CN108994835A - Article laying method and system based on torque sensor - Google Patents
Article laying method and system based on torque sensor Download PDFInfo
- Publication number
- CN108994835A CN108994835A CN201810929764.7A CN201810929764A CN108994835A CN 108994835 A CN108994835 A CN 108994835A CN 201810929764 A CN201810929764 A CN 201810929764A CN 108994835 A CN108994835 A CN 108994835A
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- article
- torque sensor
- touch
- axis
- power
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Classifications
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
-
- 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 discloses a kind of article laying method and system based on torque sensor passes through the target position of placement needed for obtaining article to be placed；According to the current state of the target position and torque sensor, the corresponding offset of each axis of torque sensor is obtained；The article to be placed is placed on the target location using the reading of the torque sensor by the offset based on acquisition；Reach the reading using torque sensor to realize the beneficial effect that chest is placed into corresponding target position, saves cost.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of article laying method based on torque sensor and it is
System.
Background technique
With making constant progress for artificial intelligence technology, robot is also applied to different fields more and more.
When carrying out the placement of chest using robot, it is generally the case that the chest can be in contact there are three surface with other chests；Such as
Shown in Fig. 1, Fig. 1 is the concrete application scene schematic diagram that chest placement is carried out using torque sensor；When placing, chest A
It can be contacted with three surfaces a, b, c of other chests, robot places the side of chest using existing using visual sensor
When formula carries out the placement operation of chest, it may appear that the not compact or placement location of placement is inaccurate and may damage the feelings of chest
Condition.Therefore, how merely with torque sensor chest can be compactly placed on corresponding position, becomes current problem to be solved
One of.
Summary of the invention
The present invention provides a kind of article laying method and system based on torque sensor, to pass through torque sensor
Reading is to detect whether chest contacts, to achieve the purpose that chest being placed on corresponding position.
The present invention provides a kind of article laying method based on torque sensor, the article based on torque sensor
Laying method includes:
Obtain the target position placed needed for article to be placed；
According to the current state of the target position and torque sensor, it is corresponding partially to obtain each axis of torque sensor
Shifting amount；
The article to be placed is placed on by the offset based on acquisition using the reading of the torque sensor
The target location.
Preferably, the offset based on acquisition will be described to be placed using the reading of the torque sensor
Article is placed on the target location, comprising:
According to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust to utilize the power
The rotation angle for the article to be placed that square sensor grasps；
If needing to adjust, the rotation angle of the torque sensor is adjusted to predetermined angle；
Using the reading of the torque sensor, three touch-surfaces by identification article to be placed are with other articles
The article to be placed is placed on the target location by the mode of no contact.
Preferably, by way of whether three touch-surfaces identifying article to be placed contact with other articles,
The article to be placed is placed on the target location, comprising:
Whether three touch-surfaces that the article to be placed is individually identified one by one contact with other articles；
When identifying three touch-surfaces of the article to be placed while when contacting with other articles, confirmation it is described to
It places article and is placed on the target location.
Preferably, whether three touch-surfaces that the article to be placed is individually identified one by one connect with other articles
Touching, comprising:
S01, judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of S02, the first axle is less than first threshold, transported according to pre-set velocity along the first axle
Row；
If the reading of the power of S03, the first axle is more than or equal to first threshold, the torque sensor the is judged
Whether the power of two axis is greater than second threshold and whether the power of third axis is greater than third threshold value；
If the power of S04, second axis is greater than second threshold and the power of third axis is greater than third threshold value, by described second
The power of axis and third axis is adjusted to default value；
Whether S05, the first touch-surface for detecting the corresponding article to be placed of the first axle are contacted；
If S06, first touch-surface are contacted, it is determined that first touch-surface is contacted with other articles；
According to the operation of the step S01 to S06, the second touch-surface and the of the article to be placed is identified and determined
Three touch-surfaces are contacted with other articles.
Preferably, the step S05, the corresponding article to be placed of the detection first axle the first touch-surface whether by
Contact, comprising:
The whether continuous preset times of power for detecting the torque sensor first axle are all larger than default value；
If continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.
Corresponding to a kind of article laying method based on torque sensor, the embodiment of the present invention provided by above-described embodiment
A kind of article place system based on torque sensor is additionally provided, the article place system based on torque sensor includes
Torque sensor 100 and processor 200；
The torque sensor 100 is used for:
The stress condition for detecting each axis of torque sensor, obtains the reading of the corresponding power of each axis；
The processor 200 is used for:
Obtain the target position placed needed for article to be placed；
According to the current state of the target position and torque sensor, it is corresponding partially to obtain each axis of torque sensor
Shifting amount；
The article to be placed is placed on by the offset based on acquisition using the reading of the torque sensor
The target location.
Preferably, the processor 200 is used for:
According to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust to utilize the power
The rotation angle for the article to be placed that square sensor grasps；
If needing to adjust, the rotation angle of the torque sensor is adjusted to predetermined angle；
Using the reading of the torque sensor, three touch-surfaces by identification article to be placed are with other articles
The article to be placed is placed on the target location by the mode of no contact.
Preferably, the processor 200 is used for:
Whether three touch-surfaces that the article to be placed is individually identified one by one contact with other articles；
When identifying three touch-surfaces of the article to be placed while when contacting with other articles, confirmation it is described to
It places article and is placed on the target location.
Preferably, the processor 200 is used for:
Judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of the first axle is less than first threshold, run according to pre-set velocity along the first axle；
If the reading of the power of the first axle is more than or equal to first threshold, second axis of torque sensor is judged
Power whether be greater than second threshold and whether the power of third axis is greater than third threshold value；
If the power that the power of second axis is greater than second threshold and third axis is greater than third threshold value, will second axis with
The power of third axis is adjusted to default value；
Whether the first touch-surface for detecting the corresponding article to be placed of the first axle is contacted；
If first touch-surface is contacted, it is determined that first touch-surface is contacted with other articles；
According to aforesaid operations, identify and determine the article to be placed the second touch-surface and third touch-surface with
The contact of other articles.
Preferably, the processor 200 is used for:
The whether continuous preset times of power for detecting the torque sensor first axle are all larger than default value；
If continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.
A kind of article laying method and system based on torque sensor of the present invention can achieve it is following the utility model has the advantages that
Pass through the target position of placement needed for obtaining article to be placed；According to working as the target position and torque sensor
Preceding state obtains the corresponding offset of each axis of torque sensor；The offset based on acquisition is passed using the torque
The article to be placed is placed on the target location by the reading of sensor；Reached using the reading of torque sensor come
It realizes the beneficial effect that chest is placed into corresponding target position, has saved cost.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Pointed content is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical solution of the present invention is described further.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the concrete application scene schematic diagram that chest placement is carried out using torque sensor；
Fig. 2 is a kind of flow diagram of embodiment of the article laying method the present invention is based on torque sensor；
Fig. 3 is the one of step S30 in embodiment described in Fig. 2 in the article laying method the present invention is based on torque sensor
The flow diagram of kind embodiment；
Fig. 4 is " the three of article to be placed to be individually identified one by one in the article laying method the present invention is based on torque sensor
Whether a touch-surface contacts with other articles " a kind of embodiment flow diagram；
Fig. 5 is a kind of functional module signal of embodiment of the article place system the present invention is based on torque sensor
Figure.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
The present invention provides a kind of article laying method and system based on torque sensor, to pass through torque sensor
Reading detect whether three surfaces of chest are in contact with other chests, chest is placed on corresponding position to reach
Purpose.As shown in Figure 1, the present invention is suitable for the case where being placed on chest A at shown position shown in FIG. 1, pass through detection case
Three contact surfaces of sub- A are in contact with three surfaces a, b, c of other chests, and chest A is placed position shown in Fig. 1 to reach
The purpose set.In the following embodiments of the present invention, article to be placed is described by taking chest as an example.The present invention is based on torque sensors
Article laying method can also be implemented by other equipment by robot as subject of implementation；The present invention is based on torque biographies
The article place system of sensor can be run by robot, can also be arranged in what other can run by way of storage medium
In equipment；The embodiment of the present invention is to the specific implementation main body for implementing the article laying method based on torque sensor and is based on
The method of operation of the article place system of torque sensor, without specifically limiting；The present invention is based on the articles of torque sensor
In following embodiments of laying method and system, using robot as subject of implementation for be described.The present invention is based on torques
The article laying method and system of sensor can place chest only with torque sensor without visual detection equipment
In corresponding position, cost has been saved.
As shown in Fig. 2, Fig. 2 is a kind of process of embodiment of the article laying method the present invention is based on torque sensor
Schematic diagram；A kind of article laying method based on torque sensor of the present invention may be implemented as the step S10-S30 of description:
Step S10, the target position placed needed for article to be placed is obtained；
In the embodiment of the present invention, robot obtains the target position placed needed for article to be placed；Its acquisition modes includes
But it is not limited to: corresponding position coordinates is obtained according to upper layer operational order and determine corresponding target position by the position coordinates obtained
It sets；Alternatively, receiving the control instruction that operator sends, the target placed needed for article to be placed is contained in the control instruction
Location information.
Step S20, according to the current state of the target position and torque sensor, each axis difference of torque sensor is obtained
Corresponding offset；
Robot is according to the target position of acquisition and the current state of torque sensor, to avoid gravity factor from putting chest
Issuable influence is set, robot also needs to obtain the corresponding offset of each axis institute of torque sensor, to identify whether
The rotation angle of the chest grasped to robot is needed to be adjusted.
In a preferred embodiment of the invention, torque sensor uses three-axis force square sensor, since the present invention is implemented
Example mainly detects three touch-surfaces of chest to be placed, and therefore, three-axis force square sensor can meet the need of the present embodiment
It asks.
Step S30, the offset based on acquisition, using the reading of the torque sensor, by the object to be placed
Product are placed on the target location.
According to the offset of each axis of the torque sensor of acquisition, to avoid since position error, the chest appearance of dress are possible
It is stacked caused by the reasons such as deformation or chest appearance are irregular the case where not being bonded, robot judges whether to need to being grasped
The rotation angle of chest be adjusted.According to judging result, respective operations are executed, and utilize the specific reading of torque sensor
Number, is placed on corresponding target position for article to be placed.
The present invention is based on the article laying methods of torque sensor to pass through the target position of placement needed for obtaining article to be placed
It sets；According to the current state of the target position and torque sensor, the corresponding offset of each axis of torque sensor is obtained；
The article to be placed is placed on the target using the reading of the torque sensor by the offset based on acquisition
At position；The reading using torque sensor is reached to realize the beneficial effect that chest is placed into corresponding target position, has saved
About cost.
In a preferred embodiment of the invention, as shown in figure 3, Fig. 3 is that the present invention is based on the articles of torque sensor to put
It sets in method, the flow diagram of a kind of embodiment of step S30 in embodiment described in Fig. 2；As shown in figure 3, Fig. 2 of the present invention
In the embodiment " offset step S30, based on acquisition, using the reading of the torque sensor, will it is described to
Place article and be placed on the target location ", may be implemented as step S31-S33 described below:
Step S31, according to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust benefit
With the rotation angle for the article to be placed that the torque sensor grasps；
If needing to adjust, S32 is thened follow the steps；If without adjustment, directly execution step S33；
Step S32, the rotation angle of the torque sensor is adjusted to predetermined angle；
Step S33, using the reading of the torque sensor, pass through three touch-surfaces of identification article to be placed and its
The article to be placed is placed on the target location by the mode whether his article contacts.
In the embodiment of the present invention, robot passes through the corresponding offset of each axis of torque sensor obtained, and combines
The parameter of visual sensor, judges whether the rotation angle of the chest grasped using the torque sensor needs to adjust；For example, machine
Whether the contact surface for the chest that device people grasps and used load frame surface are parallel；If the two is parallel, without adjusting rotation
Gyration；And the two is not parallel, then needs at adjustment rotation angle to the parallel position of the two.Rotation angle adjustment is terminated
Afterwards, robot utilizes the reading of torque sensor, identifies whether three touch-surfaces of article to be placed contact with other articles,
And then article to be placed is placed on corresponding target position.
The embodiment of the present invention first judges whether the rotation angle for needing to adjust the article to be placed grasped before placing article
Degree improves the accuracy rate of article placement, avoids gravity factor and places issuable influence to chest.
In a preferred embodiment of the invention, the object to be placed is individually identified when placing article in robot one by one
Whether three touch-surfaces of product contact with other articles；When identifying three touch-surfaces of the article to be placed simultaneously
When contacting with other articles, confirm that the article to be placed is placed on the target location.As shown in Figure 1, when robot is known
When three touch-surfaces of chest A that Chu be not to be placed are in contact with three surfaces a, b, c of other chests, then the case is confirmed
Son has been placed on corresponding target location.
As shown in figure 4, Fig. 4 " is individually identified one by one wait put in the article laying method the present invention is based on torque sensor
Whether three touch-surfaces of placing articles contact with other articles " a kind of embodiment flow diagram；As shown in figure 4,
Whether three touch-surfaces that the article to be placed is individually identified in robot one by one contact with other articles, may be implemented as such as
The step S01-S06 of lower description:
S01, judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of the first axle is less than first threshold, S02 is thened follow the steps；If the reading of the power of the first axle
Number is more than or equal to first threshold, thens follow the steps S03；
Step S02, it is run according to pre-set velocity along the first axle；
S03, judge whether the power of second axis of torque sensor is greater than second threshold and whether the power of third axis is big
In third threshold value；If the power of second axis is greater than second threshold and the power of third axis is greater than third threshold value, then follow the steps
S04；
S04, the power of second axis and third axis is adjusted to default value；
Whether S05, the first touch-surface for detecting the corresponding article to be placed of the first axle are contacted；
If first touch-surface is contacted, S06 is thened follow the steps；If first touch-surface is not contacted,
S01 is then returned to step, the operation detected again is executed；
Step S06, determine that first touch-surface is contacted with other articles.
In the embodiment of the present invention, for three axis of three-axis force square sensor, preset three touch thresholds, i.e., first
The corresponding first threshold of axis, the corresponding second threshold of the second axis and the corresponding third threshold value of third axis.Robot is according to torque
When whether three touch-surfaces of the Recognition of Reading chest of sensor are in contact with other articles, if torque sensor is wherein
When the reading of the power of one axis X is less than the touch threshold of pre-set respective shaft X, robot will be along axis X full speed running；Such as
When the reading of the power of one of axis X of fruit torque sensor is more than or equal to the touch threshold of pre-set respective shaft X,
Robot judges the reading of the corresponding power of torque sensor other two axis Y and Z；If torque sensor other two axis Y and Z
The reading of corresponding power meets: the reading of the power of axis Y is greater than the corresponding second threshold of axis Y and the reading of the power of axis Z is greater than Z pairs of axis
The third threshold value answered, then when influencing whether normal touch detection in this case, robot can adjust above-mentioned axis Y and Z pairs of axis
The power answered is to normal level, and after waiting above-mentioned axis Y and the corresponding power to normal level of axis Z, then corresponding first touching of detection axis X
Touch whether surface is contacted.In a specific application scenarios, robot adjusts the power of above-mentioned axis Y and axis Z to normal level
Corresponding specific value is within 40 newton.In a wherein specific embodiment, as shown in Figure 1, setting first axle
For X-axis, corresponding contact surface is a in first axle X-direction, and the second axis is Y-axis, corresponding in the second axis Y-direction to connect
Contacting surface is b, and third axis is Z axis, and the corresponding contact surface in third axis Z-direction is c.Wherein contact surface a, b, c is chest A
It is placed on three adjacent contact surfaces corresponding to target location.
In other embodiments, contact surface corresponding in first axle X-direction can be b, the institute in the second axis Y-direction
Corresponding contact surface can be c, and the corresponding contact surface in third axis Z-direction can be a.Those skilled in the art can be with
Understand, in embodiments of the present invention, robot can be set according to the chest A specific location that need to be placed and the specific of torque sensor
It sets, to determine torque sensor X-axis, the specific corresponding contact surface of Y-axis and Z axis institute, the embodiment of the present invention is to above-mentioned moment sensing
The specific corresponding relationship of each axis of device and contact surface is without exhaustion one by one and specific restriction.
In a preferred embodiment of the invention, robot detects the first touch of the corresponding article to be placed of first axle X
Whether surface is contacted, and can be implemented in the following way:
The whether continuous preset times of power that robot detects the torque sensor first axle X are all larger than default value；If
Continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.For example, in specific application scenarios
In, when whether the first touch-surface that robot needs to detect chest A shown in FIG. 1 is really contacted, used mode are as follows:
Detect the corresponding torque sensor of the first touch-surface of chest A reading whether continuous several times be greater than 20 newton；If
The reading continuous several times detection of the corresponding torque sensor of first touch-surface is all larger than 20 newton, then robot judge this
One touch-surface is contacted.Wherein, above-mentioned preset times can be according to concrete application scene, to carry out specific numerical value setting, this
Inventive embodiments are to the specific value of above-mentioned preset times without limiting.
According to the operation of the step S01 to S06 of the description of embodiment described in Fig. 4, robot identifies and determines case shown in FIG. 1
Whether other other two touch-surfaces of sub- A contact with other articles；When robot identifies and determines chest A shown in FIG. 1
Three touch-surfaces when being in contact with tri- surfaces a, b, c of other articles, robot completes this placement to chest A
Process.
The embodiment of the present invention by being individually identified whether three touch-surfaces of article to be placed connect with other articles one by one
The detection mode of touching, improves detection efficiency.
Corresponding to a kind of article laying method based on torque sensor, the embodiment of the present invention provided by above-described embodiment
A kind of article place system based on torque sensor is additionally provided, being somebody's turn to do the article place system based on torque sensor can be real
The article laying method described in above-mentioned Fig. 2 to Fig. 4 any embodiment based on torque sensor is applied, and moment sensing should be based on
The article place system of device also can be set in the robot of above-described embodiment description, robot described in above-described embodiment
The repertoire for having the article place system based on torque sensor.It is passed for torque is based on described in above-described embodiment
The related embodiment of the article laying method of sensor, details are not described herein.As shown in figure 5, Fig. 5 is that the present invention is based on torque biographies
A kind of the functional block diagram of embodiment of the article place system of sensor；The present invention is based on the articles of torque sensor to put
The system of setting includes: torque sensor 100 and processor 200；Wherein,
The torque sensor 100 is used for:
The stress condition for detecting each axis of torque sensor, obtains the reading of the corresponding power of each axis；
The processor 200 is used for:
Obtain the target position placed needed for article to be placed；
According to the current state of the target position and torque sensor, it is corresponding partially to obtain each axis of torque sensor
Shifting amount；
The article to be placed is placed on by the offset based on acquisition using the reading of the torque sensor
The target location.
In a preferred embodiment of the invention, the processor 200 is used for:
According to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust to utilize the power
The rotation angle for the article to be placed that square sensor grasps；
If needing to adjust, the rotation angle of the torque sensor is adjusted to predetermined angle；
Using the reading of the torque sensor, three touch-surfaces by identification article to be placed are with other articles
The article to be placed is placed on the target location by the mode of no contact.
In a preferred embodiment of the invention, the processor 200 is used for:
Whether three touch-surfaces that the article to be placed is individually identified one by one contact with other articles；
When identifying three touch-surfaces of the article to be placed while when contacting with other articles, confirmation it is described to
It places article and is placed on the target location.
In a preferred embodiment of the invention, the processor 200 is used for:
Judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of the first axle is less than first threshold, run according to pre-set velocity along the first axle；
If the reading of the power of the first axle is more than or equal to first threshold, second axis of torque sensor is judged
Power whether be greater than second threshold and whether the power of third axis is greater than third threshold value；
If the power that the power of second axis is greater than second threshold and third axis is greater than third threshold value, will second axis with
The power of third axis is adjusted to default value；
Whether the first touch-surface for detecting the corresponding article to be placed of the first axle is contacted；
If first touch-surface is contacted, it is determined that first touch-surface is contacted with other articles；
According to aforesaid operations, identify and determine the article to be placed the second touch-surface and third touch-surface with
The contact of other articles.
In a preferred embodiment of the invention, the processor 200 is used for:
The whether continuous preset times of power for detecting the torque sensor first axle are all larger than default value；
If continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.
The mesh that a kind of article place system based on torque sensor of the present invention passes through placement needed for obtaining article to be placed
Cursor position；According to the current state of the target position and torque sensor, it is corresponding partially to obtain each axis of torque sensor
Shifting amount；The article to be placed is placed on described by the offset based on acquisition using the reading of the torque sensor
Target location；The reading using torque sensor is reached to realize the beneficial effect that chest is placed into corresponding target position
Fruit has saved cost.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of article laying method based on torque sensor, which is characterized in that the article based on torque sensor is put
The method of setting includes:
Obtain the target position placed needed for article to be placed；
According to the current state of the target position and torque sensor, the corresponding offset of each axis of torque sensor is obtained
Amount；
The article to be placed is placed on described by the offset based on acquisition using the reading of the torque sensor
Target location.
2. the article laying method based on torque sensor as described in claim 1, which is characterized in that described based on acquisition
The article to be placed is placed on the target location using the reading of the torque sensor by the offset, packet
It includes:
According to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust to pass using the torque
The rotation angle for the article to be placed that sensor grasps；
If needing to adjust, the rotation angle of the torque sensor is adjusted to predetermined angle；
Using the reading of the torque sensor, by identifying whether three touch-surfaces of article to be placed connect with other articles
The article to be placed is placed on the target location by the mode of touching.
3. the article laying method based on torque sensor as claimed in claim 2, which is characterized in that it is described by identification to
The mode whether three touch-surfaces of article contact with other articles is placed, the article to be placed is placed on the target
At position, comprising:
Whether three touch-surfaces that the article to be placed is individually identified one by one contact with other articles；
When three touch-surfaces for identifying the article to be placed are contacted with other articles simultaneously, confirm described to be placed
Article is placed on the target location.
4. the article laying method based on torque sensor as claimed in claim 3, which is characterized in that the knowledge independent one by one
Whether three touch-surfaces of the not described article to be placed contact with other articles, comprising:
S01, judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of S02, the first axle is less than first threshold, run according to pre-set velocity along the first axle；
If the reading of the power of S03, the first axle is more than or equal to first threshold, second axis of torque sensor is judged
Power whether be greater than second threshold and whether the power of third axis is greater than third threshold value；
If the power that the power of S04, second axis is greater than second threshold and third axis is greater than third threshold value, will second axis with
The power of third axis is adjusted to default value；
Whether S05, the first touch-surface for detecting the corresponding article to be placed of the first axle are contacted；
If S06, first touch-surface are contacted, it is determined that first touch-surface is contacted with other articles；
According to the operation of the step S01 to S06, the second touch-surface and the third touching of the article to be placed are identified and determined
Surface is touched to contact with other articles.
5. the article laying method based on torque sensor as claimed in claim 4, which is characterized in that the step S05, inspection
Whether the first touch-surface for surveying the corresponding article to be placed of the first axle is contacted, comprising:
The whether continuous preset times of power for detecting the torque sensor first axle are all larger than default value；
If continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.
6. a kind of article place system based on torque sensor, which is characterized in that the article based on torque sensor is put
The system of setting includes torque sensor 100 and processor 200；
The torque sensor 100 is used for:
The stress condition for detecting each axis of torque sensor, obtains the reading of the corresponding power of each axis；
The processor 200 is used for:
Obtain the target position placed needed for article to be placed；
According to the current state of the target position and torque sensor, the corresponding offset of each axis of torque sensor is obtained
Amount；
The article to be placed is placed on described by the offset based on acquisition using the reading of the torque sensor
Target location.
7. the article place system based on torque sensor as claimed in claim 6, which is characterized in that the processor 200
For:
According to the offset of acquisition, in conjunction with the parameter of visual sensor, judge whether to need to adjust to pass using the torque
The rotation angle for the article to be placed that sensor grasps；
If needing to adjust, the rotation angle of the torque sensor is adjusted to predetermined angle；
Using the reading of the torque sensor, by identifying whether three touch-surfaces of article to be placed connect with other articles
The article to be placed is placed on the target location by the mode of touching.
8. the article place system based on torque sensor as claimed in claims 6 or 7, which is characterized in that the processor
200 are used for:
Whether three touch-surfaces that the article to be placed is individually identified one by one contact with other articles；
When three touch-surfaces for identifying the article to be placed are contacted with other articles simultaneously, confirm described to be placed
Article is placed on the target location.
9. the article place system based on torque sensor as claimed in claim 8, which is characterized in that the processor 200
For:
Judge whether the reading of the power of the torque sensor first axle is less than first threshold；
If the reading of the power of the first axle is less than first threshold, run according to pre-set velocity along the first axle；
If the reading of the power of the first axle is more than or equal to first threshold, the power of second axis of torque sensor is judged
Whether it is greater than second threshold and whether the power of third axis is greater than third threshold value；
If the power of second axis is greater than second threshold and the power of third axis is greater than third threshold value, by second axis and third
The power of axis is adjusted to default value；
Whether the first touch-surface for detecting the corresponding article to be placed of the first axle is contacted；
If first touch-surface is contacted, it is determined that first touch-surface is contacted with other articles；
According to aforesaid operations, identify and determine the article to be placed the second touch-surface and third touch-surface and other
Article contact.
10. the article place system based on torque sensor as claimed in claim 9, which is characterized in that the processor 200
For:
The whether continuous preset times of power for detecting the torque sensor first axle are all larger than default value；
If continuous preset times are all larger than default value, it is determined that first touch-surface is contacted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929764.7A CN108994835B (en) | 2018-08-15 | 2018-08-15 | Article placing method and system based on torque sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929764.7A CN108994835B (en) | 2018-08-15 | 2018-08-15 | Article placing method and system based on torque sensor |
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| CN108994835A true CN108994835A (en) | 2018-12-14 |
| CN108994835B CN108994835B (en) | 2020-10-23 |
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Address after: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |