CN112720500B - Control method and device for manipulator, pickup device and storage medium - Google Patents
Control method and device for manipulator, pickup device and storage medium Download PDFInfo
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- CN112720500B CN112720500B CN202011643302.2A CN202011643302A CN112720500B CN 112720500 B CN112720500 B CN 112720500B CN 202011643302 A CN202011643302 A CN 202011643302A CN 112720500 B CN112720500 B CN 112720500B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The application provides a control method and device of a manipulator, a picking device and a storage medium, wherein the method is applied to the picking device, the picking device is provided with the manipulator, and the method comprises the following steps: acquiring the quality of a target object; acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters; and controlling the mechanical arm to pick up the target object according to the picking strategy. The method can adopt corresponding picking strategies according to the objects with different qualities, so that the same manipulator can adopt different picking parameters to pick the objects with different qualities, and on one hand, the use cost is reduced; on the other hand, the picking failure or the damage of the target object caused by the improper picking parameters is avoided, and the picking success rate is high.
Description
Technical Field
The present application relates to the field of computer vision technology and industrial inspection technology, and in particular, to a method and an apparatus for controlling a manipulator, a pick-up device, and a computer-readable storage medium.
Background
The existing mechanical hands are basically developed according to specific tasks, have fixed structures and functions, need to use different types of mechanical hands for different types of workpieces, and are high in use cost.
Disclosure of Invention
The application aims to provide a control method and a control device for a manipulator, a picking device and a computer readable storage medium, which can adopt corresponding picking strategies according to objects with different qualities, so that the same manipulator can adopt different picking parameters to pick the objects with different qualities, and picking failure or damage to a target object caused by improper picking parameters is avoided.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a method for controlling a robot, which is applied to a pickup apparatus provided with a robot, the method including: acquiring the quality of a target object; acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters; and controlling the mechanical arm to pick up the target object according to the picking strategy. The technical scheme has the advantages that corresponding picking strategies can be adopted according to the objects with different qualities, so that the same manipulator can pick the objects with different qualities by adopting different picking parameters, and on one hand, the use cost is reduced; on the other hand, the picking failure or the damage of the target object caused by the improper picking parameters is avoided, and the picking success rate is high.
In some optional embodiments, the pick-up device further comprises at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tip assembly; the pick-up strategy further comprises at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type. The technical scheme has the beneficial effects that on one hand, whether the target object is a smooth object or an object easy to topple can be judged, one or more of the corresponding picking assembly, the anti-skid assembly and the anti-toppling assembly can be adopted to pick different types of objects, and the intelligent degree is high; on the other hand, through setting up anti-skidding subassembly and preventing empting the subassembly, anti-skidding subassembly can prevent that the target object from taking place to empty at the in-process of picking up from picking up equipment landing, prevents that the subassembly of empting can prevent that the target object from taking place to empty at the in-process of picking up, and the success rate of picking up is high.
In some optional embodiments, the obtaining the quality of the target object includes: acquiring first visual detection data of the target object, wherein the first visual detection data is obtained by detecting the target object by a visual detection device; acquiring the density and the volume of the target object according to the first visual detection data of the target object; and acquiring the mass of the target object according to the density and the volume of the target object. The technical scheme has the advantages that the first visual detection data can be obtained according to the visual detection equipment, the density and the volume of the target object can be obtained through the first visual detection data, so that the quality of the target object can be obtained, the density and the volume of the target object can be directly obtained through the computer vision technology in the whole quality estimation process, non-contact quality estimation is achieved, and the quality of the target object does not need to be measured by adopting a contact method.
In some optional embodiments, the first visual inspection data comprises 2D image data; the method for acquiring the density of the target object comprises the following steps: acquiring texture information of the target object according to the 2D image data; and acquiring the density of the target object according to the texture information of the target object. The technical scheme has the advantages that the 2D image information can reflect the texture information of the target object more intuitively, and the material quality of the target object can be judged according to the texture information of the target object, so that the density of the target object can be obtained according to the material quality.
In some optional embodiments, the pick-up device further comprises at least one anti-slip component, the pick-up strategy further comprising an anti-slip type and an anti-slip component type; the obtaining of the pickup strategy corresponding to the target object according to the quality of the target object includes: according to the quality of the target object, determining a pickup parameter corresponding to the target object; acquiring an antiskid coefficient of the target object according to the texture information of the target object; and determining the anti-skid type and the anti-skid component type corresponding to the target object according to the anti-skid coefficient of the target object. The technical scheme has the advantages that on one hand, the corresponding picking parameters can be selected according to the quality of the target object to pick the target object, so that picking failure or damage to the target object caused by improper picking parameters is avoided; on the other hand, according to the texture information of the target object, the material of the target object can be identified, and the anti-skid coefficient of the target object can be obtained according to the material, so that the target object is classified into a corresponding anti-skid type, and the target object is picked up by using a corresponding anti-skid component, thereby further improving the intelligent degree.
In some optional embodiments, the first visual inspection data comprises 3D point cloud data; the method of acquiring a volume of the target object comprises: and acquiring the volume of the target object according to the 3D point cloud data. The technical scheme has the advantages that the 3D contour information of the target object can be obtained according to the 3D point cloud data, so that the volume of the target object can be obtained according to the 3D contour information of the target object.
In some optional embodiments, the pick-up device further comprises a visual detection device; the method further comprises the following steps: receiving second visual detection data sent by the visual detection equipment; and according to the second visual detection data, when detecting that the variation of the volume of the target object in a first preset time period is larger than a first preset threshold value, controlling the mechanical arm to stop picking up the target object. The technical scheme has the advantages that in the picking process, when the target object is damaged, for example, the target object is broken, the size changes suddenly, the target object continues to be picked, damage aggravation can be caused, the volume change of the target object in the first preset time can be detected through the second visual detection data, when the volume change exceeds the first preset threshold, the target object can be stopped being picked, and the damage degree of the target object is reduced.
In some optional embodiments, the picking apparatus further comprises a picking assembly detachably connected to the robot and a pressure sensor for sensing a force between the picking assembly and the target object; the method further comprises the following steps: receiving pressure data sent by the pressure sensor; and when detecting that the variation of the pressure data in a second preset time is larger than a second preset threshold value, controlling the manipulator to stop picking up the target object. The technical scheme has the beneficial effects that on one hand, the picking assembly is detachably connected with the manipulator, the same manipulator can be connected with the picking assemblies of different types so as to pick objects of different types, and the application range is wide; on the other hand, in the picking process, when the target object is damaged, for example, the target object is broken, the acting force between the picking assembly and the target object can be suddenly changed, that is, the pressure applied to the picking assembly can be suddenly changed, the damage is aggravated when the target object is continuously picked, the change amount of the pressure data of the picking assembly in the second preset time period can be detected through the pressure sensor, when the pressure change amount exceeds the second preset threshold value, the picking of the target object can be stopped, and the damage degree of the target object is reduced.
In a second aspect, the present application provides a control device for a manipulator, applied to a pickup apparatus provided with a manipulator, the device including: the quality acquisition module is used for acquiring the quality of the target object; the strategy acquisition module is used for acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters; and the first control module is used for controlling the mechanical arm to pick up the target object according to the picking strategy.
In some optional embodiments, the pick-up device further comprises at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tip assembly; the pick-up strategy further comprises at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type.
In some optional embodiments, the quality acquisition module comprises: the first vision unit is used for acquiring first vision detection data of the target object, wherein the first vision detection data is obtained by detecting the target object by a vision detection device; a parameter obtaining unit, configured to obtain a density and a volume of the target object according to first visual inspection data of the target object; and the mass obtaining unit is used for obtaining the mass of the target object according to the density and the volume of the target object.
In some optional embodiments, the first visual inspection data comprises 2D image data; the parameter acquisition unit includes: the information acquisition subunit is used for acquiring the texture information of the target object according to the 2D image data; and the density acquisition subunit is used for acquiring the density of the target object according to the texture information of the target object.
In some optional embodiments, the pick-up device further comprises at least one anti-slip component, the pick-up strategy further comprises an anti-slip type and an anti-slip component type; the policy acquisition module includes: the pickup parameter determining unit is used for determining pickup parameters corresponding to the target object according to the quality of the target object; the anti-skid coefficient unit is used for acquiring an anti-skid coefficient of the target object according to the texture information of the target object; and the anti-skid determining unit is used for determining the anti-skid type and the anti-skid component type corresponding to the target object according to the anti-skid coefficient of the target object.
In some optional embodiments, the first visual inspection data comprises 3D point cloud data; the parameter acquisition unit includes: and the volume acquisition subunit is used for acquiring the volume of the target object according to the 3D point cloud data.
In some optional embodiments, the pick-up device further comprises a visual detection device; the apparatus further includes a second control module, the second control module comprising: the second vision unit is used for receiving second vision detection data sent by the vision detection equipment; and the first picking stopping unit is used for controlling the manipulator to stop picking the target object when detecting that the variation of the volume of the target object in a first preset time is larger than a first preset threshold according to the second visual detection data.
In some optional embodiments, the picking apparatus further comprises a picking assembly detachably connected to the robot and a pressure sensor for sensing a force between the picking assembly and the target object; the apparatus further includes a third control module, the third control module comprising: the pressure receiving unit is used for receiving pressure data sent by the pressure sensor; and the second picking stopping unit is used for controlling the manipulator to stop picking the target object when detecting that the variation of the pressure data in a second preset time length is larger than a second preset threshold value.
In a third aspect, the present application provides a pick apparatus comprising a memory, a processor and a manipulator, the memory storing a computer program which, when executed by the processor, performs the steps of any of the methods described above.
In some optional embodiments, the pick-up device further comprises at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tipping assembly.
In some optional embodiments, the pick-up device further comprises a visual detection device.
In some optional embodiments, the picking apparatus further comprises a picking assembly detachably connected to the robot and a pressure sensor for sensing a force between the picking assembly and the target object.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic flowchart of a control method of a manipulator according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of obtaining quality according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a process for obtaining density according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a process for obtaining a pickup strategy according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a control method of a manipulator according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a method for controlling a manipulator according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a control device of a manipulator according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a quality obtaining module according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a parameter obtaining unit according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a parameter obtaining unit according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a policy obtaining module according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a control device of a manipulator according to an embodiment of the present disclosure;
FIG. 13 is a block diagram illustrating a second control module according to an embodiment of the present disclosure;
fig. 14 is a schematic structural diagram of a control device of a manipulator according to an embodiment of the present disclosure;
FIG. 15 is a schematic structural diagram of a third control module according to an embodiment of the present disclosure;
fig. 16 is a block diagram of a pickup device according to an embodiment of the present disclosure;
fig. 17 is a schematic structural diagram of a program product for implementing a control method of a robot according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1, an embodiment of the present application provides a control method of a manipulator, which is applied to a pickup apparatus provided with the manipulator. The method includes steps S101 to S103.
Step S101: the quality of the target object is obtained.
Referring to fig. 2, in a specific embodiment, the step S101 may include steps S201 to S203.
Step S201: acquiring first visual inspection data of the target object, wherein the first visual inspection data is obtained by a visual inspection device through inspecting the target object.
Step S202: and acquiring the density and the volume of the target object according to the first visual detection data of the target object.
Referring to fig. 3, in a specific embodiment, the first visual inspection data includes 2D image data, and the step S202 may include steps S301 to S302.
Step S301: and acquiring texture information of the target object according to the 2D image data.
Step S302: and acquiring the density of the target object according to the texture information of the target object.
Therefore, the texture information of the target object can be reflected visually by the 2D image information, and the material quality of the target object can be judged according to the texture information of the target object, so that the density of the target object can be obtained according to the material quality.
In a specific embodiment, the first visual inspection data may include 3D point cloud data, and the step S202 may include: and acquiring the volume of the target object according to the 3D point cloud data.
Thereby, 3D contour information of the target object, such as length, width, height, thickness, area, curvature, etc. of the target object, may be acquired from the 3D point cloud data, thereby acquiring a volume of the target object from the 3D contour information of the target object.
Step S203: and acquiring the mass of the target object according to the density and the volume of the target object.
Therefore, the first visual detection data can be obtained according to the visual detection equipment, the density and the volume of the target object can be obtained through the first visual detection data, the quality of the target object is obtained, the density and the volume of the target object are directly obtained through the whole quality estimation process by utilizing a computer vision technology, non-contact quality estimation is achieved, and the quality of the target object does not need to be measured by adopting a contact method.
Step S102: and acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters.
In a specific embodiment, the pick-up parameter may include any one or more of a pick-up force, a pick-up speed, a pick-up pressure, a motor parameter, a cylinder parameter, and a hydraulic parameter.
In a specific embodiment, the picking device may further include at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tipping assembly, the pick-up strategy further comprising at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type. In particular, the pick-up assembly may be a vacuum chuck, a mechanical gripper, or the like, the slip-resistant assembly may be a slip-resistant glove, and the anti-tipping assembly may be a baffle or an isolation net.
Therefore, on one hand, whether the target object is a smooth object or an object easy to topple can be judged, and one or more of the corresponding picking assembly, the anti-skid assembly and the anti-toppling assembly can be adopted for picking different types of objects, so that the intelligent degree is high; on the other hand, through setting up anti-skidding subassembly and preventing empting the subassembly, anti-skidding subassembly can prevent that the target object from taking place to empty at the in-process of picking up from picking up equipment landing, prevents that the subassembly of empting can prevent that the target object from taking place to empty at the in-process of picking up, and the success rate of picking up is high.
Referring to fig. 4, in a specific embodiment, the pickup device may further include at least one anti-skid component, the pickup strategy may further include an anti-skid type and an anti-skid component type, and the step S102 may include steps S401 to S403.
Step S401: and determining a pickup parameter corresponding to the target object according to the quality of the target object.
Step S402: and acquiring the antiskid coefficient of the target object according to the texture information of the target object.
Step S403: and determining the anti-skid type and the anti-skid component type corresponding to the target object according to the anti-skid coefficient of the target object.
Therefore, on one hand, the corresponding picking parameters can be selected according to the quality of the target object to pick the target object, so that picking failure or damage to the target object caused by improper picking parameters is avoided; on the other hand, according to the texture information of the target object, the material of the target object can be identified, and the anti-skid coefficient of the target object can be obtained according to the material, so that the target object is classified into a corresponding anti-skid type, and the target object is picked up by using a corresponding anti-skid component, thereby further improving the intelligent degree.
Step S103: and controlling the mechanical arm to pick up the target object according to the picking strategy.
Therefore, corresponding picking strategies can be adopted according to the objects with different qualities, so that the same manipulator can pick the objects with different qualities by adopting different picking parameters, and on one hand, the use cost is reduced; on the other hand, the picking failure or the damage of the target object caused by the improper picking parameters is avoided, and the picking success rate is high.
Referring to fig. 5, in a specific embodiment, the pickup device may further include a visual inspection device, and the method may further include steps S104 to S105.
Step S104: and receiving second visual detection data sent by the visual detection equipment.
Step S105: and according to the second visual detection data, when detecting that the variation of the volume of the target object in a first preset time period is larger than a first preset threshold value, controlling the mechanical arm to stop picking up the target object. The first preset threshold may be a volume change before and after the target object is slightly damaged, and the first preset threshold is, for example, 0.1 cubic meter, or 5% of the volume before the change.
Therefore, in the picking process, when the target object is damaged, for example, the target object is broken, the volume changes suddenly, the damage is aggravated when the target object is continuously picked, the volume change of the target object in the first preset time can be detected through the second visual detection data, when the volume change exceeds the first preset threshold, the target object can be stopped being picked, and the damage degree of the target object is reduced.
Referring to fig. 6, in a specific embodiment, the picking apparatus may further include a picking assembly detachably connected to the robot, and a pressure sensor for sensing a force between the picking assembly and the target object, and the method may further include steps S106 to S107.
Step S106: and receiving pressure data sent by the pressure sensor.
Step S107: and when detecting that the variation of the pressure data in a second preset time period is larger than a second preset threshold value, controlling the manipulator to stop picking up the target object. The first preset threshold may be a pressure change amount before and after the target object is slightly damaged. The second predetermined threshold is, for example, 0.1 newton, or 5% of the pre-change pressure.
Therefore, on one hand, the picking assembly is detachably connected with the manipulator, the same manipulator can be connected with the picking assemblies of different types so as to pick objects of different types, and the application range is wide; on the other hand, in the picking process, when the target object is damaged, for example, the target object is broken, the acting force between the picking assembly and the target object can be suddenly changed, that is, the pressure applied to the picking assembly can be suddenly changed, the damage is aggravated when the target object is continuously picked, the change amount of the pressure data of the picking assembly in the second preset time period can be detected through the pressure sensor, when the pressure change amount exceeds the second preset threshold value, the picking of the target object can be stopped, and the damage degree of the target object is reduced.
Referring to fig. 7, an embodiment of the present application further provides a control device for a manipulator, and a specific implementation manner of the control device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for a manipulator, and details of a part of the implementation manner and the achieved technical effect are not repeated. The device is applied to a pickup apparatus provided with a manipulator.
The device comprises: a quality obtaining module 101, configured to obtain a quality of a target object; a policy obtaining module 102, configured to obtain, according to the quality of the target object, a pickup policy corresponding to the target object, where the pickup policy includes a pickup parameter; a first control module 103, configured to control the manipulator to pick up the target object according to the pick-up strategy.
In a specific embodiment, the picking device may further include at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tip assembly; the pick-up strategy may further comprise at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type.
Referring to fig. 8, in a specific embodiment, the quality obtaining module 101 may include: a first visual unit 1011, configured to obtain first visual inspection data of the target object, where the first visual inspection data is obtained by a visual inspection apparatus detecting the target object; a parameter obtaining unit 1012, configured to obtain a density and a volume of the target object according to the first visual inspection data of the target object; an obtaining mass unit 1013 may be configured to obtain a mass of the target object according to the density and the volume of the target object.
Referring to fig. 9, in a specific embodiment, the first visual inspection data may include 2D image data; the parameter acquiring unit 1012 may include: an information obtaining subunit 1012a, which may be configured to obtain texture information of the target object according to the 2D image data; the density obtaining subunit 1012b may be configured to obtain the density of the target object according to the texture information of the target object.
Referring to fig. 10, in a specific embodiment, the first visual inspection data may include 3D point cloud data; the parameter acquiring unit 1012 may include: a volume obtaining subunit 1012c may be configured to obtain a volume of the target object according to the 3D point cloud data.
Referring to fig. 11, in a specific embodiment, the picking device may further include at least one anti-slip component, and the picking strategy may further include an anti-slip type and an anti-slip component type; the policy acquisition module 102 may include: a pickup parameter determining unit 1021, configured to determine a pickup parameter corresponding to the target object according to the quality of the target object; an anti-slip coefficient unit 1022, configured to obtain an anti-slip coefficient of the target object according to the texture information of the target object; the antiskid determining unit 1023 may be configured to determine an antiskid type and an antiskid component type corresponding to the target object according to the antiskid coefficient of the target object.
Referring to fig. 12-13, in a particular embodiment, the pick-up device may further comprise a visual detection device; the apparatus may further include a second control module 104, and the second control module 104 may include: a second vision unit 1041, configured to receive second vision inspection data sent by the vision inspection apparatus; the first stop picking unit 1042 may be configured to control the manipulator to stop picking the target object when detecting that a variation of the volume of the target object within a first preset time period is greater than a first preset threshold according to the second visual detection data.
Referring to fig. 14-15, in a specific embodiment, the picking apparatus may further include a picking assembly that may be removably coupled to the robot and a pressure sensor that may be used to sense a force between the picking assembly and the target object; the apparatus may further include a third control module 105, and the third control module 105 may include: a pressure receiving unit 1051, which can be used for receiving pressure data sent by the pressure sensor; a second stop picking unit 1052, which may be configured to control the manipulator to stop picking the target object when detecting that a variation of the pressure data within a second preset time period is greater than a second preset threshold.
Referring to fig. 16, an embodiment of the present application further provides a pick-up device 200, where the pick-up device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.
The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the control method for the manipulator in the embodiment of the present application, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for the manipulator, and details of the method are not repeated.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
The pick device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the pick device 200, and/or with any device (e.g., router, modem, etc.) that enables the pick device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the pick-up device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the pick device 200 via the bus 230. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the pick-up device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
In a specific embodiment, the picking device may further include at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tipping assembly.
In a particular embodiment, the pick-up device may further comprise a visual detection device.
In a specific embodiment, the picking apparatus may further include a picking assembly that may be detachably coupled with the robot and a pressure sensor that may be used to sense a force between the picking assembly and the target object.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the control method for a manipulator in the embodiment of the present application are implemented, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for a manipulator, and some details are not repeated.
Fig. 17 shows a program product 300 for implementing the above-described control method for the robot according to the present embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be executed on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.
Claims (19)
1. A control method of a robot, characterized by being applied to a pickup apparatus provided with a robot, the method comprising:
acquiring the quality of a target object;
acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters, and the pickup parameters comprise any one or more of pickup force, pickup speed, pickup pressure, motor parameters, cylinder parameters and hydraulic parameters;
controlling the mechanical arm to pick up the target object according to the picking strategy;
the picking device further comprises at least one anti-slip component, and the picking strategy further comprises an anti-slip type and an anti-slip component type;
the obtaining of the pickup strategy corresponding to the target object according to the quality of the target object includes:
according to the quality of the target object, determining a pickup parameter corresponding to the target object;
acquiring an antiskid coefficient of the target object according to the texture information of the target object;
determining an anti-skid type and an anti-skid component type corresponding to the target object according to the anti-skid coefficient of the target object;
the texture information of the target object is acquired by adopting the following method:
acquiring first visual inspection data of the target object, wherein the first visual inspection data is obtained by a visual inspection device through inspecting the target object, and the first visual inspection data comprises 2D image data;
and acquiring texture information of the target object according to the 2D image data.
2. The robot control method according to claim 1, wherein the pickup device further comprises at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tip assembly;
the pick-up strategy further comprises at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type.
3. The robot control method according to claim 1, wherein the acquiring the quality of the target object includes:
acquiring first visual detection data of the target object, wherein the first visual detection data is obtained by detecting the target object by a visual detection device;
acquiring the density and the volume of the target object according to the first visual detection data of the target object;
and acquiring the mass of the target object according to the density and the volume of the target object.
4. The robot hand control method according to claim 3, wherein the first visual inspection data includes 2D image data;
the method for acquiring the density of the target object comprises the following steps:
acquiring texture information of the target object according to the 2D image data;
and acquiring the density of the target object according to the texture information of the target object.
5. The robot hand control method according to claim 3, wherein the first visual inspection data includes 3D point cloud data;
the method of acquiring a volume of the target object comprises:
and acquiring the volume of the target object according to the 3D point cloud data.
6. The robot hand control method according to claim 1, wherein the pickup device further comprises a visual inspection device;
the method further comprises the following steps:
receiving second visual detection data sent by the visual detection equipment;
and according to the second visual detection data, when detecting that the variation of the volume of the target object in a first preset time period is larger than a first preset threshold value, controlling the mechanical arm to stop picking up the target object.
7. The method of controlling a robot hand according to claim 1, wherein the pickup device further comprises a pickup assembly detachably connected to the robot hand, and a pressure sensor for sensing a force between the pickup assembly and the target object;
the method further comprises the following steps:
receiving pressure data sent by the pressure sensor;
and when detecting that the variation of the pressure data in a second preset time is larger than a second preset threshold value, controlling the manipulator to stop picking up the target object.
8. A control device of a manipulator, characterized in that it is applied to a pick-up apparatus provided with a manipulator, the device comprising:
the quality acquisition module is used for acquiring the quality of the target object;
the strategy acquisition module is used for acquiring a pickup strategy corresponding to the target object according to the quality of the target object, wherein the pickup strategy comprises pickup parameters, and the pickup parameters comprise any one or more of pickup force, pickup speed, pickup pressure, motor parameters, cylinder parameters and hydraulic parameters;
the first control module is used for controlling the mechanical arm to pick up the target object according to the picking strategy;
the picking device further comprises at least one anti-slip component, and the picking strategy further comprises an anti-slip type and an anti-slip component type;
the policy acquisition module comprises:
the pickup parameter determining unit is used for determining pickup parameters corresponding to the target object according to the quality of the target object;
the anti-skid coefficient unit is used for acquiring the anti-skid coefficient of the target object according to the texture information of the target object;
the anti-skid determining unit is used for determining an anti-skid type and an anti-skid component type corresponding to the target object according to the anti-skid coefficient of the target object;
the texture information of the target object is acquired by adopting the following method:
acquiring first visual inspection data of the target object, wherein the first visual inspection data is obtained by a visual inspection device through inspecting the target object, and the first visual inspection data comprises 2D image data;
and acquiring texture information of the target object according to the 2D image data.
9. The control device of the robot hand according to claim 8, wherein the pick-up apparatus further comprises at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tip assembly;
the pick-up strategy further comprises at least one of: pick-up type, pick-up assembly type, anti-skid assembly type, anti-tip type, and anti-tip assembly type.
10. The robot control apparatus according to claim 8, wherein the mass acquisition module includes:
the first vision unit is used for acquiring first vision detection data of the target object, wherein the first vision detection data is obtained by detecting the target object by a vision detection device;
a parameter obtaining unit, configured to obtain a density and a volume of the target object according to first visual inspection data of the target object;
and the mass obtaining unit is used for obtaining the mass of the target object according to the density and the volume of the target object.
11. The control device of the robot hand according to claim 10, wherein the first visual inspection data includes 2D image data;
the parameter acquisition unit includes:
the information acquisition subunit is used for acquiring the texture information of the target object according to the 2D image data;
and the density acquisition subunit is used for acquiring the density of the target object according to the texture information of the target object.
12. The control device of the robot hand according to claim 10, wherein the first visual detection data includes 3D point cloud data;
the parameter acquisition unit includes:
and the volume acquisition subunit is used for acquiring the volume of the target object according to the 3D point cloud data.
13. The control apparatus of a robot hand according to claim 8, wherein the pick-up device further comprises a visual inspection device;
the apparatus further includes a second control module, the second control module comprising:
the second vision unit is used for receiving second vision detection data sent by the vision detection equipment;
and the first picking stopping unit is used for controlling the manipulator to stop picking the target object when detecting that the variation of the volume of the target object in a first preset time is larger than a first preset threshold according to the second visual detection data.
14. The control device of the robot hand according to claim 8, wherein the picking apparatus further comprises a picking assembly detachably connected to the robot hand and a pressure sensor for sensing a force between the picking assembly and the target object;
the apparatus further includes a third control module, the third control module comprising:
the pressure receiving unit is used for receiving pressure data sent by the pressure sensor;
and the second picking stopping unit is used for controlling the manipulator to stop picking the target object when detecting that the variation of the pressure data in a second preset time length is larger than a second preset threshold value.
15. A pick-up device, characterized in that it comprises a memory, a processor and a manipulator, the memory storing a computer program which, when executed by the processor, carries out the steps of the method according to any one of claims 1-7.
16. The pickup apparatus as recited in claim 15, further comprising at least one of: at least one pick-up assembly, at least one anti-skid assembly, and at least one anti-tipping assembly.
17. The pickup apparatus as recited in claim 15, wherein the pickup apparatus further comprises a visual inspection apparatus.
18. The apparatus of claim 15, further comprising a picking assembly removably coupled to the robot and a pressure sensor for sensing a force between the picking assembly and the target object.
19. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN103753585A (en) * | 2014-01-10 | 2014-04-30 | 南通大学 | Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis |
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| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| CN209256966U (en) * | 2018-11-27 | 2019-08-16 | 深圳蓝胖子机器人有限公司 | For grabbing the end effector of adsorbent article |
| CN210139230U (en) * | 2019-04-10 | 2020-03-13 | 南京力泰智能科技有限公司 | Truss linkage manipulator device |
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| CN211639919U (en) * | 2020-01-07 | 2020-10-09 | 理光图像技术（上海）有限公司 | Target object moving system |
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