CN110395515A - A kind of cargo identification grasping means, equipment and storage medium - Google Patents
A kind of cargo identification grasping means, equipment and storage medium Download PDFInfo
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- CN110395515A CN110395515A CN201910691403.8A CN201910691403A CN110395515A CN 110395515 A CN110395515 A CN 110395515A CN 201910691403 A CN201910691403 A CN 201910691403A CN 110395515 A CN110395515 A CN 110395515A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The invention discloses a kind of cargos to identify grasping means, capture apparatus is identified suitable for cargo, the method includes the surface of each cargo in Seeding box is obtained by vision system, removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface, remaining cargo surfaces are ranked up, generate the cargo surfaces list for having sequencing, the sucker of analog mechanical arm end ordering cargo surfaces in the inswept cargo surfaces list one by one, generate the preliminary crawl posture list that sucker can grab, go out final crawl posture according to the preliminary crawl Attitude Calculation in preliminary crawl posture list, control mechanical arm grabs cargo.Grasping means is identified using cargo provided by the invention, can effectively and accurately realize to the sorting of the cargo with different shape and Facing material in Seeding box, greatly reduce the error rate during picking, and can greatly provide working efficiency.
Description
Technical field
The present invention relates to warehouse picking technical field more particularly to a kind of cargo identification grasping means, equipment and
Storage medium.
Background technique
The prior art sorts articles from the storeroom, and general to be carried out using artificial, detailed process is: warehouse management system is raw
At order, there are the information such as shelf number, cargo model, weight on order, picking personnel push to be equipped with and broadcast according to the information on order
The trolley of plants case is to specified shelf picking.
It is uniformly transported to sowing region but by the way of pure artificial sorting cargo, after picking to be sorted, makes to sow
The cargo mixed in case corresponds to each customer order again, is easy to produce artificial error, and working efficiency is also due to people
It is different.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of cargo identification grasping means, equipment and storage medium, energy
Enough automatic sortings are stacked on the cargo of different shape and Facing material in Seeding box.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
The surface of each cargo in Seeding box is obtained by vision system；
Removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface；
According to height and position locating for the size of cargo surfaces area and cargo, remaining cargo surfaces are ranked up,
Generate the cargo surfaces list for having sequencing；
The sucker of analog mechanical arm end ordering cargo surfaces in the inswept cargo surfaces list one by one, it is raw
The preliminary crawl posture list that can be grabbed at sucker；
Go out final crawl posture according to the preliminary crawl Attitude Calculation in preliminary crawl posture list, controls mechanical arm pair
Cargo is grabbed.
According to the second aspect of the invention, a kind of cargo identification capture apparatus is provided, the equipment include: memory,
Processor and it is stored in the computer program that can be run on the memory and on the processor, the computer program
The step as described in first aspect is realized when being executed by the processor.
According to the third aspect of the present invention, a kind of computer readable storage medium, the computer-readable storage are provided
It is stored with computer program on medium, is realized as described in first aspect when the computer program is executed by the processor
Step.
Cargo identification grasping means, equipment and the storage medium of the embodiment of the present invention, by obtaining and screening Seeding box
Interior cargo can grab surface, and size and height and position are ranked up crawl surface according to area, regenerate mechanical arm pair
Cargo grabs posture, finally controls mechanical arm and grabs to cargo, can effectively and accurately realize and have in Seeding box
There is the sorting of the cargo of different shape and Facing material, greatly reduces the error rate during picking, and can be significantly
Ground provides working efficiency.
Detailed description of the invention
Fig. 1 is the flow chart that a kind of cargo that the embodiment of the present invention one provides identifies grasping means；
Fig. 2 is the flow chart that a kind of cargo provided by Embodiment 2 of the present invention identifies grasping means；
Fig. 3 is the schematic diagram that a kind of cargo provided in an embodiment of the present invention identifies capture apparatus.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, if using the suffix for indicating such as " module ", " component " or " unit " of element
Only for being conducive to explanation of the invention, itself there is no specific meaning.Therefore, " module ", " component " or " unit " can be with
Mixedly use.
Referring to Fig. 1, identifying the flow chart of grasping means for a kind of cargo that the embodiment of the present invention one provides.The present embodiment
Cargo identification grasping means be suitable for cargo and identify capture apparatus, the identification capture apparatus of cargo involved in this example refers to sowing
Robot.Sowing machine people includes the mechanical arm of vision system and crawl cargo, and mechanical arm end is provided at least one
Sucker.
The method process includes:
Step S101, the surface of each cargo in Seeding box is obtained by vision system；
The surface that each cargo in Seeding box is obtained by vision system, specifically includes:
The two dimensional image and 3-D image of cargo in Seeding box case are shot by vision system；
The two dimensional image is input to nerve network system trained in advance and carries out calculating segmentation, obtains each cargo
Surface profile；
The obtained cargo surfaces profile of segmentation will be calculated and 3-D image compares, and find that cargo surfaces profile is corresponding to exist
Depth information in 3-D image, to obtain the surface of cargo.
Step S102, removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface；
Refer to that cargo surfaces and Seeding box bottom surface angle are 90 degree perpendicular to the cargo surfaces of Seeding box bottom surface, is approximately perpendicular to
The cargo surfaces of Seeding box bottom surface refer to that cargo surfaces with the angle of Seeding box bottom surface are approximate 90 degree.The angle is one adjustable
The variable of section.
Since the sucker of mechanical arm end is that surface from moving down up and down object is grabbed, it is vertical and
The cargo surfaces for being approximately perpendicular to Seeding box bottom surface are unfavorable for the crawl of sucker, therefore can be removed unnecessary cargo table
Subsequent amount of calculation is reduced, and saves and calculates the time in face.
Step S103, the height and position according to locating for the size of cargo surfaces area and cargo, to remaining cargo surfaces
It is ranked up, generates the cargo surfaces list for having sequencing；
Generate the cargo surfaces list for having sequencing, concrete mode are as follows:
The height in the Z-direction according to locating for the area of cargo surfaces and cargo scores to cargo surfaces respectively,
Area is bigger, height is higher, scores higher, and area is smaller, height is lower, then scores lower；
Cargo surfaces are ranked up from high to low according to overall score, generate cargo surfaces list.
Optionally, after the generation has the cargo surfaces list of sequencing, further includes:
Completion and reparation are carried out to the cargo surfaces.
Step S104, the sucker of the analog mechanical arm end ordering goods in the inswept cargo surfaces list one by one
Object surface generates the preliminary crawl posture list that sucker can grab；
Grabbing posture includes crawl position and direction.
Optionally, after the preliminary crawl posture list that the generation sucker can grab, further includes:
The preliminary crawl posture is ranked up from center to edge, i.e., distance crawl surface geometry central point is closer
Grab the more preferential use of posture.
This is because the crawl posture closer apart from crawl surface geometry central point is more conducive to the firm of sucker crawl cargo
Property.
Step S105, final crawl posture, control are gone out according to the preliminary crawl Attitude Calculation in preliminary crawl posture list
Mechanical arm grabs cargo.
Concrete mode are as follows:
The direction of incorporating cargo, cargo generate finally on the basis of tentatively crawl posture list in the position of Seeding box
Grab posture list, concrete mode are as follows:
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, directly uses arranged without modification
The initial crawl posture of sequence；
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, and the close sowing right wall of box of cargo,
Then according to the initial crawl posture of the cargo, maximum deflection α degree to the left, wherein used in maximum deflection angle α and mechanical arm
The elastic length for grabbing actuator is related to radius；
If angle between cargo bottom and Seeding box bottom is greater than preset threshold, and cargo is close to Seeding box left wall,
Then according to the initial crawl posture of the cargo, maximum deflection α degree to the right, wherein used in maximum deflection angle α and mechanical arm
The elastic length for grabbing actuator is related to radius.
Wherein, the threshold values can be preset, and can be 20 degree, and 30 degree, 40 degree etc. acute angles.
This is the crawl cargo surfaces in order to enable mechanical arm maximum area, therefore when cargo is reached Seeding box is tilted
When to a certain extent, control mechanical arm is deflected to specific direction, and mechanical arm can be made preferably to be bonded and be crawled cargo
Surface, to realize securely strong crawl.
Optionally, it is described calculate final crawl posture after, further includes:
By the rotation certain angle about the z axis of the crawl posture in final crawl posture list, generates new crawl posture and be added
Into final crawl posture list.
Because the sucker of mechanical arm end setting is usually multiple disks of different sizes, have one between each sucker
Clamp angle in order to avoid in the process of grasping, vacant sucker encounters the tank wall of Seeding box, and causes crawl path to be obstructed, because
This will grab posture, and the corresponding crawl posture addition crawl posture list of rotation certain angle is alternative about the z axis, can be effectively prevented
The generation of such situation.
The cargo of the present embodiment identifies grasping means, can grab surface, and root by obtaining and screening cargo in Seeding box
Crawl surface is ranked up according to size and height and position, regeneration mechanical arm grabs posture to cargo, finally controls
Mechanical arm grabs cargo, can effectively and accurately realize in Seeding box with different shape and Facing material
The sorting of cargo greatly reduces the error rate during picking, and can greatly provide working efficiency.
Referring to Fig. 2, identifying the flow chart of grasping means for another cargo provided by Embodiment 2 of the present invention.This implementation
The cargo identification grasping means of example is suitable for cargo and identifies capture apparatus, and the identification capture apparatus of cargo involved in this example, which refers to, to be broadcast
Kind robot.Sowing machine people includes the mechanical arm of vision system and crawl cargo, and mechanical arm end is provided at least one
A sucker.Vision system includes two-dimentional photographic unit and three-dimensional photographic unit.
In order to guarantee smoothly to grab all cargos in Seeding box, the arc of specific arc is added in sowing chamber interior wall
Shape plate, after installing the arc panel additional, the cargo in Seeding box can roll down to chest centre.It can be with by using this arc panel
Guarantee that cargo will not be deposited in tank wall and nearby cause mechanical arm that can not grab because of collision.
In the present embodiment, the cargo identification grasping means process includes:
Step S201, vision system obtains the RGB image and 3D rendering of cargo.
RGB image is a kind of two dimensional image, and it is by red that rgb color mode, which is a kind of color standard of industry,
(R), green (G), the variation of blue (B) three Color Channels and their mutual superpositions obtain miscellaneous color.
3D rendering refers to 3-D image.
In practical application, two individual cameras can be installed for obtaining RGB image and 3D rendering respectively；Or it adopts
With RGBD sensor, depth image is obtained.
Step S202, RGB image is split by neural network, obtains the 2D figure for indicating the surface profile of cargo
Piece.
The RGB image that will acquire is input to neural network trained in advance and is calculated, and divides the two-dimensional signal of RGB image
Each of object, obtain the pixel point set of corresponding each object, the i.e. surface profile of each cargo.The preparatory training
Neural network, can be when obtaining input value, the calculating formula obtained according to preparatory training calculates input value, obtains
To output valve.
Step S203, the 2D picture divided is compared with 3D rendering, obtains the surface of cargo.
Concrete mode are as follows: the 2D picture divided is compared with 3D rendering, is found in the 3 d image and each point
Corresponding cloud of the 2D picture cut, gets rid of other clouds outside remaining non-article, these remaining cloud, that is, cargos are each
A surface.In practical application, image comparison can be carried out using the method for Octree comparison.
Step S204, the vector on each surface is calculated, removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface.
Refer to that cargo surfaces and Seeding box bottom surface angle are 90 degree perpendicular to the cargo surfaces of Seeding box bottom surface, is approximately perpendicular to
The cargo surfaces of Seeding box bottom surface refer to that cargo surfaces with the angle of Seeding box bottom surface are approximate 90 degree.The angle is one adjustable
The variable of section.
Concrete mode are as follows: the vector for calculating each surface, the relationship with reference axis Z axis remove parallel with Z axis or close flat
Capable face, for Z axis perpendicular to Seeding box bottom surface, i.e., removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface.
Sucker in mechanical arm end is that the surface from moving down up and down object is grabbed, therefore vertical and connect
Cargo surfaces closely perpendicular to Seeding box bottom surface are unfavorable for the crawl of sucker, therefore can be removed unnecessary cargo table
Subsequent amount of calculation is reduced, and saves and calculates the time in face.
Step S205, height and position locating for the size and cargo according to cargo surfaces area, to remaining cargo surfaces into
Row sequence, generates the cargo surfaces list for having sequencing.
Concrete mode are as follows:
The height in the Z-direction according to locating for the area of cargo surfaces and cargo scores to cargo surfaces respectively,
Area is bigger, height is higher, scores higher, and area is smaller, height is lower, then scores lower；
Cargo surfaces are ranked up from high to low according to overall score, generate cargo surfaces list.Wherein, where Z axis
The coordinate origin of coordinate system is in Seeding box bottom surface.
Step S206, completion and reparation are carried out to the cargo surfaces.
Completion and reparation are carried out to the cargo surfaces, it is possible to reduce due to doing for the camera noise in vision system
It disturbs.
Step S207, the sucker of the analog mechanical arm end ordering goods in the inswept cargo surfaces list one by one
Object surface generates the preliminary crawl posture list that sucker can grab.
Grabbing posture includes crawl position and direction.
Optionally, after the preliminary crawl posture list that the generation sucker can grab, further includes:
The preliminary crawl posture is ranked up from center to edge, i.e., distance crawl surface geometry central point is closer
Grab the more preferential use of posture.
This is because the crawl posture closer apart from crawl surface geometry central point is more conducive to the firm of sucker crawl cargo
Property.
Step S208, the preliminary crawl posture is ranked up from center to edge.
Because the crawl posture closer apart from crawl surface geometry central point is more conducive to the stability of sucker crawl cargo, because
The closer more preferential use of crawl posture of this distance crawl surface geometry central point.
Step S209, final crawl posture, control are gone out according to the preliminary crawl Attitude Calculation in preliminary crawl posture list
Mechanical arm grabs cargo.
Concrete mode are as follows:
The direction of incorporating cargo, cargo generate finally on the basis of tentatively crawl posture list in the position of Seeding box
Grab posture list, concrete mode are as follows:
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, directly uses arranged without modification
The initial crawl posture of sequence；
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, and the close sowing right wall of box of cargo,
Then according to the initial crawl posture of the cargo, maximum deflection α degree to the left, wherein used in maximum deflection angle α and mechanical arm
The elastic length for grabbing actuator is related to radius；
If angle between cargo bottom and Seeding box bottom is greater than preset threshold, and cargo is close to Seeding box left wall,
Then according to the initial crawl posture of the cargo, maximum deflection α degree to the right, wherein used in maximum deflection angle α and mechanical arm
The elastic length for grabbing actuator is related to radius.
Wherein, the threshold values can be preset, and can be 20 degree, and 30 degree, 40 degree etc. acute angles.
This is the crawl cargo surfaces in order to enable mechanical arm maximum area, therefore when cargo is reached Seeding box is tilted
When to a certain extent, control mechanical arm is deflected to specific direction, and mechanical arm can be made preferably to be bonded and be crawled cargo
Surface, to realize securely strong crawl.
Step S210, by the rotation certain angle about the z axis of the crawl posture in final crawl posture list, new crawl is generated
Posture is added in final crawl posture list.
Because the sucker of mechanical arm end setting is usually multiple disks of different sizes, have one between each sucker
Clamp angle in order to avoid in the process of grasping, vacant sucker encounters the tank wall of Seeding box, and causes crawl path to be obstructed, because
This will grab posture, and the corresponding crawl posture addition crawl posture list of rotation certain angle is alternative about the z axis, can be effectively prevented
The generation of such situation.
The cargo of the present embodiment identifies grasping means, can grab surface, and root by obtaining and screening cargo in Seeding box
Crawl surface is ranked up according to size and height and position, regeneration mechanical arm grabs posture to cargo, finally controls
Mechanical arm grabs cargo, can effectively and accurately realize in Seeding box with different shape and Facing material
The sorting of cargo greatly reduces the error rate during picking, and can greatly provide working efficiency.
On the basis of previous embodiment, the embodiment of the invention also provides a kind of cargos to identify capture apparatus.
Referring to Fig. 3, cargo identification capture apparatus includes: memory 301, processor 302 and is stored in the storage
On device 301 and can on the processor 302 operation computer program 303, the computer program 303 is by the processor
302 realize the step of identifying crawl such as the cargo such as first embodiment or second embodiment when executing.
The cargo of the present embodiment identifies capture apparatus, and the cargo of the present embodiment identifies grasping means, by obtaining and screening
Cargo can grab surface in Seeding box, and size and height and position are ranked up crawl surface according to area, and regeneration is mechanical
Arm grabs posture to cargo, finally controls mechanical arm and grabs to cargo, can effectively and accurately realize to sowing
The sorting of cargo with different shape and Facing material in case, greatly reduces the error rate during picking, and energy
It is enough that working efficiency is greatly provided.
On the basis of previous embodiment, another embodiment of the present invention additionally provides a kind of computer readable storage medium,
It is characterized in that, being stored with computer program on the computer readable storage medium, the computer program is held by processor
The step of cargo of previous embodiment identifies crawl is realized when row.
The cargo of the computer readable storage medium of the present embodiment, the present embodiment identifies grasping means, by obtaining and sieving
Select cargo in Seeding box that can grab surface, and size and height and position are ranked up crawl surface according to area, regenerate machine
Tool arm grabs posture to cargo, finally controls mechanical arm and grabs to cargo, can effectively and accurately realize to broadcasting
The sorting of cargo with different shape and Facing material in plants case, greatly reduces the error rate during picking, and
Working efficiency can be greatly provided.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of cargo identifies grasping means, it is suitable for cargo and identifies capture apparatus, which is characterized in that the method includes following
Step:
The surface of each cargo in Seeding box is obtained by vision system；
Removal is vertical and is approximately perpendicular to the cargo surfaces of Seeding box bottom surface；
According to height and position locating for the size of cargo surfaces area and cargo, remaining cargo surfaces are ranked up, are generated
There is the cargo surfaces list of sequencing；
The sucker of analog mechanical arm end ordering cargo surfaces in the inswept cargo surfaces list one by one, generate and inhale
The preliminary crawl posture list that disk can grab；
Go out final crawl posture according to the preliminary crawl Attitude Calculation in preliminary crawl posture list, controls mechanical arm to cargo
It is grabbed.
2. cargo as described in claim 1 identifies grasping means, which is characterized in that described to obtain Seeding box by vision system
The surface of each interior cargo, specifically includes:
The two dimensional image and 3-D image of cargo in Seeding box case are shot by vision system；
The two dimensional image is input to nerve network system trained in advance and carries out calculating segmentation, obtains the surface of each cargo
Profile；
The obtained cargo surfaces profile of segmentation will be calculated and 3-D image compares, it is corresponding in three-dimensional to find cargo surfaces profile
Depth information in image, to obtain the surface of cargo.
3. cargo as described in claim 1 identifies grasping means, which is characterized in that according to the size and goods of cargo surfaces area
Height and position locating for object is ranked up remaining cargo surfaces, generates the cargo surfaces list for having sequencing, specifically
Are as follows:
The height in the Z-direction according to locating for the area of cargo surfaces and cargo scores to cargo surfaces respectively, area
It is bigger, highly higher, it scores higher, area is smaller, height is lower, then scores lower；
Cargo surfaces are ranked up from high to low according to overall score, generate cargo surfaces list.
4. cargo as described in claim 1 identifies grasping means, which is characterized in that in the cargo for generating and having sequencing
After surface list, further includes:
Completion and reparation are carried out to cargo crawl surface.
5. cargo as described in claim 1 identifies grasping means, which is characterized in that can be grabbed in the generation sucker preliminary
After crawl posture list, further includes:
The preliminary crawl posture is ranked up from center to edge, i.e. the closer crawl of distance crawl surface geometry central point
The more preferential use of posture.
6. cargo as described in claim 1 identifies grasping means, which is characterized in that according to first in preliminary crawl posture list
Step crawl Attitude Calculation goes out final crawl posture, concrete mode are as follows:
The direction of incorporating cargo, cargo are generated and are finally grabbed on the basis of tentatively crawl posture list in the position of Seeding box
Posture list, concrete mode are as follows:
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, without modification directly using ordering
Initial crawl posture；
If the angle between cargo bottom and Seeding box bottom is greater than preset threshold, and the close sowing right wall of box of cargo, then root
According to the initial crawl posture of the cargo, maximum deflection α degree to the left, wherein crawl used in maximum deflection angle α and mechanical arm
The elastic length of actuator is related to radius；
If angle between cargo bottom and Seeding box bottom is greater than preset threshold, and cargo is close to Seeding box left wall, then root
According to the initial crawl posture of the cargo, maximum deflection α degree to the right, wherein crawl used in maximum deflection angle α and mechanical arm
The elastic length of actuator is related to radius.
7. cargo as claimed in claim 6 identifies grasping means, which is characterized in that the preset threshold is pre-set sharp
Angle.
8. cargo as described in claim 1 identifies grasping means, which is characterized in that it is described calculate final crawl posture it
Afterwards, further includes:
By the rotation certain angle about the z axis of the crawl posture in final crawl posture list, generates new crawl posture and be added to most
Eventually in crawl posture list.
9. a kind of cargo identifies capture apparatus, which is characterized in that the equipment includes: memory, processor and is stored in institute
The computer program that can be run on memory and on the processor is stated, when the computer program is executed by the processor
Realize the step as described in any in claim 1 to 8.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes such as step described in any item of the claim 1 to 8 when the computer program is executed by processor.
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| CN110817231A (en) * | 2019-11-04 | 2020-02-21 | 深圳市鲸仓科技有限公司 | Logistics scene-oriented order picking method, equipment and system |
| CN112124957A (en) * | 2020-08-31 | 2020-12-25 | 苏州吉成智能科技有限公司 | Automatic medicine warehousing method and system |
| CN112605986A (en) * | 2020-11-09 | 2021-04-06 | 深圳先进技术研究院 | Method, device and equipment for automatically picking up goods and computer readable storage medium |
| CN112802105A (en) * | 2021-02-05 | 2021-05-14 | 梅卡曼德（北京）机器人科技有限公司 | Object grabbing method and device |
| CN114229451A (en) * | 2021-12-30 | 2022-03-25 | 宁波智能成型技术创新中心有限公司 | Intelligent grabbing anti-falling detection and regulation method based on multi-axial force and moment |
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