in steps S102 and S105 in the first embodiment, and the method may include the following steps:
s201: and acquiring the position information of the articles to be sorted.
The step S201 is the same as the step S101 in the first embodiment, and is not repeated herein.
S202: acquiring the current position information of the gripping device, generating a moving path according to the current position information of the gripping device and the position information of the article to be sorted, controlling the gripping device to move to the position corresponding to the position information of the article to be sorted according to the moving path, and starting to grip the article to be sorted.
The current position of the gripping device may be set as a starting position of the moving path, and the position of the article to be sorted is set as an end position of the moving path.
Further, the movement path may be the shortest collision-free path, and may be specifically obtained by a probabilistic map algorithm.
S203: when the gripping device grips the article to be sorted, acting force is applied to the article to be sorted through the gripping device.
S204: and recording the opening angle of the gripping device when the acting force reaches a threshold value.
The steps S203 to S204 are the same as the steps S103 to S104 in the first embodiment, and are not repeated herein.
S205: and determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
Wherein the types include a first type, a second type, and a third type;
correspondingly, determining the type of the article to be sorted according to the corresponding relationship between the opening angle of the gripping device and the size of the article to be sorted comprises:
when the opening angle of the gripping device is larger than zero degrees and smaller than M degrees, determining that the article to be sorted is a first type of article, when the opening angle of the gripping device is larger than or equal to M degrees and smaller than or equal to N degrees, determining that the article to be sorted is a second type of article, and when the opening angle of the gripping device is larger than N degrees, determining that the article to be sorted is a third type of article; wherein M is greater than zero and less than N.
For example, when the articles to be sorted are apples of different types, the first type may be a small apple, the second type may be a medium apple, the third type may be a large apple, and if M is 40 and N is 80, it is determined that the currently grabbed apple is a small apple when the opening angle of the grabbing device is less than 40 degrees; when the opening angle of the gripping device is more than or equal to 40 degrees and less than or equal to 80 degrees, determining that the currently gripped apple is a medium apple; and when the opening angle of the gripping device is more than 80 degrees, determining that the currently gripped apple is a big apple.
S206: generating two-dimensional code information corresponding to the type of articles to be sorted, setting the two-dimensional code information on the type of articles to be sorted, and controlling the robot to sort the articles to be sorted with the two-dimensional code information to corresponding outlet channels.
It should be understood that the two-dimensional code information may include all or part of the type information of the article to be sorted; the position for setting the two-dimensional code may be any position that does not affect the user's taking, for example: may be the top left corner, bottom left corner, top right corner or bottom right corner of the item to be sorted.
In the embodiment of the invention, a moving path is generated according to the current position information of the gripping device and the position information of the article to be sorted, the gripping device is controlled to move to the position corresponding to the position information of the article to be sorted according to the moving path, and the article to be sorted is gripped, so that the article to be sorted can be rapidly gripped on the premise of not touching peripheral obstacles; when the opening angle of the gripping device is greater than zero and less than M degrees, determining that the article to be sorted is a first type of article, when the opening angle of the gripping device is greater than or equal to M degrees and less than or equal to N degrees, determining that the article to be sorted is a second type of article, and when the opening angle of the gripping device is greater than N degrees, determining that the article to be sorted is a third type of article, which is beneficial to quickly determining the type of the article to be sorted; in addition, the two-dimensional code information corresponding to the to-be-sorted goods of the type is generated, the two-dimensional code information is set on the to-be-sorted goods of the type, the robot is controlled to be provided with the to-be-sorted goods of the two-dimensional code information are sorted to the corresponding outlet channel, the relevant information of the to-be-sorted goods can be checked conveniently and efficiently, and the robot has high usability and practicability.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a device for sorting articles by a robot according to a third embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown.
The robot article sorting device can be a software unit, a hardware unit or a combination of software and hardware unit which is built in the robot, and can also be integrated into the robot as an independent pendant.
The robot article sorting apparatus includes:
an obtaining module 31, configured to obtain position information of an article to be sorted;
the control module 32 is used for controlling the gripping device to move to a position corresponding to the position information and start to grip the article to be sorted;
an execution module 33, configured to apply a force to the article to be sorted through the gripping device when the article to be sorted is gripped by the gripping device;
a recording module 34, configured to record an opening angle of the grasping device when the acting force reaches a threshold value;
the determining module 35 is configured to determine the type of the article to be sorted according to a corresponding relationship between the opening angle of the gripping device and the size of the article to be sorted.
Optionally, the types include a first type, a second type, and a third type;
the determining module 35 specifically includes:
the first determining unit is used for determining that the article to be sorted is a first type of article when the opening angle of the gripping device is greater than zero degree and smaller than M degree;
the second determining unit is used for determining that the articles to be sorted are the articles of the second type when the opening angle of the gripping device is greater than or equal to M degrees and less than or equal to N degrees;
the third determining unit is used for determining that the articles to be sorted are articles of a third type when the opening angle of the gripping device is larger than N degrees; wherein M is greater than zero and less than N.
Optionally, the apparatus further comprises:
the generating module is used for generating two-dimensional code information corresponding to the type of the article to be sorted, setting the two-dimensional code information on the type of the article to be sorted, and controlling the robot to sort the article to be sorted with the two-dimensional code information to a corresponding outlet channel.
Example four
Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention. As shown in fig. 4, the robot 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps of the first embodiment of the method for robotic sorting of articles described above, such as the steps S101 to S105 shown in fig. 1. Alternatively, the steps in the second embodiment of the method for sorting articles by robot, such as steps S201 to S206 shown in fig. 2, are implemented. The processor 40, when executing the computer program 42, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 31 to 35 shown in fig. 3.
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 processor 40 to implement 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 an acquisition module, a control module, an execution module, a recording module, and a determination module, each module having the following specific functions:
the acquisition module is used for acquiring the position information of the articles to be sorted;
the control module is used for controlling the gripping device to move to a position corresponding to the position information and start to grip the article to be sorted;
the execution module is used for applying acting force to the to-be-sorted articles through the gripping device when the gripping device grips the to-be-sorted articles;
the recording module is used for recording the opening angle of the gripping device when the acting force reaches a threshold value;
and the determining module is used for determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
The robot may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a robot 4 and is not intended to be limiting 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 input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. 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 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 is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units 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 would appreciate that the modules, elements, and/or method steps of the various embodiments 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 several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of 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 a processor, 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; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of robotic sorting of articles, the robot comprising an actuation end and a gripping device mounted at the actuation end, the method comprising:
acquiring position information of an article to be sorted;
controlling the gripping device to move to a position corresponding to the position information, and starting to grip the article to be sorted;
when the gripping device grips the article to be sorted, applying acting force to the article to be sorted through the gripping device;
when the acting force reaches a threshold value, determining that the object to be sorted is firmly grabbed, and recording the opening angle of the grabbing device;
and determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
2. The method of claim 1, wherein the types include a first type, a second type, and a third type;
correspondingly, determining the type of the article to be sorted according to the corresponding relationship between the opening angle of the gripping device and the size of the article to be sorted comprises:
when the opening angle of the gripping device is larger than zero degrees and smaller than M degrees, determining that the article to be sorted is a first type of article, when the opening angle of the gripping device is larger than or equal to M degrees and smaller than or equal to N degrees, determining that the article to be sorted is a second type of article, and when the opening angle of the gripping device is larger than N degrees, determining that the article to be sorted is a third type of article; wherein M is greater than zero and less than N.
3. The method of claim 1, after obtaining the location information of the item to be sorted, further comprising:
acquiring current position information of the grabbing device;
generating a moving path according to the current position information of the gripping device and the position information of the article to be sorted;
and controlling the gripping device to move to a position corresponding to the position information of the article to be sorted according to the moving path.
4. The method of claim 1, after determining the type of the item to be sorted, further comprising:
generating two-dimensional code information corresponding to the type of articles to be sorted, setting the two-dimensional code information on the type of articles to be sorted, and controlling the robot to sort the articles to be sorted with the two-dimensional code information to corresponding outlet channels.
5. A method according to any one of claims 1 to 4, wherein the gripping means comprises at least two gripping jaws acting simultaneously on the side walls of the articles to be sorted.
6. An apparatus for robotic sorting of articles, the robot including an actuator and a gripper device mounted at the actuator, the apparatus comprising:
the acquisition module is used for acquiring the position information of the articles to be sorted;
the control module is used for controlling the gripping device to move to a position corresponding to the position information and start to grip the article to be sorted;
the execution module is used for applying acting force to the to-be-sorted articles through the gripping device when the gripping device grips the to-be-sorted articles;
the recording module is used for determining that the object to be sorted is firmly grabbed when the acting force reaches a threshold value, and recording the opening angle of the grabbing device;
and the determining module is used for determining the type of the article to be sorted according to the corresponding relation between the opening angle of the gripping device and the size of the article to be sorted.
7. The apparatus of claim 6, wherein the types comprise a first type, a second type, and a third type;
the determining module specifically includes:
the first determining unit is used for determining that the article to be sorted is a first type of article when the opening angle of the gripping device is greater than zero degree and smaller than M degree;
the second determining unit is used for determining that the articles to be sorted are the articles of the second type when the opening angle of the gripping device is greater than or equal to M degrees and less than or equal to N degrees;
the third determining unit is used for determining that the articles to be sorted are articles of a third type when the opening angle of the gripping device is larger than N degrees; wherein M is greater than zero and less than N.
8. The apparatus of claim 6, further comprising:
the generating module is used for generating two-dimensional code information corresponding to the type of the article to be sorted, setting the two-dimensional code information on the type of the article to be sorted, and controlling the robot to sort the article to be sorted with the two-dimensional code information to a corresponding outlet channel.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any of the claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481231.9A CN108555902B (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 |
|---|---|---|---|
| CN201711481231.9A CN108555902B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555902A CN108555902A (en) | 2018-09-21 |
| CN108555902B true CN108555902B (en) | 2021-05-25 |
Family
ID=63529630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711481231.9A Active CN108555902B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555902B (en) |
Families Citing this family (3)
| 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 |
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2017
- 2017-12-29 CN CN201711481231.9A patent/CN108555902B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108555902A (en) | 2018-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108044627B (en) | Method and device for detecting grabbing position and mechanical arm | |
| CN108115688B (en) | Grabbing control method and system of mechanical arm and mechanical arm | |
| CN110660104A (en) | Industrial robot visual identification positioning grabbing method, computer device and computer readable storage medium | |
| JP5869583B2 (en) | Filtering method of target object image in robot system | |
| Chang et al. | Interactive singulation of objects from a pile | |
| CN108555902B (en) | Method and device for sorting articles by robot and robot | |
| CN112109086B (en) | Grabbing method for industrial stacked parts, terminal equipment and readable storage medium | |
| CN111015655A (en) | Mechanical arm grabbing method and device, computer readable storage medium and robot | |
| CN108212807B (en) | Method and device for sorting articles by robot and mechanical arm | |
| CN108127666B (en) | Mechanical arm grabbing method and system and mechanical arm | |
| CN109955244B (en) | Grabbing control method and device based on visual servo and robot | |
| CN110298885B (en) | Stereoscopic vision recognition method and positioning clamping detection device for non-smooth spheroid target and application of stereoscopic vision recognition method and positioning clamping detection device | |
| CN114820781A (en) | Intelligent carrying method, device and system based on machine vision and storage medium | |
| CN114310892B (en) | Object grabbing method, device and equipment based on point cloud data collision detection | |
| CN109648562B (en) | Box body grabbing control method, box body placing control method, related device and system | |
| CN107953338B (en) | Method and device for sorting articles by robot and mechanical arm | |
| CN114092428A (en) | Image data processing method, image data processing device, electronic equipment and storage medium | |
| CN113034526B (en) | Grabbing method, grabbing device and robot | |
| CN114037595A (en) | Image data processing method, image data processing device, electronic equipment and storage medium | |
| CN108555901B (en) | Method and device for sorting objects by robot and mechanical arm | |
| CN108284075B (en) | Method and device for sorting articles by robot and robot | |
| CN108145712B (en) | Method and device for sorting articles by robot and robot | |
| CN111325795B (en) | Image processing method, device, storage medium and robot | |
| CN114750164B (en) | Transparent object grabbing method, transparent object grabbing system and computer readable storage medium | |
| Hameed et al. | Pose estimation of objects using digital image processing for pick-and-place applications of robotic arms |
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 |