CN112784875A - Control method of manipulator and related device - Google Patents
Control method of manipulator and related device Download PDFInfo
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- CN112784875A CN112784875A CN202011614976.XA CN202011614976A CN112784875A CN 112784875 A CN112784875 A CN 112784875A CN 202011614976 A CN202011614976 A CN 202011614976A CN 112784875 A CN112784875 A CN 112784875A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/40—Analysis of texture
Abstract
The application provides a control method of a manipulator and a related device, wherein the method comprises the following steps: acquiring first visual inspection data of a target object; predicting whether the target object slips off in the moving process according to the first visual detection data of the target object; and if the target object is predicted to slip off in the moving process, controlling the manipulator to pick up and move the target object by using the anti-slip component, or controlling the manipulator to stop picking up. According to the method, the first visual detection data of the target object is obtained, whether the target object slips off in the moving process is predicted according to the first visual detection data, if yes, the manipulator is controlled to stop picking, and some anti-slip measures are taken, so that unnecessary loss caused by the fact that the target object is damaged by slipping off is avoided.
Description
Technical Field
The application relates to the technical field of computer vision technology and industrial detection, in particular to a control method of a manipulator and a related device.
Background
The manipulator is widely designed and utilized at present as a device capable of simulating the arms of a person, brings great convenience to production and life, and saves a large amount of labor force. However, at present, many manipulators do not have a prediction function, and cannot automatically judge whether a grabbed and moved target object is safe and reliable, so that the situation that the object is not suitable to be picked up and damaged inevitably occurs in the using process, and certain risks are caused during use.
The invention can automatically judge whether the picking movement is safe or not according to the parameters of the material, the weight, the height of the gravity center, the acting force and the like, and if the picking movement is unsafe, preventive measures are taken to ensure the safety and the reliability of the picking movement, thereby avoiding the loss.
Disclosure of Invention
The application aims to provide a control method and a related device of a manipulator, which are used for judging whether the picking movement is safe and reliable or not, taking a slipping prevention measure and ensuring safety and reliability.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a control method for a robot applied to a pickup apparatus provided with a robot for picking up and moving a target object, the robot being provided with an anti-slip assembly, the method comprising: acquiring first visual inspection data of the target object, wherein the first visual inspection data of the target object is obtained by a visual inspection device through inspecting the target object before the mechanical arm picks up the target object; predicting whether the target object slips off in the moving process according to the first visual detection data of the target object; and if the target object is predicted to slip off in the moving process, controlling the manipulator to pick up and move the target object by using the anti-slip component, or controlling the manipulator to stop picking up. The technical scheme has the advantages that the first visual detection data of the target object are obtained, whether the target object slips in the moving process or not is predicted according to the first visual detection data, if yes, the manipulator is controlled to stop picking, and some anti-slip measures are taken, so that unnecessary loss caused by the fact that the target object is damaged by slipping is avoided.
In some optional embodiments, the predicting whether the target object will slip off during moving according to the first visual inspection data of the target object includes: acquiring characteristic information of the target object according to the first visual detection data of the target object; detecting whether the target object meets a slipping condition or not according to the characteristic information of the target object; and if the target object meets the sliding condition, predicting that the target object slides in the moving process. The technical scheme has the beneficial effects that the slipping condition is set, whether the slipping condition is met or not is detected according to the characteristic information of the target object, if yes, the target object slips in the moving process, and therefore corresponding measures are taken in advance according to the parameters such as the material, the outline, the weight and the like of the target object to prevent slipping.
In some optional embodiments, the characteristic information of the target object includes an anti-slip coefficient of the target object, and the slip condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; or, the feature information of the target object includes a contour type of the target object, and the slip-off condition is: the contour type of the target object is a preset contour type; or, the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height. The technical scheme has the beneficial effects that if the anti-skid coefficient of the target object is smaller than the preset anti-skid coefficient, or the contour type of the target object is a preset contour type capable of sliding off, or the center height of the target object is larger than the geometric height of the target object and the difference between the center height and the geometric height is larger than the preset height, anti-skid measures need to be taken, such as arranging a tray below a manipulator, paving a sponge cushion, wrapping the target object by using a soft package, or giving up grabbing; if the picking and moving process is carried out on uneven and bumpy road sections, the clamping arms can be set to be flexible, for example, shock absorption is implemented, and the buffer effect is achieved through hydraulic pressure, air pressure, rigid springs and the like.
In some optional embodiments, the method further comprises: obtaining second visual inspection data of the target object, a second view of the target objectThe vision detection data is obtained by the vision detection device detecting the target object in the picking process; according to the second visual detection data of the target object, the moving distance delta L of the target object in a first preset time length is obtained1(ii) a Obtaining the moving distance delta L of the antiskid component in the first preset time length2(ii) a If | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking. The technical scheme has the beneficial effects that the method is used for predicting whether the target object can slide off in the picking process, and if the | Delta L is1-ΔL2If the variable quantity exceeds the first preset threshold value, the manipulator is controlled to stop picking, so that the robot is prevented from sliding off.
In some optional embodiments, the pickup device is provided with a pressure sensor for sensing a force between the target object and the pickup assembly; the method further comprises the following steps: receiving pressure data sent by the pressure sensor, wherein the pressure data of the target object is detected by the pressure sensor in the picking process; acquiring the variable quantity of the acting force between the target object and the picking assembly within a second preset time according to the pressure data sent by the pressure sensor; and if the variation of the acting force is larger than a second preset threshold value, determining that the target object is about to slide off, and controlling the mechanical arm to stop picking. The technical scheme has the advantages that the device is used for predicting that the magnitude of the variation of the acting force between the target object and the picking assembly is compared with a second preset threshold value in the clamping process, and determining whether the target object slides down or not so as to adjust the acting force of the picking assembly on the target object at any time to prevent the target object from sliding down or stop picking work when necessary.
In some optional embodiments, the method further comprises: acquiring the quality of the target object; the controlling the robot to pick up and move the target object using the anti-slip assembly includes: and controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object. The technical scheme has the advantages that the quality of the target object is obtained, different control strategies are executed aiming at the target objects with different qualities, so that the manipulator can pick up the target objects with different qualities, and the application range is wide.
In a second aspect, the present application provides a control apparatus for a robot, applied to a pickup device provided with a robot for picking up and moving a target object, the robot being provided with an anti-slip assembly, the apparatus including: the first vision module is used for acquiring first vision detection data of the target object, and the first vision detection data of the target object is obtained by detecting the target object by a vision detection device before the target object is picked up by the manipulator; the sliding prediction module is used for predicting whether the target object slides in the moving process according to the first visual detection data of the target object; the first control module is used for controlling the manipulator to pick and move the target object by using the anti-slip component or controlling the manipulator to stop picking if the target object is predicted to slip in the moving process.
In some optional embodiments, the fall prediction module comprises: the characteristic acquisition unit is used for acquiring characteristic information of the target object according to the first visual detection data of the target object; the condition detection unit is used for detecting whether the target object meets a slipping condition or not according to the characteristic information of the target object; and the slip predicting unit is used for predicting that the target object slips in the moving process if the target object meets the slip condition.
In some optional embodiments, the characteristic information of the target object includes an anti-slip coefficient of the target object, and the slip condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; or, the feature information of the target object includes a contour type of the target object, and the slip-off condition is: the contour type of the target object is a preset contour type; or, the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height.
In some optional embodiments, the apparatus further comprises a second control module comprising: the second vision unit is used for acquiring second vision detection data of the target object, and the second vision detection data of the target object is obtained by the vision detection equipment through detecting the target object in the picking process; a target distance unit, configured to obtain a moving distance Δ L of the target object within a first preset time period according to the second visual inspection data of the target object1(ii) a A component distance unit for acquiring a movement distance Delta L of the anti-skid component within the first preset time length2(ii) a A first stopping unit for if | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking.
In some optional embodiments, the pickup device is provided with a pressure sensor for sensing a force between the target object and the pickup assembly; 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 pressure data of the target object is detected by the pressure sensor in the picking process; the acting force unit is used for acquiring the variable quantity of the acting force between the target object and the picking assembly within a second preset time length according to the pressure data sent by the pressure sensor; and the second stopping unit is used for determining that the target object is about to slide off and controlling the manipulator to stop picking if the variation of the acting force is larger than a second preset threshold.
In some optional embodiments, the apparatus further comprises: the quality acquisition module is used for acquiring the quality of the target object; the first control module is used for controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object.
In a third aspect, the present application provides a pick-up device comprising a memory, a processor and a robot for picking up and moving a target object, the robot being provided with a non-slip assembly, the memory storing a computer program, the processor implementing the steps of any of the above methods when executing the computer program.
In some alternative embodiments, the pick-up device is provided with a pressure sensor for sensing the force between the target object and the pick-up assembly.
In some alternative embodiments, the anti-skid assembly is provided with a pickface and a stop proximate a periphery of the pickface.
In some optional embodiments, the anti-skid assembly further comprises a non-skid pad disposed on the pickface.
In some alternative embodiments, the robotic arm of the manipulator is a flexible robotic arm.
In some alternative embodiments, the damping means of the robotic arm of the manipulator comprises at least one of: hydraulic, pneumatic and stiff springs.
In a third aspect, the present application provides a pick-up device comprising a memory, a processor and a robot for picking up and moving a target object, the robot being provided with a non-slip assembly, the memory storing a computer program, the processor implementing the steps of any of the above methods when executing the computer program.
In a fourth aspect, the present application provides a robot chassis comprising any of the above pick-up devices.
In a fifth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, performs 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 illustrating a process of predicting whether a target object will slip before picking according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart illustrating a process of detecting whether a target object is about to slip off in a picking process according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart illustrating a process of detecting whether a target object is about to slip off in a picking process according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart illustrating a process of controlling a manipulator to pick up and move a target object according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of obtaining the quality of a target object according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of obtaining a density of a target object according to an embodiment of the present disclosure;
fig. 8 is a schematic flowchart of acquiring a volume of a target object according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a control device of a manipulator according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a slip prediction module according to an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a second control module according to an embodiment of the present disclosure;
FIG. 12 is a schematic structural diagram of a third control module according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a pickup device according to an embodiment of the present disclosure;
fig. 14 is a schematic structural diagram of a robot chassis provided in an embodiment of the present application;
fig. 15 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, the present application provides a control method of a robot applied to a pickup apparatus provided with a robot for picking up and moving a target object, the robot being provided with an anti-slip assembly, the method including steps S101 to S102.
Step S101: acquiring first visual inspection data of the target object, wherein the first visual inspection data of the target object is obtained by a visual inspection device through inspection of the target object before the mechanical arm picks up the target object.
Step S102: and predicting whether the target object slips off in the moving process according to the first visual detection data of the target object.
Step S103: and if the target object is predicted to slip off in the moving process, controlling the manipulator to pick up and move the target object by using the anti-slip component, or controlling the manipulator to stop picking up.
According to the steps of the embodiment of the application, the first visual detection data of the target object are obtained, whether the target object can slide in the moving process is predicted, if yes, the manipulator is controlled to stop picking, and some anti-skidding measures are taken, so that unnecessary loss caused by the fact that the target object is damaged by sliding is avoided.
Referring to fig. 2, in a specific implementation, the step S102 may include steps S201 to S203.
Step S201: and acquiring characteristic information of the target object according to the first visual detection data of the target object.
Step S202: and detecting whether the target object meets a slipping condition or not according to the characteristic information of the target object.
Step S203: and if the target object meets the sliding condition, predicting that the target object slides in the moving process.
The method comprises the steps of setting a slipping condition, detecting whether the target object meets the slipping condition according to the characteristic information of the target object, and if so, slipping the target object in the moving process so as to take corresponding measures to prevent slipping according to parameters such as material, outline, weight and the like of the target object in advance.
In a specific implementation, the feature information of the target object includes an anti-skid coefficient of the target object, and the landing condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; or, the feature information of the target object includes a contour type of the target object, and the slip-off condition is: the contour type of the target object is a preset contour type; or, the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height.
In the above steps of this embodiment of the application, if the anti-skid coefficient of the target object is less than the preset anti-skid coefficient, or the profile type of the target object is a preset profile type capable of slipping off, or the center height of the target object is greater than the geometric height thereof, and the difference between the center height and the geometric height is greater than the preset height, anti-skid measures need to be taken, such as setting a tray below a manipulator, laying a sponge cushion, wrapping the target object with a soft package, or abandoning grabbing; if the picking and moving process is carried out on uneven and bumpy road sections, the clamping arms can be set to be flexible, for example, shock absorption is implemented, and the buffer effect is achieved through hydraulic pressure, air pressure, rigid springs and the like.
Referring to fig. 3, in a specific implementation, the method may further include steps S301 to S305.
Step S301: and acquiring second visual detection data of the target object, wherein the second visual detection data of the target object is obtained by the visual detection equipment through detecting the target object in the picking process.
Step S302: acquiring the second visual detection data of the target objectMoving distance delta L of target object in first preset time length1。
Step S303: obtaining the moving distance delta L of the antiskid component in the first preset time length2。
Step S304: detecting | Δ L1-ΔL2If | is greater than a first preset threshold.
Step S305: if | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking.
The foregoing steps of the embodiments of the present application are used to predict whether the target object will slip during the picking process, if | Δ L1-ΔL2If the variable quantity exceeds the first preset threshold value, the manipulator is controlled to stop picking, so that the robot is prevented from sliding off.
Referring to fig. 4, in a specific implementation, the pickup device is provided with a pressure sensor for sensing a force between the target object and the pickup assembly; the method may further include steps S401 to S404.
Step S401: receiving pressure data sent by the pressure sensor, wherein the pressure data of the target object is detected by the pressure sensor in the picking process;
step S402: and acquiring the variable quantity of the acting force between the target object and the picking assembly within a second preset time according to the pressure data sent by the pressure sensor.
Step S403: and detecting whether the variation of the acting force is larger than a second preset threshold value.
Step S404: and if the variation of the acting force is larger than a second preset threshold value, determining that the target object is about to slide off, and controlling the mechanical arm to stop picking.
The steps of the embodiment of the application are used for predicting that the magnitude of the variation of the acting force between the target object and the picking assembly is compared with a second preset threshold value in the clamping process, and determining whether the target object slides down, so that the acting force of the picking assembly on the target object is adjusted at any time to prevent the target object from sliding down, or the picking operation is stopped when necessary.
Referring to fig. 5, in a specific implementation, the method may further include steps S501 to S502.
Step S501: and acquiring the quality of the target object.
Referring to fig. 6, in a specific embodiment, the step S501 may include steps S5011 to S5013.
Step S5011: and acquiring third visual detection data of the target object, wherein the third visual detection data of the target object is obtained by detecting the target object by a visual detection device. In practical applications, the third visual inspection data may be the first visual inspection data detected in the foregoing.
Step S5012: and acquiring the density and the volume of the target object according to the third visual detection data of the target object.
Referring to fig. 7, in a specific embodiment, the third visual inspection data of the target object may include 2D inspection data of the target object; the method of acquiring the density of the target object in the step S5012 may include steps S5012a to S5012 d.
Step S5012 a: and acquiring texture information of the target object according to the third visual detection data of the target object.
Step S5012 b: acquiring texture information and density marking data of a plurality of sample objects, wherein the density marking data of each sample object comprises the density of the sample object.
Step S5012 c: and training by using a deep learning model according to the texture information and the density labeling data of the plurality of sample objects to obtain a density classification model.
Step S5012 d: and inputting the texture information of the target object into the density classification model to obtain the density of the target object.
Therefore, the deep learning model can be used for training according to the texture information of the plurality of sample objects and the corresponding density labeling data to obtain the density classification model, on one hand, the density of the target object can be obtained by inputting the texture information of the target object into the density classification model, and therefore the quality can be obtained according to the density; on the other hand, the density classification model can be formed by training a large amount of sample data, can identify various texture information, and has wide application range and high intelligence level.
Referring to fig. 8, in a specific embodiment, the third visual inspection data of the target object may include 3D inspection data and/or ray inspection data of the target object; the method of acquiring the volume of the target object in the step S5012 may include steps S5012e to S5012 f.
Step S5012 e: and establishing a three-dimensional digital model of the target object according to the third visual detection data of the target object.
Step S5012 f: and obtaining the volume of the target object according to the three-dimensional digital model of the target object.
Thereby, a corresponding three-dimensional digital model may be established from the 3D detection data and/or the ray detection data of the target object, thereby obtaining the volume of the target object from the three-dimensional digital model.
Step S5013: and obtaining the mass of the target object according to the density and the volume of the target object.
Therefore, the third 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 third 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 S502: the controlling the robot to pick up and move the target object using the anti-slip assembly includes: and controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object.
According to the steps of the embodiment of the application, the quality of the target object is obtained, different control strategies are executed aiming at the target objects with different qualities, so that the manipulator can pick up the target objects with different qualities, and the application range is wide.
Referring to fig. 9, the present application example further provides a control device for a manipulator, which is applied to a pickup device, the pickup device is provided with a manipulator, the manipulator is used for picking up and moving a target object, and the manipulator is provided with an anti-slip assembly, 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 the manipulator, and some contents are not repeated.
The device comprises: a first vision module 101, configured to acquire first vision inspection data of the target object, where the first vision inspection data of the target object is obtained by a vision inspection device inspecting the target object before the robot picks up the target object; the sliding prediction module 102 is configured to predict whether the target object will slide in the moving process according to the first visual detection data of the target object; the first control module 103 is configured to control the robot to pick up and move the target object using the anti-slip component or control the robot to stop picking up if it is predicted that the target object will slip off in the moving process.
Referring to fig. 10, in a specific implementation, the slip prediction module 102 may include: a feature obtaining unit 201, configured to obtain feature information of the target object according to first visual inspection data of the target object; a condition detecting unit 202, configured to detect whether the target object meets a slipping condition according to the feature information of the target object; a slip predicting unit 203, configured to predict that the target object will slip in the moving process if the target object meets the slip condition.
In a specific implementation, the feature information of the target object includes an anti-skid coefficient of the target object, and the landing condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; or, the feature information of the target object includes a contour type of the target object, and the slip-off condition is: the contour type of the target object is a preset contour type; or, the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height.
Referring to fig. 11, in a specific implementation, the apparatus may further include a second control module 301, where the second control module 301 includes: a second vision unit 401, configured to obtain second visual inspection data of the target object, where the second visual inspection data of the target object is obtained by the visual inspection device detecting the target object in a picking process; a target distance unit 402, configured to obtain a moving distance Δ L of the target object within a first preset time according to the second visual inspection data of the target object1(ii) a A component distance unit 403, configured to obtain a moving distance Δ L of the anti-skid component within the first preset time period2(ii) a A first stopping unit 404 for if | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking.
Referring to fig. 12, in a specific implementation, the pickup device is provided with a pressure sensor for sensing a force between the target object and the pickup assembly; the apparatus may further comprise a third control module 501, the third control module 501 comprising: a pressure receiving unit 601, configured to receive pressure data sent by the pressure sensor, where the pressure data of the target object is detected by the pressure sensor in a picking process; the acting force unit 602 is configured to obtain a variation of an acting force between the target object and the pickup assembly within a second preset time period according to the pressure data sent by the pressure sensor; a second stopping unit 603, configured to determine that the target object is about to slip off if the variation of the acting force is greater than a second preset threshold, and control the manipulator to stop picking.
In a specific implementation, the apparatus may further include: the quality acquisition module is used for acquiring the quality of the target object; the first control module is used for controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object.
Referring to fig. 13, 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 implementation, the pickup device is provided with a pressure sensor, which may be used to sense the force between the target object and the pickup assembly.
In a specific implementation, the anti-slip assembly is provided with a pick-up surface and a blocking portion, the blocking portion being proximate to a periphery of the pick-up surface.
In particular implementations, the anti-skid assembly may further include a non-skid pad disposed on the pickup surface.
In a specific implementation, the robotic arm of the manipulator may be a flexible robotic arm.
In a specific implementation, the damping means of the robot arm may include at least one of: hydraulic, pneumatic and stiff springs.
Referring to fig. 14, an embodiment of the present application further provides a robot chassis 20, where the robot chassis includes any one of the above pickup apparatuses 200, and a specific implementation manner of the robot chassis 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 the implementation manner and the achieved technical effect are not repeated.
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. 15 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 (20)
1. A control method of a robot applied to a pickup apparatus provided with a robot for picking up and moving a target object, the robot being provided with an anti-slip assembly, the method comprising:
acquiring first visual inspection data of the target object, wherein the first visual inspection data of the target object is obtained by a visual inspection device through inspecting the target object before the mechanical arm picks up the target object;
predicting whether the target object slips off in the moving process according to the first visual detection data of the target object;
and if the target object is predicted to slip off in the moving process, controlling the manipulator to pick up and move the target object by using the anti-slip component, or controlling the manipulator to stop picking up.
2. The method for controlling a manipulator according to claim 1, wherein the predicting whether the target object will slip off during movement according to the first visual inspection data of the target object includes:
acquiring characteristic information of the target object according to the first visual detection data of the target object;
detecting whether the target object meets a slipping condition or not according to the characteristic information of the target object;
and if the target object meets the sliding condition, predicting that the target object slides in the moving process.
3. The manipulator control method according to claim 2, wherein the feature information of the target object includes an anti-slip coefficient of the target object, and the slip condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; alternatively, the first and second electrodes may be,
the characteristic information of the target object comprises the contour type of the target object, and the slip condition is as follows: the contour type of the target object is a preset contour type; alternatively, the first and second electrodes may be,
the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height.
4. The method of controlling a robot hand according to claim 1, further comprising:
acquiring second visual detection data of the target object, wherein the second visual detection data of the target object is obtained by the visual detection equipment through detecting the target object in the picking process;
according to the second visual detection data of the target object, the movement distance of the target object within a first preset time length is obtainedDistance Δ L1；
Obtaining the moving distance delta L of the antiskid component in the first preset time length2；
If | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking.
5. The robot control method according to claim 1, wherein the pickup device is provided with a pressure sensor for sensing a force between the target object and the pickup assembly;
the method further comprises the following steps:
receiving pressure data sent by the pressure sensor, wherein the pressure data of the target object is detected by the pressure sensor in the picking process;
acquiring the variable quantity of the acting force between the target object and the picking assembly within a second preset time according to the pressure data sent by the pressure sensor;
and if the variation of the acting force is larger than a second preset threshold value, determining that the target object is about to slide off, and controlling the mechanical arm to stop picking.
6. The method of controlling a robot hand according to claim 1, further comprising:
acquiring the quality of the target object;
the controlling the robot to pick up and move the target object using the anti-slip assembly includes:
and controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object.
7. A control device of a manipulator, applied to a pickup device provided with a manipulator for picking up and moving a target object, the manipulator being provided with an anti-slip assembly, the device comprising:
the first vision module is used for acquiring first vision detection data of the target object, and the first vision detection data of the target object is obtained by detecting the target object by a vision detection device before the target object is picked up by the manipulator;
the sliding prediction module is used for predicting whether the target object slides in the moving process according to the first visual detection data of the target object;
the first control module is used for controlling the manipulator to pick and move the target object by using the anti-slip component or controlling the manipulator to stop picking if the target object is predicted to slip in the moving process.
8. The control device of the robot hand according to claim 7, wherein the slip prediction module includes:
the characteristic acquisition unit is used for acquiring characteristic information of the target object according to the first visual detection data of the target object;
the condition detection unit is used for detecting whether the target object meets a slipping condition or not according to the characteristic information of the target object;
and the slip predicting unit is used for predicting that the target object slips in the moving process if the target object meets the slip condition.
9. The manipulator control device according to claim 8, wherein the feature information of the target object includes an anti-slip coefficient of the target object, and the slip condition is: the antiskid coefficient of the target object is smaller than a preset antiskid coefficient; alternatively, the first and second electrodes may be,
the characteristic information of the target object comprises the contour type of the target object, and the slip condition is as follows: the contour type of the target object is a preset contour type; alternatively, the first and second electrodes may be,
the feature information of the target object includes a gravity center height and a geometric center height, and the slip condition is: the gravity center height of the target object is larger than the geometric center height of the target object, and the difference between the gravity center height and the geometric center height is larger than a preset height.
10. The control device of the robot hand according to claim 7, further comprising a second control module, the second control module comprising:
the second vision unit is used for acquiring second vision detection data of the target object, and the second vision detection data of the target object is obtained by the vision detection equipment through detecting the target object in the picking process;
a target distance unit, configured to obtain a moving distance Δ L of the target object within a first preset time period according to the second visual inspection data of the target object1；
A component distance unit for acquiring a movement distance Delta L of the anti-skid component within the first preset time length2；
A first stopping unit for if | Δ L1-ΔL2If the l is larger than a first preset threshold value, determining that the target object is about to slide off, and controlling the manipulator to stop picking.
11. The control device of the robot hand according to claim 7, wherein the pickup apparatus is provided with a pressure sensor for sensing a force between the target object and the pickup assembly;
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 pressure data of the target object is detected by the pressure sensor in the picking process;
the acting force unit is used for acquiring the variable quantity of the acting force between the target object and the picking assembly within a second preset time length according to the pressure data sent by the pressure sensor;
and the second stopping unit is used for determining that the target object is about to slide off and controlling the manipulator to stop picking if the variation of the acting force is larger than a second preset threshold.
12. The control device of the robot hand according to claim 7, further comprising:
the quality acquisition module is used for acquiring the quality of the target object;
the first control module is used for controlling the manipulator to pick up and move the target object by using the anti-slip component according to the quality of the target object.
13. A pick-up device, characterized in that it comprises a memory, a processor and a robot for picking up and moving a target object, the robot being provided with a slip-resistant assembly, the memory storing a computer program, the processor realizing the steps of the method according to any one of claims 1-6 when executing the computer program.
14. A pick-up device according to claim 13, characterised in that the pick-up device is provided with a pressure sensor for sensing the force between the target object and the pick-up assembly.
15. The pickup apparatus as recited in claim 13 wherein the anti-skid assembly is provided with a pickup surface and a blocking portion proximate an outer periphery of the pickup surface.
16. The pickup apparatus as recited in claim 15 wherein the anti-skid assembly further comprises a non-skid pad disposed on the pickup surface.
17. The pickup apparatus as recited in claim 13, wherein the robot arm of the robot arm is a flexible robot arm.
18. The apparatus of claim 17, wherein the robotic arm of the robot is cushioned comprising at least one of: hydraulic, pneumatic and stiff springs.
19. A robot chassis, characterized in that the robot chassis comprises a pick-up device according to any of claims 13-18.
20. 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 6.
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| WO2019233315A1 (en) * | 2018-06-06 | 2019-12-12 | 杭州海康机器人技术有限公司 | Method and apparatus for controlling automated guided vehicle, and storage medium |
| CN111015652A (en) * | 2019-12-11 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Manipulator control method, manipulator control device, terminal device and readable storage medium |
| CN111144426A (en) * | 2019-12-28 | 2020-05-12 | 广东拓斯达科技股份有限公司 | Sorting method, device, equipment and storage medium |
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| CN108127666A (en) * | 2017-12-29 | 2018-06-08 | 深圳市越疆科技有限公司 | A kind of grasping means of mechanical arm, system and mechanical arm |
| WO2019233315A1 (en) * | 2018-06-06 | 2019-12-12 | 杭州海康机器人技术有限公司 | Method and apparatus for controlling automated guided vehicle, and storage medium |
| CN111015652A (en) * | 2019-12-11 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Manipulator control method, manipulator control device, terminal device and readable storage medium |
| CN111144426A (en) * | 2019-12-28 | 2020-05-12 | 广东拓斯达科技股份有限公司 | Sorting method, device, equipment and storage medium |
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