CN112792809A - Control method and device of manipulator, falling delaying equipment and storage medium - Google Patents
Control method and device of manipulator, falling delaying equipment and storage medium Download PDFInfo
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- CN112792809A CN112792809A CN202011614965.1A CN202011614965A CN112792809A CN 112792809 A CN112792809 A CN 112792809A CN 202011614965 A CN202011614965 A CN 202011614965A CN 112792809 A CN112792809 A CN 112792809A
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The application provides a control method and a control device of a manipulator, a falling delaying device and a storage medium, wherein the control method of the manipulator is applied to falling delaying devices, the falling delaying devices are provided with the manipulator and the falling device which are connected with each other, and the method comprises the following steps: controlling the manipulator to pick up a target object; and controlling the falling device to be opened in response to the mechanical arm picking up the target object so as to reduce the falling speed of the delayed falling device and the target object. By the method, the falling speed of falling equipment is reduced, and the safety of falling objects or falling personnel is ensured.
Description
Technical Field
The present disclosure relates to the field of mechanical control technologies, and in particular, to a method and an apparatus for controlling a manipulator, a device for delaying a fall, and a computer-readable storage medium.
Background
In recent years, there has been a frequent occurrence of falling objects and personal casualties from high-rise buildings, and in order to reduce the personal casualties, it has been required to provide a fall-delaying device, and further to prevent the personal from falling off from the device. Therefore, there is a need to provide a new technical solution to improve one or more of the problems in the above solutions.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The application aims to provide a control method and device of a manipulator, a drop delaying device and a computer readable storage medium, and the drop speed of a person or an object from a high place is delayed.
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 manipulator, which is applied to a device for delaying falling, wherein the device for delaying falling is provided with the manipulator and a falling device which are connected with each other, and the method includes:
controlling the manipulator to pick up a target object;
and controlling the falling device to be opened in response to the mechanical arm picking up the target object so as to reduce the falling speed of the delayed falling device and the target object.
The technical scheme has the beneficial effects that the falling speed of falling equipment is reduced, and the safety of falling objects or falling personnel is ensured.
In some alternative embodiments, the robot is provided with a dropout prevention assembly;
the method further comprises the following steps:
and controlling the manipulator to fix the target object by using the anti-falling assembly in response to the manipulator picking up the target object, so that the target object is not easily separated from the manipulator.
The technical scheme has the advantages that the target object can be prevented from being separated from the manipulator, the target object is prevented from falling off from the falling delaying equipment, and the safety is further ensured.
In some optional embodiments, the controlling the robot to fix the target object using the drop-off prevention assembly includes:
acquiring visual detection data of the target object, wherein the visual detection data is obtained by detecting the target object by a visual detection device;
according to the visual detection data of the target object, acquiring a fixing strategy corresponding to the target object, wherein the fixing strategy comprises a plurality of parameters of the anti-drop assembly for fixing the target object;
and controlling the mechanical arm to use the anti-falling assembly to fix the target object according to the fixing strategy.
The technical scheme has the beneficial effects that different fixing strategies can be used according to different target objects, so that the target objects are more firmly fixed.
In some optional embodiments, the obtaining a fixed policy corresponding to the target object according to the visual inspection data includes:
estimating the size of the target object according to the visual detection data of the target object;
and acquiring a fixed strategy corresponding to the target object according to the size of the target object.
The technical scheme has the beneficial effect that the made fixing strategy is more accurate.
In some optional embodiments, the controlling the fall assembly to open in response to the robot picking up the target object includes:
detecting whether a falling event occurs to the target object in response to the manipulator picking up the target object;
and when the target object is detected to have a falling event, controlling the falling assembly to be opened.
The beneficial effects of this technical scheme lie in, detect and take place the tenesmus incident, control again and fall the subassembly and open, avoid equipment unnecessary loss.
In some optional embodiments, the detecting whether the target object has a falling event includes:
and when a preset control instruction sent by user equipment is received, determining that the target object has a falling event.
The technical scheme has the beneficial effect that the target object can be determined to have a falling event at the first time.
In some optional embodiments, the detecting whether the target object has a falling event includes:
acquiring position change information of the target object within a preset time length;
calculating the speed and the movement direction of the target object according to the preset duration and the position change information;
determining that a falling event occurs in the target object when the speed is greater than a preset speed and when the moving direction is downward.
The technical scheme has the beneficial effect that the falling event of the target object can be determined in time.
In a second aspect, the application provides a lectotype device is applied to and delays falling equipment, it is provided with interconnect's manipulator and descending device to delay falling equipment, controlling means includes:
the manipulator control module is used for controlling the manipulator to pick up the target object;
and the falling control module is used for responding to the target object picked up by the mechanical arm and controlling the falling device to be opened so as to reduce the falling speed of the falling delaying equipment and the target object.
In some alternative embodiments, the robot is provided with a dropout prevention assembly;
the control device further includes:
and the anti-falling module is used for responding to the target object picked up by the manipulator, controlling the manipulator to fix the target object by using the anti-falling assembly so as to ensure that the target object is not easy to separate from the manipulator.
In some optional embodiments, the drop-off prevention module comprises:
a vision acquisition unit, configured to acquire vision inspection data of the target object, where the vision inspection data is obtained by a vision inspection device inspecting the target object;
the strategy acquisition unit is used for acquiring a fixed strategy corresponding to the target object according to the visual detection data of the target object, wherein the fixed strategy comprises a plurality of parameters of the anti-drop assembly for fixing the target object;
and the fixing unit is used for controlling the manipulator to fix the target object by using the anti-falling assembly according to the fixing strategy.
In some optional embodiments, the policy obtaining unit includes:
the size estimation subunit is used for estimating the size of the target object according to the visual detection data of the target object;
and the fixed strategy subunit is used for acquiring a fixed strategy corresponding to the target object according to the size of the target object.
In some optional embodiments, the drop control module comprises:
a falling detection unit for detecting whether a falling event occurs to the target object in response to the manipulator picking up the target object;
and the opening unit is used for controlling the falling assembly to be opened when the falling event of the target object is detected.
In some optional embodiments, the falling detection unit is configured to determine that a falling event occurs in the target object when a preset control instruction sent by the user equipment is received.
In some alternative embodiments, the drop detection unit comprises:
the pose obtaining subunit is configured to obtain position change information of the target object within a preset duration;
the parameter calculating subunit is used for calculating the speed and the moving direction of the target object according to the preset time length and the position change information;
a falling determination subunit, configured to determine that a falling event occurs in the target object when the speed is greater than a preset speed and when the moving direction is downward.
In a third aspect, the present application provides a fall arrest device, which includes a memory, a processor, and a manipulator and a landing apparatus connected to each other, where the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
In some alternative embodiments, the robot is provided with a dropout prevention assembly.
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 flowchart of a control method of a manipulator according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a process for preventing a target object from falling off according to an embodiment of the present application;
fig. 4 is a schematic flowchart of acquiring a fixed policy according to an embodiment of the present application;
FIG. 5 is a schematic view of a process for controlling the opening of the landing gear according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart illustrating a process for detecting whether a drop event occurs according to an embodiment of the present application;
fig. 7 is a schematic flowchart illustrating a process for detecting whether a drop event occurs according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a control device of a manipulator 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 an anti-drop module provided in the embodiment of the present application;
fig. 11 is a schematic structural diagram of a policy obtaining unit according to an embodiment of the present application;
FIG. 12 is a schematic structural diagram of a descent control module according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a drop detection unit according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a fall arrest device according to an embodiment of the present disclosure;
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 embodiment of the present application provides a control method of a manipulator, which is applied to a drop delaying apparatus provided with the manipulator and a drop device connected to each other, and the method includes steps S101 and S102.
Step S101: and controlling the manipulator to pick up the target object.
Specifically, the target object may be a falling object or a person falling from a high rise, or the like. After the manipulator picks up the target object, the target object can be firmly fixed on the falling delaying equipment by using the falling preventing assembly, and falling objects or human bodies are prevented from falling off the falling delaying equipment.
Step S102: and controlling the falling device to be opened in response to the mechanical arm picking up the target object so as to reduce the falling speed of the delayed falling device and the target object.
Specifically, the parachute device may be a parachute, or may be another parachute device, which is not limited in this disclosure.
The steps of the embodiment of the application reduce the descending speed of the falling equipment and ensure the safety of falling objects or falling personnel.
In one embodiment, the robot is provided with a drop prevention assembly, see fig. 2, the method further comprises step S103,
step S103: and controlling the manipulator to fix the target object by using the anti-falling assembly in response to the manipulator picking up the target object, so that the target object is not easily separated from the manipulator.
Therefore, the target object can be prevented from being separated from the manipulator, the target object is prevented from falling off from the falling delaying equipment, and the safety is further ensured.
Referring to FIG. 3, in one embodiment, step S103 includes steps S201-S203. Wherein the content of the first and second substances,
step S201: and acquiring visual detection data of the target object, wherein the visual detection data is obtained by detecting the target object by a visual detection device.
Specifically, the visual inspection device may be a camera, and acquires corresponding data through acquisition and detection of an image or a video of the target object, for example, it is analyzed through the data that the target object is a person, an object, or the like.
Step S202: and acquiring a fixing strategy corresponding to the target object according to the visual detection data of the target object, wherein the fixing strategy comprises a plurality of parameters of the anti-drop assembly for fixing the target object.
For example, a strategy of using a fixed person according to whether the target object is a person, a strategy of using a fixed object when the target object is an object, or a different fixation strategy when facing a different object is also used.
Step S203: and controlling the mechanical arm to use the anti-falling assembly to fix the target object according to the fixing strategy.
Therefore, different fixing strategies can be used according to different target objects, so that the target objects can be fixed more firmly.
Referring to fig. 4, in one embodiment, step S202 includes steps S301 and S302.
Step S301: and estimating the size of the target object according to the visual detection data of the target object.
Step S302: and acquiring a fixed strategy corresponding to the target object according to the size of the target object.
Specifically, the visual inspection data may be image data, the size of the target object may be estimated by calculating a contour ratio of the target object in the image, and then a corresponding fixing strategy is obtained according to the corresponding size, for example, a plurality of grippers are used for fixing the target object with a larger size, and one or two grippers are used for fixing the target object with a smaller size.
Therefore, the established fixing strategy is more accurate.
Referring to fig. 5, in one embodiment, step S102 includes steps S401 and S402.
Step S401: detecting whether a falling event occurs to the target object in response to the manipulator picking up the target object.
Step S402: and when the target object is detected to have a falling event, controlling the falling assembly to be opened.
Specifically, after the manipulator picks up the target object, whether the target object falls or not is detected, and once the target object falls, the falling assembly is controlled to be opened, so that the falling speed of the target object can be reduced rapidly; on the other hand, the falling event is detected, and then the falling assembly is controlled to be opened, so that unnecessary loss of the equipment is avoided.
Referring to FIG. 6, in one embodiment, step S401 includes step S501.
Step S501: and when a preset control instruction sent by user equipment is received, determining that the target object has a falling event.
Therefore, the falling event of the target object can be determined at the first time through the receiving of the instruction, so that the operation of subsequently starting the falling assembly is quicker.
Referring to FIG. 7, in one embodiment, step S401 includes steps S601-S603.
Step S601: and acquiring the position change information of the target object within a preset time length.
Step S602: and calculating the speed and the movement direction of the target object according to the preset time length and the position change information.
Step S603: determining that a falling event occurs in the target object when the speed is greater than a preset speed and when the moving direction is downward.
Specifically, the distance, the speed and the moving direction are calculated through the position change of the target object within a certain time, and whether the target object falls down or not is determined through the comparison between the calculated speed and the preset speed. Therefore, the falling event of the target object can be determined at the first time, and the subsequent operation is carried out, so that the safety of the target object is further ensured.
Referring to fig. 8, an embodiment of the present application further provides a control device for a manipulator, which is applied to a fall-delaying device, where the fall-delaying device is provided with the manipulator and a falling device that are connected to each other, and a specific implementation manner of the fall-delaying device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and some contents are not described again.
The device comprises: a robot control module 101 for controlling the robot to pick up a target object; and the falling control module 102 is configured to control the falling device to be opened in response to the target object being picked up by the manipulator, so as to reduce the falling speed of the fall delaying device and the target object.
Referring to fig. 9, in a specific implementation, the robot may be provided with a drop-off prevention assembly, the apparatus further comprising: and the anti-falling module 103 is used for controlling the manipulator to fix the target object by using the anti-falling assembly in response to the manipulator picking up the target object, so that the target object is not easily separated from the manipulator.
Referring to fig. 10, in a specific implementation, the drop-off prevention module 103 may include: a vision acquisition unit 1031 configured to acquire vision inspection data of the target object, the vision inspection data being obtained by a vision inspection apparatus inspecting the target object; a policy obtaining unit 1032, configured to obtain, according to the visual detection data of the target object, a fixing policy corresponding to the target object, where the fixing policy includes a plurality of parameters that the anti-drop component is used to fix the target object; a fixing unit 1033, configured to control the manipulator to fix the target object using the anti-drop component according to the fixing policy.
Referring to fig. 11, in a specific implementation, the policy obtaining unit 1032 may include a size estimating sub-unit 1034 configured to estimate a size of the target object according to the visual inspection data of the target object; a fixed policy subunit 1035, configured to obtain, according to the size of the target object, a fixed policy corresponding to the target object.
Referring to fig. 12, in a specific implementation, the drop control module 102 may include a drop detection unit 1021 for detecting whether a drop event occurs to the target object in response to the robot picking up the target object; an opening unit 1022, configured to control the falling assembly to open when the target object is detected to have a falling event.
In one embodiment, the fall detection unit 1021 may be configured to determine that a fall event occurs in the target object when a preset control instruction sent by a user device is received.
Referring to fig. 13, in a specific implementation, the drop detection unit 1021 may include: a pose obtaining subunit 1023, configured to obtain position change information of the target object within a preset time length; the parameter calculation subunit 1024 is configured to calculate the speed and the moving direction of the target object according to the preset time length and the position change information; a falling determination subunit 1025, configured to determine that a falling event occurs to the target object when the speed is greater than a preset speed and when the moving direction is downward.
Referring to fig. 14, the embodiment of the present application further provides a fall arrest device 200, and the fall arrest 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 any one of the methods in the embodiments of the present application, and the specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiments of the method, and some contents are not described again.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
Optionally, fall arrest device 200 may communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., one or more devices capable of interacting with fall arrest device 200, and/or any device (e.g., router, modem, etc.) that enables fall arrest device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, dropoff delaying 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 network adapter 260. The network adapter 260 may communicate with the other modules of the fall arrest 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 fall arrest 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.
The embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, and when the computer program is executed, the steps of any one of the methods in the embodiments of the present application are implemented, and a specific implementation manner of the steps is consistent with the implementation manner and the achieved technical effect described in the embodiments of the methods, and some details are not repeated.
Fig. 15 shows a program product 300 provided by the present embodiment for implementing the method, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run 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 (17)
1. A control method of a manipulator is characterized by being applied to falling delaying equipment, wherein the falling delaying equipment is provided with the manipulator and a falling device which are connected with each other, and the method comprises the following steps:
controlling the manipulator to pick up a target object;
and controlling the falling device to be opened in response to the mechanical arm picking up the target object so as to reduce the falling speed of the delayed falling device and the target object.
2. The robot control method according to claim 1, wherein the robot is provided with a drop-off prevention assembly;
the method further comprises the following steps:
and controlling the manipulator to fix the target object by using the anti-falling assembly in response to the manipulator picking up the target object, so that the target object is not easily separated from the manipulator.
3. The robot control method according to claim 2, wherein the controlling the robot to fix the target object using the drop prevention assembly includes:
acquiring visual detection data of the target object, wherein the visual detection data is obtained by detecting the target object by a visual detection device;
according to the visual detection data of the target object, acquiring a fixing strategy corresponding to the target object, wherein the fixing strategy comprises a plurality of parameters of the anti-drop assembly for fixing the target object;
and controlling the mechanical arm to use the anti-falling assembly to fix the target object according to the fixing strategy.
4. The method for controlling a manipulator according to claim 3, wherein the obtaining a fixation strategy corresponding to the target object based on the visual inspection data includes:
estimating the size of the target object according to the visual detection data of the target object;
and acquiring a fixed strategy corresponding to the target object according to the size of the target object.
5. The method of controlling the robot of claim 1, wherein the controlling the drop assembly to open in response to the robot picking up the target object comprises:
detecting whether a falling event occurs to the target object in response to the manipulator picking up the target object;
and when the target object is detected to have a falling event, controlling the falling assembly to be opened.
6. The method of controlling a robot hand according to claim 5, wherein the detecting whether the target object has a falling event comprises:
and when a preset control instruction sent by user equipment is received, determining that the target object has a falling event.
7. The method of controlling a robot hand according to claim 5, wherein the detecting whether the target object has a falling event comprises:
acquiring position change information of the target object within a preset time length;
calculating the speed and the movement direction of the target object according to the preset duration and the position change information;
determining that a falling event occurs in the target object when the speed is greater than a preset speed and when the moving direction is downward.
8. The utility model provides a controlling means of manipulator, its characterized in that is applied to and delays falling equipment, it is provided with interconnect's manipulator and descending device to delay falling equipment, controlling means includes:
the manipulator control module is used for controlling the manipulator to pick up the target object;
and the falling control module is used for responding to the target object picked up by the mechanical arm and controlling the falling device to be opened so as to reduce the falling speed of the falling delaying equipment and the target object.
9. The control device of the robot hand according to claim 8, wherein the robot hand is provided with a drop-off prevention assembly;
the control device further includes:
and the anti-falling module is used for responding to the target object picked up by the manipulator, controlling the manipulator to fix the target object by using the anti-falling assembly so as to ensure that the target object is not easy to separate from the manipulator.
10. The robot control apparatus of claim 9, wherein the drop prevention module comprises:
a vision acquisition unit, configured to acquire vision inspection data of the target object, where the vision inspection data is obtained by a vision inspection device inspecting the target object;
the strategy acquisition unit is used for acquiring a fixed strategy corresponding to the target object according to the visual detection data of the target object, wherein the fixed strategy comprises a plurality of parameters of the anti-drop assembly for fixing the target object;
and the fixing unit is used for controlling the manipulator to fix the target object by using the anti-falling assembly according to the fixing strategy.
11. The control device of the robot hand according to claim 10, wherein the strategy acquisition unit includes:
the size estimation subunit is used for estimating the size of the target object according to the visual detection data of the target object;
and the fixed strategy subunit is used for acquiring a fixed strategy corresponding to the target object according to the size of the target object.
12. The robot control apparatus of claim 8, wherein the drop control module comprises:
a falling detection unit for detecting whether a falling event occurs to the target object in response to the manipulator picking up the target object;
and the opening unit is used for controlling the falling assembly to be opened when the falling event of the target object is detected.
13. The manipulator control device according to claim 12, wherein the drop detection unit is configured to determine that a drop event occurs in the target object when a preset control instruction transmitted from a user device is received.
14. The control device of the robot hand according to claim 12, wherein the drop detection unit comprises:
the pose obtaining subunit is configured to obtain position change information of the target object within a preset duration;
the parameter calculating subunit is used for calculating the speed and the moving direction of the target object according to the preset time length and the position change information;
a falling determination subunit, configured to determine that a falling event occurs in the target object when the speed is greater than a preset speed and when the moving direction is downward.
15. A fall arrest device, characterized in that it comprises a memory, a processor, and an interconnected robot and fall arrangement, 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 to 7.
16. A fall arrest device according to claim 15, wherein the robot is provided with a fall arrest assembly.
17. 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011614965.1A CN112792809B (en) | 2020-12-30 | 2020-12-30 | Control method and device of manipulator, falling delaying equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011614965.1A CN112792809B (en) | 2020-12-30 | 2020-12-30 | Control method and device of manipulator, falling delaying equipment and storage medium |
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| CN112792809A true CN112792809A (en) | 2021-05-14 |
| CN112792809B CN112792809B (en) | 2022-06-17 |
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