CN111055297A

CN111055297A - Manipulator operation device, control method, control device, computer device, and medium

Info

Publication number: CN111055297A
Application number: CN202010038823.9A
Authority: CN
Inventors: 张正友; 杨思成; 赵龙飞; 戴媛; 黄碧丹; 李强; 迟万超; 向灵竹; 王帅
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-04-24
Anticipated expiration: 2040-01-14
Also published as: CN111055297B

Abstract

The manipulator operation equipment comprises a processing device, an image acquisition device and a manipulator arm, wherein the manipulator arm is connected with a first grabbing part and a second grabbing part; the image acquisition device is used for acquiring a target image; the processing device is used for acquiring a control strategy according to the target image; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing a first unit; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to the control strategy; the second grabbing part is used for grabbing a second unit; the first grasping portion is used to place the first unit at the second position. The application also provides a control method, a control device, computer equipment and a medium. Through setting up first portion and the second portion of snatching, the manipulator arm only need carry out once and move, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

Description

Manipulator operation device, control method, control device, computer device, and medium

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a manipulator operating device, a control method, an apparatus, a computer device, and a medium.

Background

Man-machine chess playing robot generally includes recognition device and robotic arm, discerns current chess after shooing the chess board through recognition device, later through the processing of treater, generates control strategy control robotic arm and controls chess to can simulate the real person, in the real world, use entity chess and real player to carry out the chess and play chess.

The technical difficulty of the man-machine chess playing robot is the step of grabbing the chess pieces through the mechanical arm, the chess game is taken as an example, the chess needs to be eaten in the game process, namely, one chess piece of the own side is used for replacing one chess piece of the other side at one position of the chessboard so as to realize the chess eating.

The game process of chess games represented by Chinese chess is mainly carried out by chess eating, in the prior art, a mechanical arm needs to act twice when the chess eating action is completed, namely, the eaten chess pieces are moved out of a chessboard firstly, and then the main eaten chess pieces are placed at the positions of the eaten chess pieces, so that the chess eating action of a robot is long in consumed time, the efficiency is low, and the game time is prolonged. The user experience is affected.

Disclosure of Invention

In view of the above, in order to solve the above problems, the present invention provides the following technical solutions:

a manipulator operation apparatus comprising: the device comprises a processing device, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part;

the image acquisition device is used for acquiring a target image, and the target image is an image of a target object acquired by the image acquisition device;

the processing device is used for acquiring a control strategy according to the target image, wherein the control strategy comprises replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

the mechanical arm is used for driving the first grabbing part to move to the first position according to the control strategy;

the first grabbing part is used for grabbing the first unit;

the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to the second position according to the control strategy;

the second grabbing part is used for grabbing the second unit;

the first grasping portion is used for placing the first unit on the second position.

A method of controlling a manipulator operation apparatus including a processing device, an image acquisition device, and a manipulator arm to which a first grasping section and a second grasping section are connected, the method being used for the processing device, the method comprising:

acquiring a target image from the image acquisition device, wherein the target image is an image of a target object acquired by the image acquisition device;

acquiring a control strategy according to the target image, wherein the control strategy comprises replacing a second unit placed on a second position with a first unit placed on a first position, and the first position and the second position are different positions on the target object;

controlling the mechanical arm to move to the first position and then grabbing the first unit by the first grabbing part;

controlling the mechanical arm to move to the second position and then grabbing the second unit by the second grabbing part;

controlling the first grasping portion to place the first unit on the second position.

A manipulator-operation-device control apparatus characterized by comprising a processing apparatus, an image acquisition apparatus, and a manipulator arm to which a first grasping section and a second grasping section are connected, the method being used for the processing apparatus, the manipulator-operation-device control apparatus comprising:

a first acquisition unit configured to acquire a target image from the image acquisition apparatus, the target image being an image of a target object acquired by the image acquisition apparatus;

a second acquisition unit configured to acquire a control policy according to the target image acquired by the first acquisition unit, the control policy including replacing a second unit placed at a second position with a first unit placed at a first position, the first position and the second position being different positions on the target object;

the first control unit controls the mechanical arm to move to the first position and then uses the first grabbing part to grab the first unit;

the second control unit is used for controlling the mechanical arm to move to the second position and then grabbing the second unit by the second grabbing part;

a third control unit for controlling the first grasping portion to place the first unit at the second position.

Optionally, the first grasping unit and the second grasping unit are respectively connected to a first joint on the robot arm, and then the first control unit is further configured to:

after the first grabbing part is controlled to be close to the first unit through the first joint, the first unit is grabbed;

the second control unit is further configured to:

the second grabbing part is controlled to be close to the second unit through the first joint, and then the second unit is grabbed;

the third control unit is further configured to:

controlling the second grabbing part to be far away from the target object through the first joint;

the first grabbing part is controlled to be close to the target object through the first joint, and the first unit is placed at the second position.

Optionally, the first grasping unit is connected to a second joint on the robot arm, and the second grasping unit is connected to a third joint on the robot arm, so that the first control unit is further configured to:

after the first grabbing part is controlled to be close to the first unit through the second joint, the first unit is grabbed;

the second control unit is further configured to:

the second grabbing part is controlled to be close to the second unit through the third joint, and then the second unit is grabbed;

the third control unit is further configured to:

controlling the second grabbing part to be far away from the target object through the third joint;

and controlling the first grabbing part to be close to the target object through the second joint, and placing the first unit at the second position.

Optionally, the first and/or second gripping part comprises a motor and at least two claws, and the first control unit is further configured to:

controlling the motor to drive the at least two claw hooks to approach each other so as to realize the grabbing of the first unit;

the second control unit is further configured to:

controlling the motor to drive the at least two claw hooks to approach each other so as to realize the grabbing of the second unit;

the third control unit is further configured to:

and controlling the motor to drive the at least two claws to move away from each other so as to release the first unit.

Optionally, the processing apparatus includes a vision processing module and a computing module, and the second obtaining unit is configured to:

carrying out visual identification on the target image through the visual processing module to obtain an identification result;

and acquiring the control strategy according to the identification result through the calculation module.

Optionally, the apparatus further comprises a detection device; the apparatus further comprises a detection unit for:

detecting in the working process of the mechanical arm through the detecting device;

and when the object is detected to enter the area of the target object, driving the mechanical arm to stop working.

A computer device, the computer device comprising: an interaction device, an input/output (I/O) interface, a processor, and a memory having program instructions stored therein; the interaction device is used for acquiring an operation instruction input by a user; the processor is configured to execute program instructions stored in the memory to perform the method as described in any one of the above.

A computer readable storage medium comprising instructions which, when executed on a computer device, cause the computer device to perform a method as claimed in any preceding claim.

The application provides a manipulator operating equipment includes: the device comprises a processing device, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part; the image acquisition device is used for acquiring a target image; the processing device is used for acquiring a control strategy according to the target image, wherein the control strategy comprises replacing a second unit placed on a second position by a first unit placed on a first position, and the first position and the second position are different positions on the target object; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing a first unit; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to the control strategy; the second grabbing part is used for grabbing a second unit; the first grasping portion is used to place the first unit at the second position. Through setting up first portion and the second portion of snatching, the manipulator arm only need carry out once and move, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

The manipulator operation equipment control method provided by the embodiment of the application comprises the following steps: acquiring a target image from an image acquisition device, wherein the target image is an image of a target object acquired by the image acquisition device; acquiring a control strategy according to the target image, wherein the control strategy comprises replacing a second unit placed on a second position with a first unit placed on a first position, and the first position and the second position are different positions on the target object; controlling the mechanical arm to move to a first position and then grabbing a first unit by the first grabbing part; controlling the mechanical arm to move to a second position and then grabbing a second unit by using a second grabbing part; the first grasping portion is controlled to place the first unit at the second position. Through the work of controlling first portion of snatching and the second portion of snatching, the manipulator arm only need carry out once and move, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot handling apparatus provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a gripping part of a robot operation device according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an embodiment of a gripping portion of a robot operating device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another embodiment of a gripping part of a robot operation device according to an embodiment of the present disclosure;

FIG. 5 is a top view of a robot manipulator apparatus provided in an embodiment of the present application;

fig. 6 is a flowchart of an embodiment of a method for controlling a robotic manipulation device according to an embodiment of the present disclosure;

fig. 7 is a flowchart of another embodiment of a method for controlling a robotic manipulation device according to an embodiment of the present disclosure;

FIG. 8 is a side view of a robot handling apparatus provided in an embodiment of the present application;

fig. 9 is a flowchart of another embodiment of a method for controlling a robotic manipulation device according to an embodiment of the present disclosure;

fig. 10 is a flowchart of another embodiment of a method for controlling a robotic manipulation device according to an embodiment of the present disclosure;

fig. 11 is a flowchart of another embodiment of a method for controlling a robotic manipulation device according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of a computer device provided by an embodiment of the present application;

fig. 13 is a schematic diagram of a control device of a manipulator operating device according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The game process of chess games represented by Chinese chess is mainly carried out by chess eating, and currently, the mechanical arm needs to act twice when the chess eating action is completed, namely, the eaten chess pieces are moved out of the chessboard firstly, and then the main eaten chess pieces are placed at the positions of the eaten chess pieces, so that the chess eating action of the robot is long in consumed time and low in efficiency, and the game time is prolonged. The user experience is affected.

Therefore, in order to solve the above problems, embodiments of the present application provide a manipulator operating device and a control method, which can improve the execution efficiency of chess playing operation in a chess game process by providing two capturing portions. For the sake of understanding, the following detailed description of the apparatus provided by the embodiments of the present application is made with reference to the accompanying drawings.

It should be noted that the manipulator operating device and the control method provided in the embodiments of the present application may be applied to various application scenarios, and the embodiments of the present application are not limited thereto, for example, the manipulator operating device and the control method provided in the embodiments of the present application may be applied to fields of chess games, goods sorting, or robot arm installation. When the manipulator operation equipment provided by the embodiment of the application is used for chess games, a target object is a chessboard, an operated unit is a chess piece, and the manipulator operation equipment is used for replacing a first chess piece originally placed at a first position on the chessboard with a second chess piece placed at a second position, so that the chess operation of the first chess piece on the second chess piece is realized. When the manipulator operation equipment provided by the embodiment of the application is used for sorting goods, a target object is a goods placing area, an operated unit is goods, and the manipulator operation equipment is used for replacing a first goods originally placed at a first position on the goods placing area with a second goods placed at a second position, so that the goods are sorted. When the manipulator operating device provided by the embodiment of the application is used for installing the manipulator, the target object is a workpiece to be installed, the operated unit is a part, and the manipulator operating device is used for replacing a first part originally installed at a first position on the workpiece to be installed with a second part installed at a second position, so that the part on the workpiece is replaced.

For convenience of understanding, the embodiments of the present application describe in detail the manipulator operating device and the control method provided in the embodiments of the present application by taking a chess game as an example, but do not limit the usage scenarios of the present application.

Referring to fig. 1, as shown in fig. 1, a robot handling apparatus provided in an embodiment of the present application specifically includes:

a processing device (not shown), an image acquisition device 101, and a robot arm 102, wherein the robot arm 102 is connected with a first grasping unit 103 and a second grasping unit 104. Wherein:

the image capturing device 101 is used for capturing a chessboard image.

In this embodiment, the image capturing device 101 may be a camera, as shown in fig. 1, which is suspended above the game board 106 by a bracket 105, so that the game board 106 can be taken down, and an image of the game board 106 of the whole game situation can be captured.

The processing means is adapted to obtain a control strategy based on the image of the board 106, the control strategy comprising replacing a second pawn placed at a second position with a first pawn placed at a first position, the first position and the second position being different positions on the board 106.

In this embodiment, the processing apparatus includes a visual processing module and a computing module, where the visual processing module may be a Graphics Processing Unit (GPU), and the computing module may be a Central Processing Unit (CPU), specifically:

the vision processing module is used for performing vision recognition on the chessboard 106 image to obtain a recognition result.

In this embodiment, the visual processing module converts the image of the board 106 into recognizable information through a visual processing technique, the recognition result includes a coordinate point of each position where a piece can be placed in the board 106, a role of each piece, and the like, and the recognition result is used for reflecting the overall game matching information of the current game.

And the calculation module is used for acquiring the control strategy according to the identification result.

In this embodiment, based on the recognition result, the computing module may obtain the control strategy in two ways, that is, the computing module may automatically generate the control strategy according to the recognition result through an Artificial Intelligence (AI) program built in the computing module, the AI program may be trained to have a chess playing capability, and as for a specific training method of the AI program, various methods for AI training may be used, which is not limited in the embodiment of the present application. And secondly, obtaining chess playing operation of the remote user, wherein the first manipulator operation device is remotely connected with the second manipulator operation device through a network by using a first calculation module of the first manipulator operation device, the second manipulator operation device obtains the chess playing operation of the second player through the second image obtaining device 101, then sends the chess playing operation of the second player to the first calculation module through the second processing device, and the first calculation module generates a control strategy according to the chess playing operation of the second player. Therefore, remote playing among the real players is realized through the manipulator operating equipment provided by the embodiment of the application.

Further, the control strategy acquired by the processing device needs to be executed by the robot arm 102, as shown in fig. 1, the robot arm 102 may include a first joint 1021, a fourth joint 1022, a fifth joint 1023 and a sixth joint 1024, wherein the first joint is connected to the base, a rotation axis of the first joint is perpendicular to the plane direction of the base, and is used for controlling the robot arm 102 to rotate in the horizontal plane direction, the fifth joint 1023 is connected to the sixth joint 1024, a rotation axis of the fifth joint is parallel to the plane direction of the base, and is used for controlling the robot arm 102 to rotate in the vertical plane direction, the fourth joint 1022 is connected to the fifth joint 1023 through a first link 1025, a movement degree of the fourth joint 1025 is consistent with the aforementioned fifth joint 1023, and is used for controlling the extension and contraction of the robot arm 102, and the first joint 1021 is connected to the fourth joint 1022 through a second link 1026, and is used for controlling the movements of the first grasping portion 103.

Specifically, the first and second grasping

portions

103 and 104 are respectively connected to a first joint 1021 of the robot arm 102, and the first joint 1021 is used for driving the first and second grasping

portions

103 and 104 to move relative to the board 106.

Alternatively, the first joint 1021 may be replaced by a second joint for driving the first gripper 103 to move relative to the board 106 and a third joint for driving the second gripper 104 to move relative to the board 106, i.e. the second joint and the third joint are connected to a fourth joint 1022 through a third link.

Alternatively, the above description of the number of joints of the robot arm 102 is only an example, and a person skilled in the art may design any number of joints with any degree of mobility according to actual work requirements to implement the movement of the robot arm 102, so as to achieve the purpose of controlling the first and second grasping

portions

103 and 104 to reach any position of the chessboard 106 and perform relative movement with the chessboard 106.

The relative movement refers to a movement of the first grasping portion 103 and the second grasping portion 104 toward the board 106 or away from the board 106.

The robot arm 102 is configured to drive the first capturing portion 103 to move to the first position according to the control strategy.

In the embodiment, the control strategy comprises two strategies, wherein one strategy is to move the chess pieces to a position without the chess pieces to realize the movement; the other is to move the chess pieces to a position with the chess pieces to realize the chess eating. For the first case, the chess pieces only need to be grabbed to the target position by the first grabbing part 103 or the second grabbing part 104, and the present application mainly introduces the second case.

The first grasping portion 103 is used for grasping a first chess piece.

In this embodiment, after the first grabbing part 103 is driven to the first position by the robot arm 102, the first chess piece is grabbed, so as to hold the first chess piece.

The robot arm 102 is configured to drive the first grasping portion 103 and the second grasping portion 104 to move to the second position according to the control strategy.

In this embodiment, the second position is a target position for the first chess piece to eat, so the robot arm 102 moves the first grabber 103 and the second grabber 104 to the second position to perform the subsequent steps.

The second grasping portion 104 is used for grasping a second pawn.

In this embodiment, after moving to the second position, the first capturing part 103 captures the first chess piece, and the second capturing part 104 is idle, so as to capture the second chess piece at the second position through the second capturing part 104. Such that the second position is changed from a state occupied by the second pawn to a pawn-free state.

The first grip 103 is used to place the first pawn in the second position.

In this embodiment, the first grabbing part 103 puts the first chess piece at the second position, so that the second chess piece is replaced by the first chess piece at the second position, and from the perspective of chess game, the second chess piece is eaten by the first chess piece.

After the chess eating operation is completed, the mechanical arm 102 drives the second grabbing part 104 to move to the piece abandoning groove, and the second chess piece to be eaten is placed in the piece abandoning groove 107.

The application provides a manipulator operating equipment includes: the device comprises a processing device, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part; the image acquisition device is used for acquiring a chessboard image; the processing device is used for acquiring a control strategy according to the chessboard image, wherein the control strategy comprises replacing a second chess piece placed at a second position with a first chess piece placed at a first position, and the first position and the second position are different positions on the chessboard; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing a first chess piece; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to the control strategy; the second grabbing part is used for grabbing a second chess piece; the first grasping part is used for placing the first chess piece on the second position. Through setting up first portion and the second portion of snatching, the manipulator arm only need carry out once action, can accomplish the operation of eating chess, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

It should be noted that the first grabbing portion and the second grabbing portion may have various implementations, and the embodiment of the present application is not limited thereto, and as an example, the embodiment of the present application provides three specific implementations, namely, one implementation and a claw hook grabbing implementation; secondly, sucking by a sucking disc; and thirdly, absorbing by a magnet. For ease of understanding, the three implementations are described in detail below.

It should be further noted that the first and second grasping portions may be implemented in the same manner, or may be implemented in any one of the three manners, which is not limited to this embodiment of the present application, and hereinafter, the first and second grasping portions are collectively referred to as a grasping portion.

Firstly, grabbing by a claw hook.

Referring to fig. 2, as shown in fig. 2, the capturing portion provided in the embodiment of the present application includes a housing 201, a motor (not shown) disposed inside the housing 201, and at least two claws 202, where the motor is used to drive the at least two claws 202 to approach each other, so as to capture the chess pieces.

The mode that the motor drives the claws to approach each other may be any one of the modes in the prior art, for example, as shown in fig. 3, the motor 301 drives the first transmission gear 302 to rotate through the rotation of the output shaft, the first transmission gear 302 drives the second transmission gear 303 to rotate, the second transmission gear 303 drives the claws 304 to move, and the other side of the claws adopts a symmetrical structure, so that the two claws approach each other to realize grabbing; alternatively, as shown in fig. 4, the output shaft of the motor 401 moves longitudinally to drag the pull rod 402 to move, and the pull rod 402 drags the claws 403 to move, so that the claws approach each other to realize grabbing.

It should be noted that the number of the claws is at least two, so that the two claws can be relatively close to each other to clamp the chess pieces, it can be understood that the clamping is more stable when the number of the claws is larger, but meanwhile, because the chess pieces are close to each other in the chess game, the space for clamping the chess pieces is reduced, so that the smaller number of the claws can flexibly deal with the placing conditions of various chess pieces, and the number of the claws is preferably two, and the two claws are oppositely arranged.

Optionally, the inner side of the claw hook is provided with a soft gasket for improving friction force, which is beneficial to clamping the chess pieces.

Secondly, sucking by a sucking disc.

In this embodiment, the grasping portion includes: the negative pressure device is used for generating negative pressure, for example, the negative pressure device can be a fan assembly, suction force is generated by reversely blowing air, the generated negative pressure penetrates through the sucker to suck the chess pieces, and the sucker is made of soft rubber or silica gel. To promote friction and suction.

And thirdly, absorbing by a magnet.

In this embodiment, in order to realize this kind of scheme, need the object chess to reform transform, set up the metal material that can be adsorbed by magnetism in chess inside, for example iron plate or iron powder. Be provided with the electro-magnet in the portion of snatching, when the portion of snatching need snatch the piece, the circular telegram, the control electro-magnet produces magnetic force, and the object chess adsorbs to the realization is to snatching of chess.

Among the above-mentioned three kinds of realization modes that snatch the portion, the scheme that magnet was absorb needs object chess to reform transform, and the scheme that the sucking disc was absorb has the recess that the carving characters left because the surperficial unevenness of chess, takes place gas leakage when causing the sucking disc to absorb, causes to adsorb unstably, consequently, the claw hook snatchs the implementation mode that is the most preferred, neither needs to reform transform chess, can not appear again and snatch the unstable condition.

It should be noted that, in the process of chess game, the chess game is divided into a self-turn and an opposite-turn, and the man-machine chess playing system of the present application is divided into a player turn and an equipment turn, wherein the player turn is executed by a real player, and the equipment turn is executed by an equipment control mechanical arm, so that a set of man-machine interaction system needs to be arranged, so that the equipment knows when the equipment turns the player turn and when the equipment turns the equipment turn. For ease of understanding, the human-computer interaction system of the manipulator operation device provided in the embodiments of the present application is described in detail below.

As shown in fig. 1, the human-computer interaction system of the manipulator operation device provided by the embodiment of the present application includes a button box 108, a light strip 109, and a box 110, where the button box 108 includes a first button 1081 and a second button 1082, and when a user presses the first button 1081, a turn start command is sent to the processing device, so that the processing module knows that a current device turn starts to be executed, and moves by the manipulator, and at this time, the processing module sequentially drives the image acquisition device to acquire a chessboard image, generates a control strategy, and controls the manipulator to move or eat chess. The light strip 109 is arranged around the chessboard placement position in a surrounding manner, in the equipment turn, the light strip 109 displays red light for informing a player, the equipment turn is currently, the chessboard or the chessman are not required to be touched, after the mechanical arm finishes chess moving or chess eating, the equipment turn is finished, and the light strip 109 displays green light for prompting the player to enter the player turn currently and ask the player to move chess. The sound box 110 is disposed at one side of the button box 108, and is connected to the processing device and the button box 108, when the game is switched between the player round and the device round, the sound box 110 sends out voice prompt information to prompt the user of the current round state, further, the sound box 110 can be used to send out other voice prompt information, for example, the current step is a "general" step, or the current operation does not conform to the game rules, and so on.

Further, the button box 108 is provided with a second button 1082, and when the player does not want to continue the game of the current game, the second button 1082 is pressed to transmit a round end command to the processing device, and the processing device initializes the apparatus according to the round end command to prepare for starting a new game of the game.

It should be noted that, in the process of the equipment round and the operation of the robot arm, if the hand extends into the range of the chessboard, the hand may be damaged by the operation of the robot arm, and there is a certain danger, so that, in order to protect the safety of the player, the manipulator operation equipment provided in the embodiment of the present application further includes a detection device, which prevents the danger from occurring due to the user extending the hand into the chessboard area in the equipment round.

The detection device may specifically be a laser radar, an ultrasonic radar, or the like, and the embodiment of the present application is not limited to the specific implementation manner of the detection device, and as shown in fig. 1, the detection device is disposed on the support. As shown in fig. 5, in the device turn, the detecting device 501 is used for detecting during the operation of the robot 502, specifically, the detecting device 501 emits a detecting surface 503, such as a laser detecting surface or an ultrasonic detecting surface, the detecting surface 503 is located between the player 504 and the board 505, when the player 504 reaches the board area, the detecting range of the detecting surface 503 is entered, at this time, the detecting device 501 senses that an object enters the board area, at this time, the detecting device 501 sends an emergency stop signal to the processing device, the processing device drives the robot 502 to stop working and return to the initial state, so as to prevent the robot 502 from hurting the person, at this time, the detecting device 501 can also send an alarm signal to the human-computer interaction device, and the human-computer interaction device plays a preset voice through the sound box 506, for example, the preset voice may be "danger |! During the device turn, do not put the hand into the board area. ", thereby prompting the player. When the player takes out the hand, the detection device sends out a danger elimination message to the processing device when detecting that no barrier exists on the detection surface, and the processing device restores to normal work.

The robot operation device provided in the embodiment of the present application is described above.

In order to enable the manipulator operation device provided by the embodiment of the present application to work smoothly, the embodiment of the present application further provides a manipulator operation device control method, which can control the manipulator operation device based on the manipulator operation device, so as to achieve the purpose of implementing chess-eating operation in one action through two grabbing portions. The method is performed by a processing device. For the sake of understanding, the method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 6, as shown in fig. 6, an embodiment of a method for controlling a robot operating device according to an embodiment of the present disclosure includes the following steps.

601. A target image is acquired from an image acquisition device.

In this embodiment, as described above, the image obtaining device may be a camera, and the image obtaining device obtains an image of a target object in a shooting manner, where the target object may be a chessboard including a chessboard and placement positions of chess pieces on the chessboard, optionally, the target object may also be a goods placement area or a workpiece to be installed according to different use scenes.

602. And acquiring a control strategy according to the target image.

the visual processing module is used for carrying out visual identification on the chessboard image to obtain an identification result.

In this embodiment, the visual processing module converts the target image into identifiable information through a visual processing technology, when the target object is a chessboard, the identification result includes coordinate points of positions where each piece can fall in the chessboard, the role of each piece, and the like, and the identification result is used for reflecting the overall game matching information of the current game.

Specifically, based on the recognition result, the computing module may obtain the control strategy in two ways, i.e., automatically generate the control strategy according to the recognition result through an Artificial Intelligence (AI) program built in the computing module, the AI program has a chess playing capability after being trained, and various methods for AI training may be used for the specific training method of the AI program, which is not limited in the embodiments of the present application. And secondly, obtaining chess playing operation of the remote user, wherein the first manipulator operation device is remotely connected with the second manipulator operation device through a network by using a first calculation module of the first manipulator operation device, the second manipulator operation device obtains chess playing operation of the second player through a second image obtaining device, then sends the chess playing operation of the second player to the first calculation module through a second processing device, and the first calculation module generates a control strategy according to the chess playing operation of the second player. Therefore, remote playing among the real players is realized through the manipulator operating equipment provided by the embodiment of the application.

In particular, when the current operation comprises a chess-eating operation, the control strategy comprises replacing a second chess piece placed on a second position with a first chess piece placed on a first position, the first position and the second position being different positions on the chessboard. I.e. eating the second pawn with the first pawn.

603. And controlling the mechanical arm to move to the first position and then grabbing the first unit by the first grabbing part.

In this embodiment, the mechanical arm may include each joint structure as shown in fig. 1, and it can be referred to the above description specifically, which is not described herein again, when the target object is a chessboard, the mechanical arm can move freely to any position of the chessboard, and when a second unit needs to be replaced by a first unit, that is, a first chess piece eats a second chess piece, the mechanical arm is controlled to drive the first grabbing part to a first position where the first chess piece is located, and the first grabbing part grabs the first chess piece.

604. And controlling the mechanical arm to move to the second position and then grabbing the second unit by the second grabbing part.

In this embodiment, the second position is a chess-eating position, and the second grabbing portion is driven by the mechanical arm to move to the second position, and then the idle second grabbing portion grabs the second chess piece.

605. The first grasping portion is controlled to place the first unit at the second position.

In this embodiment, the first grasping part places the first chess piece at the second position, so that the second chess piece is replaced by the first chess piece at the second position, and from the perspective of chess game, the second chess piece is eaten by the first chess piece.

After the chess eating operation is completed, the mechanical arm drives the second grabbing part to move to the piece abandoning groove, and the second chess piece to be eaten is placed into the piece abandoning groove.

In this embodiment, a method for controlling a manipulator operation apparatus includes: acquiring a chessboard image from an image acquisition device, wherein the chessboard image is the image of the chessboard acquired by the image acquisition device; acquiring a control strategy according to the chessboard image, wherein the control strategy comprises replacing a second chess piece placed at a second position with a first chess piece placed at a first position, and the first position and the second position are different positions on the chessboard; controlling the mechanical arm to move to a first position and then grabbing the first chess piece by the first grabbing part; the mechanical arm is controlled to move to a second position, and then a second chessman is grabbed by the second grabbing part; the first grasping part is controlled to place the first pawn at the second position. Through the work of controlling first portion of snatching and the second portion of snatching, the manipulator arm only need carry out once action, can accomplish the operation of eating chess, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

As an example, in the embodiment of the present application, the first grasping portion and the second grasping portion are respectively connected to the first joint on the robot arm, and a specific implementation of the control method for the robot operating apparatus provided in the embodiment of the present application is described in detail.

Referring to fig. 7, as shown in fig. 7, an embodiment of a method for controlling a robot operating device according to an embodiment of the present disclosure includes the following steps.

Steps 701 to 702 can refer to steps 601 to 602, which are not described herein again.

703. And controlling the mechanical arm to move to the first position.

704. After the first grabbing part is controlled to be close to the first chess piece through the first joint, the first chess piece is grabbed.

In this embodiment, referring to fig. 8, as shown in fig. 8, the first joint 805 rotates along the direction 801, so that the first grabbing portion 802 is perpendicular to the direction of the chessboard, and then the mechanical arm drives the first grabbing portion 802 to descend, so as to approach the first chess piece, and control the first grabbing portion 802 to grab the first chess piece. After the grabbing is completed, the robot drives the first grabbing portion 802 to ascend, so as to perform subsequent actions.

705. And controlling the mechanical arm to move to the second position.

706. And after the second grabbing part is controlled to be close to the second chess piece through the first joint, the second chess piece is grabbed.

In this embodiment, after the robot arm is controlled to move to the second position, as shown in fig. 8, the first joint continues to rotate along the direction 801, so that the second grabbing portion 803 is perpendicular to the direction of the chessboard, and then the robot arm drives the second grabbing portion 803 to descend, so as to approach the second chess piece, and control the second grabbing portion 803 to grab the second chess piece. After the completion of the grasping, the robot arm drives the second grasping portion 803 to ascend, so as to perform the subsequent operation.

707 the second grasping portion is controlled away from the board by the first joint.

In this embodiment, after the robot arm drives the second grabbing portion to ascend, the first joint rotates along the direction 804, so that the second grabbing portion is far away from the chessboard.

708. The first grabbing part is controlled to be close to the chessboard through the first joint, and the first chess piece is placed at the second position.

In this embodiment, as shown in fig. 8, the first joint 805 rotates along the direction 804, so that the first grabbing portion 802 grabbing the first chess piece is perpendicular to the plane of the chessboard, and then the first grabbing portion 802 is driven to descend by the robot arm, so as to place the first chess piece at the second position.

In this embodiment, the mechanical arm is connected with the first grabbing part and the second grabbing part through a first joint, and the first grabbing part and the second grabbing part are controlled to be close to different chess pieces at different positions by controlling the rotation of the first joint, so that one-time work of the mechanical arm is realized, the chess pieces are replaced, and chess eating operation is realized. The consumed time is short, and the working efficiency of the manipulator operation equipment is improved.

It should be noted that the first grabbing portion and the second grabbing portion may have various implementations, and the embodiment of the present application is not limited thereto, and as an example, the embodiment of the present application provides three specific implementations, namely, one implementation and a claw hook grabbing implementation; secondly, sucking by a sucking disc; and thirdly, absorbing by a magnet. The specific structures of the three embodiments can refer to the above descriptions, and are not described herein again.

It should be further noted that the first grasping portion and the second grasping portion may be implemented in the same manner, or may be implemented in any one of the three manners, and the embodiment of the present application is not limited thereto.

As a preferred implementation manner, in the embodiments of the present application, the first grabbing portion and the second grabbing portion are both used as an example for claw grabbing, and a specific implementation manner for grabbing the chess pieces is described in detail.

Referring to fig. 9, as shown in fig. 9, a third embodiment of the method for controlling a robot operating device according to the embodiment of the present disclosure includes the following steps.

Steps 901 to 903 can refer to steps 701 to 703 described above, which are described herein again.

904. After the first grabbing part is controlled to be close to the first chess piece through the first joint, the control motor drives the at least two claw hooks to be close to each other so as to realize grabbing of the first chess piece.

In this embodiment, the manner of controlling the first capturing part to approach the first chess piece through the first joint may refer to the description of step 704, and is not described herein again. The connection mode of the motor and the claw hook can be any one mode as shown in fig. 3 or fig. 4, and the claw hooks are driven by the motor to approach each other, so that the chess pieces are grabbed by the claw hooks.

905. And controlling the mechanical arm to move to the second position.

In this embodiment, the step may refer to the step 705, which is not described herein again.

906. And after the second grabbing part is controlled to be close to the second chess piece through the first joint, the second chess piece is grabbed.

In this embodiment, the manner of controlling the second capturing part to approach the second chess piece through the first joint may refer to the description of the step 706, which is not described herein again. The connection mode of the motor and the claw hook can be any one mode as shown in fig. 3 or fig. 4, and the claw hooks are driven by the motor to approach each other, so that the chess pieces are grabbed by the claw hooks.

907. The first grabbing part is controlled to be close to the chessboard through the first joint, and the motor is controlled to drive the at least two claws to be away from each other so as to release the first chess pieces.

In this embodiment, the manner of controlling the second grabbing portion to approach the chessboard through the first joint may refer to the description of step 708, which is not described herein again. The connection mode of the motor and the claw hook can be any one of the modes described in fig. 3 or fig. 4, and the claw hooks are driven to move away from each other by the motor, so that the chess pieces are released by the claw hooks. The placement of the first pawn is completed.

Furthermore, after chess playing is completed, the mechanical arm drives the second grabbing part to move to the piece abandoning groove, then the motor of the second grabbing part drives the claw hooks to be away from each other, the second chessmen are released into the piece abandoning groove, and the placement of the abandoned pieces is achieved.

It should be noted that, in the process of chess game, the chess game is divided into a self-turn and an opposite-turn, and the man-machine chess playing system of the present application is divided into a player turn and an equipment turn, wherein the player turn is executed by a real player, and the equipment turn is executed by an equipment control mechanical arm, so that a set of man-machine interaction system needs to be arranged, so that the equipment knows when the equipment turns the player turn and when the equipment turns the equipment turn. For convenience of understanding, the following detailed description is provided for the man-machine interaction steps of the control method of the manipulator operation device provided by the embodiment of the present application.

Referring to fig. 10, as shown in fig. 10, a fourth embodiment of the method for controlling a robot operating device according to the embodiment of the present disclosure includes the following steps.

1001. And acquiring a first button command sent by the button box.

In this embodiment, the first button command is a command that the player presses after the player round is executed, so that the processing device can know that the current round is the device round, and then the subsequent operation can be executed.

1002. The first color is displayed through the lamp strip.

In this embodiment, the specific color of the first color is not specifically limited, and optionally may be red, and is used to prompt the player through a red light, and the current turn is a device turn, and does not touch the chessboard.

1003. The sound box sends out a first preset voice.

In this embodiment, the first preset voice is used to prompt the player that the current round is the equipment round, for example, the first preset voice may be: "move by opponent currently. "

1004 to 1008 refer to the above steps 601 to 605, specifically, the step of controlling the device to eat chess is described here, and optionally, chess eating may also be realized by the method of the second embodiment or the third embodiment, which is not described here again.

1009. And displaying the second color through the lamp strip.

In this embodiment, after the device completes a device turn, the mechanical arm is driven to return to the initial state, the second color is used to prompt the player, the current turn is the player turn, chess playing can be performed, and the second color is distinguished from the first color, but the specific color is not specifically limited, and optionally, the color may be green.

1010. The sound box sends out a second preset voice.

In this embodiment, the second preset voice is used to prompt the player that the current round is the player round, for example, the first preset voice may be: please move chess. "

During the operation of the above steps 1001 to 1010, the speaker may be used to emit any preset voice related to the chess game, for example, when the user or device is engaged in a general, the preset voice is emitted: "general".

The steps 1001 to 1010 described above further include the following steps.

And acquiring a second button command sent by the button box.

And controlling the mechanical arm to return to the initial state according to the second button command.

In this embodiment, when the player does not want to continue the game, the second button command is input by pressing the second button to notify the processing device unit to end the game play, and the processing device controls the mechanical arm to return to the initial state to prepare for starting a new game.

It should be noted that, in the process of the equipment round and the operation of the robot arm, if the hand extends into the range of the chessboard, the hand may be damaged by the operation of the robot arm, and there is a certain danger. For convenience of understanding, the detection steps of the control method of the manipulator equipment provided by the embodiment of the present application are described in detail below.

Referring to fig. 11, as shown in fig. 11, a fourth embodiment of the method for controlling a robot operating device according to the embodiment of the present disclosure includes the following steps.

1101. And acquiring a first button command sent by the button box.

This step can refer to step 1001 above, and is not described here again.

1102. The detection surface is transmitted by the detection device.

In this embodiment, the detecting device may specifically be a laser radar, an ultrasonic radar, or the like, and the embodiment of the present application is not limited to the specific implementation manner of the detecting device, and as shown in fig. 1, the detecting device is disposed on the support. As shown in fig. 5, in the device turn, the detecting device is used for detecting during the operation of the robot arm, specifically, the detecting device emits a detecting surface, such as a laser detecting surface or an ultrasonic detecting surface, which is located between the player and the chessboard, and when the player reaches the chessboard area, the detecting device will enter the detecting range of the detecting surface, and at this time, the detecting device can sense that an object enters the chessboard area. Thereby detecting during the operation of the mechanical arm.

1103. When the object is detected to enter the chessboard area, the mechanical arm is driven to stop working.

In this embodiment, when the detection surface detects an obstacle, it is determined that an object enters the board area, and at this time, the mechanical arm is driven to stop working, so as to prevent the action of the mechanical arm from damaging the player.

1104. And preset light is emitted through the lamp strip.

In this embodiment, the preset light is used to warn the player that the current stretching operation is dangerous operation, and the specific implementation manner of the preset light is not limited, and may be, for example, a continuously flashing red light.

1105. And sending a third preset voice through the sound box.

In this embodiment, the third preset voice is used to remind the user to remove the hand from the chessboard area, for example, the third preset voice may be: "Do not enter the chessboard area during the operation of the mechanical arm". Thereby making the player aware of the cause of the current abnormality. While ensuring player safety.

When the player withdraws the arm, the detecting device detects that there is no obstacle on the detecting surface, and then the normal operation is resumed, and the above steps 1002 to 1010 are continuously executed.

The manipulator operation equipment control method provided by the embodiment of the application comprises the following steps: acquiring a chessboard image from an image acquisition device, wherein the chessboard image is the image of the chessboard acquired by the image acquisition device; acquiring a control strategy according to the chessboard image, wherein the control strategy comprises replacing a second chess piece placed at a second position with a first chess piece placed at a first position, and the first position and the second position are different positions on the chessboard; controlling the mechanical arm to move to a first position and then grabbing the first chess piece by the first grabbing part; the mechanical arm is controlled to move to a second position, and then a second chessman is grabbed by the second grabbing part; the first grasping part is controlled to place the first pawn at the second position. Through the work of controlling first portion of snatching and the second portion of snatching, the manipulator arm only need carry out once action, can accomplish the operation of eating chess, and it is shorter to consume time, has promoted manipulator operating equipment's work efficiency.

The above description is directed to the solutions provided in the embodiments of the present application. It is understood that the processing device may be a computer device, and the computer device includes a hardware structure and/or a software module for executing the functions in order to realize the functions. Those of skill in the art will readily appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

Described in terms of hardware structures, the method may be implemented by one entity device, may also be implemented by multiple entity devices together, and may also be a logic function module in one entity device, which is not specifically limited in this embodiment of the present application.

For example, the above methods may each be implemented by the computer device of fig. 12. Fig. 12 is a schematic hardware structure diagram of a computer device according to an embodiment of the present application. The computer device includes at least one processor 1201, communication lines 1202, memory 1203 and at least one communication interface 1204.

The processor 1201 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (server IC), or one or more ICs for controlling the execution of programs in accordance with the present invention.

The communication link 1202 may include a path for communicating information between the aforementioned components.

Communication interface 1204 may employ any transceiver or the like for communicating with other devices or communication networks, such as an ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc.

The memory 1203 may be a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these. The memory may be separate and coupled to the processor via communication link 1202. The memory may also be integral to the processor.

The memory 1203 is used for storing computer execution instructions for executing the scheme of the present application, and the processor 1201 controls the execution of the computer execution instructions. The processor 1201 is configured to execute computer-executable instructions stored in the memory 1203, thereby implementing the methods provided by the above-described embodiments of the present application.

Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

In particular implementations, processor 1201 may include one or more CPUs such as CPU0 and CPU1 in fig. 12, for example, as an example.

In particular implementations, a computer device may include multiple processors, such as processor 1201 and processor 1207 in FIG. 12, for example, as an embodiment. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

In particular implementations, computer device may also include an output device 1205 and an input device 1206, as an embodiment. An output device 1205, in communication with the processor 1201, may display information in a variety of ways. For example, the output device 1205 may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 1206 is in communication with the processor 1201 and may receive user input in a variety of ways. For example, the input device 1206 may be a mouse, keyboard, touch screen device, or sensing device, among others.

The computer device may be a general purpose device or a special purpose device. In a specific implementation, the computer device may be a desktop computer, a laptop computer, a web server, a Personal Digital Assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, or a device with a similar structure as in fig. 12. The embodiment of the application does not limit the type of the computer equipment.

In the embodiment of the present application, the storage device may be divided into the functional units according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing 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. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

For example, in the case where the respective functional units are divided in an integrated manner, fig. 13 shows a schematic diagram of a manipulator operation device control apparatus.

As shown in fig. 13, the manipulator operation device control apparatus provided in the embodiment of the present application includes:

a first obtaining unit 1301, wherein the first obtaining unit 1301 is configured to obtain a target image from the image obtaining apparatus, and the target image is an image of a target object obtained by the image obtaining apparatus;

a second obtaining unit 1302, where the second obtaining unit 1302 is configured to obtain a control policy according to the target image obtained by the first obtaining unit 1301, where the control policy includes replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

a first control unit 1303, wherein the first control unit 1303 controls the robot arm to move to the first position and then to grasp the first unit by the first grasping portion;

a second control unit 1304, wherein the second control unit 1304 is configured to control the robot arm to move to the second position and then grasp the second unit with the second grasping portion;

a third controlling unit 1305, the third controlling unit 1305 being configured to control the first grasping part to place the first unit at the second position.

Optionally, if the first grasping unit and the second grasping unit are respectively connected to a first joint on the robot arm, the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, if the first capturing part is connected to a second joint on the robot arm, and the second capturing part is connected to a third joint on the robot arm, the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, the first and/or second gripping part comprises a motor and at least two claws, and the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, the processing apparatus includes a vision processing module and a computing module, and the second obtaining unit 1302 is configured to:

Optionally, the apparatus further comprises a detection device; the apparatus further comprises a detection unit 1306, the detection unit 1306 being configured to:

Further, an embodiment of the present invention also provides a computer storage medium, which includes instructions that, when executed on a computer device, cause the computer device to execute the above method.

For a detailed description of the program stored in the computer storage medium provided in the embodiments of the present application, reference may be made to the above embodiments, which are not described herein again.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot handling apparatus characterized by comprising: the device comprises a processing device, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part;

the first grasping portion is configured to grasp the first unit;

the second grasping portion is configured to grasp the second unit;

the first grasping portion is configured to place the first unit at the second position.

2. The apparatus of claim 1, wherein the first and second grasping portions are each coupled to a first joint on the robotic arm for driving the first and second grasping portions in motion relative to the target object.

3. The apparatus of claim 1, wherein the first grasping portion is coupled to a second joint on the robotic arm, and the second grasping portion is coupled to a third joint on the robotic arm; the second joint is used for driving the first grabbing part to move relative to the target object, and the third joint is used for driving the second grabbing part to move relative to the target object.

4. The apparatus according to any one of claims 1 to 3, wherein the first and/or second gripping part comprises a motor and at least two claws, the motor being adapted to drive the at least two claws towards each other for effecting gripping of a unit.

5. The apparatus of claim 1, wherein the processing means comprises a visual processing module and a computing module;

the visual processing module is used for carrying out visual recognition on the target image to obtain a recognition result;

6. The apparatus of claim 1, further comprising a detection device;

the detection device is used for detecting in the working process of the mechanical arm, and when the object is detected to enter the area where the target object is located, the mechanical arm is driven to stop working.

7. A manipulator operation apparatus control method characterized in that the manipulator operation apparatus includes a processing device, an image acquisition device, and a manipulator arm to which a first grasping section and a second grasping section are connected, the method being used for the processing device, the method comprising:

8. The method of claim 7, wherein the first and second grasping portions are coupled to respective first joints on the robotic arm, and wherein the controlling the robotic arm to move to the first position to grasp the first unit with the first grasping portion comprises:

grasping the first unit after controlling the first grasping portion to approach the first unit by the first joint;

the controlling the mechanical arm to move to the second position and then grab the second unit by the second grabbing part comprises:

grasping the second unit after controlling the second grasping portion to approach the second unit by the first joint;

the controlling the first grasping portion to place the first unit on the second position includes:

controlling the second grasping portion to move away from the target object through the first joint;

the first grasping portion is controlled to approach the target object by the first joint, and the first unit is placed at the second position.

9. The method of claim 7, wherein the first grasping portion is coupled to a second joint on the robotic arm and the second grasping portion is coupled to a third joint on the robotic arm, and wherein the controlling the robotic arm to move to the first position to grasp the first unit with the first grasping portion comprises:

grasping the first unit after controlling the first grasping portion to approach the first unit by the second joint;

grasping the second unit after controlling the second grasping portion to approach the second unit by the third joint;

controlling the second grasping portion to move away from the target object by the third joint;

the first grasping portion is controlled to approach the target object by the second joint, and the first unit is placed at the second position.

10. The method according to claim 7 or 8, wherein the first and/or second gripping part comprises a motor and at least two claws, and the controlling the robot arm to move to the first position to grip the first unit with the first gripping part comprises:

the controlling the mechanical arm to move to the second position and then grab the first unit by the second grabbing part comprises:

11. The method of claim 7, wherein the processing device comprises a vision processing module and a computing module, and the acquiring the control strategy according to the target object image comprises:

performing visual recognition on the target object image through the visual processing module to obtain a recognition result;

12. The method of claim 7, wherein the apparatus further comprises a detection device; the method further comprises:

detecting in the working process of the mechanical arm through the detection device;

13. A manipulator operation apparatus control device characterized in that the manipulator operation apparatus includes a processing device, an image acquisition device, and a manipulator arm to which a first grasping portion and a second grasping portion are connected, the method being used for the processing device, the manipulator operation apparatus control device comprising:

a second acquisition unit configured to acquire a control policy according to the target image acquired by the first acquisition unit, where the control policy includes replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the board;

a first control unit which controls the mechanical arm to move to the first position and then uses the first grabbing part to grab the first unit;

a third control unit for controlling the first grasping section to place the first unit on the second position.

14. A computer device, characterized in that the computer device comprises: an interaction device, an input/output (I/O) interface, a processor, and a memory having program instructions stored therein;

the interaction device is used for acquiring an operation instruction input by a user;

the processor is configured to execute program instructions stored in the memory to perform the method of any of claims 7-12.

15. A computer-readable storage medium comprising instructions that, when executed on a computer device, cause the computer device to perform the method of any one of claims 7-12.