CN114952842A - Unordered grabbing method and device based on grabbing manipulator and storage medium - Google Patents
Unordered grabbing method and device based on grabbing manipulator and storage medium Download PDFInfo
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- CN114952842A CN114952842A CN202210593367.3A CN202210593367A CN114952842A CN 114952842 A CN114952842 A CN 114952842A CN 202210593367 A CN202210593367 A CN 202210593367A CN 114952842 A CN114952842 A CN 114952842A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003708 edge detection Methods 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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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Abstract
The invention relates to an unordered grabbing method and device based on a grabbing manipulator and a storage medium, wherein the method comprises the following steps: step S1: acquiring an original image of a stacking area of an object to be grabbed; step S2: carrying out edge detection on the original image, and dividing the area of each object to be grabbed; step S3: acquiring a highest grippable area of a to-be-grabbed object stack; step S4: determining the position of the central point of the highest area; step S5: generating a manipulator motion path according to the position of the highest area center point and the current manipulator position; step S6: and controlling the mechanical arm to move the mechanical arm according to the motion path of the mechanical arm and grabbing the mechanical arm. Compared with the prior art, the central point of the highest area of the package is obtained, and the central point of the manipulator sucker clamp is quickly close to the central point of the highest area of the package to complete suction.
Description
Technical Field
The invention relates to the field of visual identification and disordered grabbing, in particular to a disordered grabbing method and device based on a grabbing manipulator and a storage medium.
Background
A preprogrammed industrial robot is used in a conventional industrial automatic sorting system to perform industrial sorting. Although it can reproduce repetitive actions, the industrial robot cannot change its own actions according to actual conditions, and the sorting system used by the industrial robot must strictly set the placing positions of the sorted objects and fix the positions of a large number of packages or parts, so that the robot does not need to have the capability of autonomous identification, the requirement on the machine vision technology is low, and therefore, the robot cannot realize classification work and can only realize simple sorting tasks.
In order to solve the problems, the unordered grabbing robot comes along, but the unordered grabbing robot system at the present stage cannot meet the requirements of the logistics industry due to the fact that the grabbing speed is limited by the working speed of a robot hand and the recognition speed of a camera. Meanwhile, equipment such as a multi-axis (6-axis and above) manipulator and a 3D camera are needed, and the system is high in cost and low in benefit. In most intelligent production lines, most of express delivery parcels or multi-variety parts with different sizes are placed at random and unfixed in number, the type of parcels or parts needs to be correctly identified by a sorting system, and the parcels or the parts are accurately grabbed from stacked parts. Therefore, machine vision technology that is more intelligent, cost-effective, and efficient is needed.
Disclosure of Invention
The invention aims to provide a disordered grabbing method and device based on a grabbing manipulator and a storage medium.
The purpose of the invention can be realized by the following technical scheme:
a disordered grabbing method based on a grabbing manipulator comprises the following steps:
step S1: acquiring an original image of a stacking area of an object to be grabbed;
step S2: carrying out edge detection on the original image, and dividing the area of each object to be grabbed;
step S3: acquiring a highest grippable area of a to-be-grabbed object stack;
step S4: determining the position of the center point of the highest area;
step S5: generating a manipulator motion path according to the position of the center point of the highest area and the current manipulator position;
step S6: and controlling the mechanical arm to move and grab the mechanical arm according to the mechanical arm motion path.
The original image is a 3D or 2D image.
The step S3 specifically includes:
step S31: identifying the type of the object to be grabbed in each area by adopting an object to be grabbed identification model based on the edge detection result;
step S32: obtaining the shape of each object to be grabbed according to the recognized type of the object to be grabbed;
step S33: based on the obtained shape of each object to be grabbed, combining the areas to obtain the overlapping relation and the height relation among the objects to be grabbed;
step S34: and obtaining the highest grippable region through height recognition model analysis based on the overlapping relation and the height relation among the objects to be grabbed.
The output of the identification model of the object to be grabbed is the type of the object to be grabbed, and the input of the identification model of the object to be grabbed is the picture data of various objects to be grabbed;
the input of the height recognition model is 3D or 2D image data of the region, and the output is the height of the region and whether the image is shielded (shielded: yes, not shielded: no).
The step S5 specifically includes:
step S51: taking the position of the central point of the highest area as the target position of the central point of the grabbing part of the manipulator;
step S52: and generating a manipulator motion path by taking the current manipulator grabbing part center point position as a starting point and the target position as an end point.
In step S6, the last x% of the movement speed of the manipulator movement path is set to 1/n of the previous (1-x%), and the manipulator movement path is finally output, where x is a real number of 5-20 and n is a natural number of 2-5.
An unordered grabbing device based on a grabbing manipulator comprises a mechanical arm, a controller and the manipulator, wherein the manipulator comprises a sucker main body, a connecting support, a universal rotary connecting joint and a manipulator connecting seat, the sucker main body is arranged on the connecting support, the connecting support and the manipulator connecting seat are connected through the universal rotary connecting joint, the universal rotary connecting joint is fixed on the mechanical arm, an air inlet and an air outlet are formed in the sucker main body, and the controller is configured to achieve the method according to any one of claims 1 to 4.
Still be equipped with a plurality of position between linking bridge and the manipulator connecting seat and reply the spring, and a plurality of position reply springs encircle universal swivelling joint and be rotational symmetry setting.
A sponge cushion pad is arranged on the suction surface of the suction cup main body.
A storage medium having stored thereon a program which, when executed, implements the method as described above.
Compared with the prior art, the invention has the following beneficial effects:
1. after the central point of the highest area of the package is obtained, the central point of the manipulator sucker clamp is only required to be quickly leaned against the central point of the highest area of the package to complete suction.
2. The combination has just begun this step of absorbing after two axles have been rotated until reaching and the biggest parcel absorbs the surface and is parallel by the manipulator of a universal swivelling joint festival, has directly been saved to the manipulator, has improved the work efficiency of manipulator greatly and has reduced the manipulator cost to six axles or multiaxis robot are directly replaced to the triaxial robot, play cost reduction's purpose.
3. By adopting a unique mode of identifying the highest region, both the 3D camera and the 2D camera can meet the requirements, and the application range is improved.
4. The pneumatic sucker clamp is movable and has certain resilience force, and package damage is avoided.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic flow chart of the method of the present invention for obtaining the highest graspable region;
FIG. 3 is a schematic flow chart of the method of the present invention for generating a motion path of a robot;
FIG. 4 is a schematic structural diagram of a robot in an embodiment of the present invention;
fig. 5 is a schematic diagram of a grabbing process in an embodiment of the present invention, in which (a) is a state schematic diagram of a positioning process, (b) is a state schematic diagram of a moving process, (c) is a state schematic diagram of a bonding process, and (d) is a state schematic diagram of a lifting process;
wherein: 1. manipulator connecting seat, 2, universal swivelling joint festival, 3, position return spring, 4, linking bridge, 5, sucking disc main part, 6, sponge blotter.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The application provides an unordered solution of snatching based on snatching manipulator, wherein, an unordered grabbing device based on snatching manipulator has been designed, including the arm, controller and manipulator, as shown in fig. 1, the manipulator includes sucking disc main part 5, linking bridge 4, universal swivelling joint festival 2 and manipulator connecting seat 1, sucking disc main part 5 is located on linking bridge 4, linking bridge 4 and manipulator connecting seat 1 connect through universal swivelling joint festival 2, universal swivelling joint festival 2 is fixed in on the arm, be equipped with air inlet and gas outlet on the sucking disc main part 5, as shown in fig. 2, the controller is configured to realize following step:
step S1: acquiring an original image of a stacking area of an object to be grabbed;
step S2: performing edge detection on the original image, and dividing areas of objects to be grabbed, wherein the objects to be grabbed are packages in the embodiment, and certainly, the objects to be grabbed can be parts in other embodiments;
step S3: acquiring a highest grippable area of a to-be-grabbed object stack;
step S4: determining the position of the central point of the highest area;
step S5: generating a manipulator motion path according to the position of the highest area center point and the current manipulator position;
step S6: and controlling the mechanical arm to move and grab the mechanical arm according to the movement path of the mechanical arm.
After the central point of the highest area of the package is obtained, the central point of the manipulator sucker clamp is required to be quickly close to the central point of the highest area of the package to complete suction. And the combination is by the manipulator of a universal swivelling joint festival 2, has directly saved the manipulator and need rotate two axles and just begin to absorb this step after reaching and the biggest parcel absorbs the surface and be parallel, has improved the work efficiency of manipulator greatly and has reduced the manipulator cost to six axles or multiaxis robot are directly replaced to the triaxial robot, play the purpose of cost reduction increase.
In this embodiment, still be equipped with a plurality of positions between linking bridge 4 and the manipulator connecting seat 1 and reply spring 3, and a plurality of positions reply spring 3 and encircle universal swivelling joint 2 and be the rotational symmetry setting, and pneumatic suction cup anchor clamps are mobilizable formula to possess certain resilience force, when the parcel snatchs unorderly, avoided because pile up the weight factor of parcel on every side, snatch the in-process of a certain parcel again and damage other parcels or parts.
In some embodiments, the universal swivel joint 2 may employ a hooke joint configuration.
In this embodiment, be equipped with sponge blotter 6 on the absorption face of sucking disc main part 5, direct contact is done with parcel or part to sponge blotter 6, plays the buffering and grabs power, prevents that sucking disc main part 5 from damaging the effect of parcel or part.
In this embodiment, the original image may be a 3D or 2D image, as shown in fig. 2, step S3 specifically includes:
step S31: identifying the type of the object to be grabbed in each area by adopting an object to be grabbed identification model based on the edge detection result;
the model for identifying the object to be grabbed can be obtained by adopting a neural network and deep learning algorithm training, the output of the model is the type of the object to be grabbed, and the input of the model is the picture data of various objects to be grabbed;
step S32: according to the recognized type of the object to be grabbed, the shape of each object to be grabbed is obtained through simulation calculation;
step S33: based on the obtained shape of each object to be grabbed, combining the areas to obtain the overlapping relation and the height relation among the objects to be grabbed;
step S34: based on the overlapping relation and the height relation between the objects to be grabbed, the height and the sheltered condition of each area are analyzed through a height recognition model, and a highest area capable of being grabbed is obtained, wherein the height recognition model is obtained through package picture data training of a label, the label mode can be a label performed after 3d point cloud data are output, and finally the highest area is output. The input of the height recognition model is 3D or 2D image data of the region, and the output is the height of the region and whether the image is occluded (occluded: yes, not occluded: no).
As shown in fig. 3, step S5 specifically includes:
step S51: taking the position of the center point of the highest area as the target position of the center point of the grabbing part of the manipulator;
step S52: and generating a manipulator motion path by taking the current manipulator grabbing center point position as a starting point and the target position as an end point.
In this embodiment, a state diagram of the grabbing process is shown in fig. 5, and in step S6, the last x% of the movement speed of the manipulator movement path is set to 1/n of the previous (1-x%), and the manipulator movement path is finally output, where x is a real number between 5 and 20 and n is a natural number between 2 and 5, but in this embodiment, x is 15 and n is 2.
The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. The unordered grabbing method based on the grabbing manipulator is characterized by comprising the following steps:
step S1: acquiring an original image of a stacking area of an object to be grabbed;
step S2: performing edge detection on the original image, and dividing areas of objects to be grabbed;
step S3: acquiring a highest grippable area of a to-be-grabbed object stack;
step S4: determining the position of the center point of the highest area;
step S5: generating a manipulator motion path according to the position of the highest area center point and the current manipulator position;
step S6: and controlling the mechanical arm to move the mechanical arm according to the mechanical arm motion path and grabbing the mechanical arm.
2. The disordered grabbing method based on the grabbing manipulator of claim 1, characterized in that the original image is a 3D or 2D image.
3. The disordered gripping method based on the gripping manipulator of claim 1, wherein the step S3 specifically includes:
step S31: identifying the type of the object to be grabbed in each area by adopting an object to be grabbed identification model based on the edge detection result;
step S32: obtaining the shape of each object to be grabbed according to the recognized type of the object to be grabbed;
step S33: based on the obtained shape of each object to be grabbed, combining the areas to obtain the overlapping relation and the height relation among the objects to be grabbed;
step S34: and obtaining the highest grippable region through height recognition model analysis based on the overlapping relation and the height relation among the objects to be grabbed.
4. The disordered grabbing method based on the grabbing manipulator as claimed in claim 3, wherein the output of the identification model of the object to be grabbed is the type of the object to be grabbed, and the input is the picture data of various objects to be grabbed;
the input of the height identification model is 3D or 2D image data of the region, and the output is the height of the region and whether the image is shielded or not.
5. The disordered grabbing control method based on the grabbing manipulator of claim 1, wherein the step S5 specifically comprises:
step S51: taking the position of the central point of the highest area as the target position of the central point of the grabbing part of the manipulator;
step S52: and generating a manipulator motion path by taking the current manipulator grabbing part center point position as a starting point and the target position as an end point.
6. The disordered grasping method based on the grasping robot arm according to the claim 1, characterized in that in the step S6, the last x% of the moving speed of the robot arm moving path is set to 1/n of the previous (1-x%), and the robot arm moving path is finally outputted, wherein x is a real number of 5-20, and n is a natural number of 2-5.
7. The unordered grabbing device based on the grabbing manipulator is characterized by comprising a mechanical arm, a controller, an image sensor and the manipulator, wherein the manipulator comprises a sucker main body, a connecting support, a universal rotary connecting joint and a manipulator connecting seat, the sucker main body is arranged on the connecting support, the connecting support is connected with the manipulator connecting seat through the universal rotary connecting joint, the universal rotary connecting joint is fixed on the mechanical arm, an air inlet and an air outlet are formed in the sucker main body, and the controller is configured to achieve the method according to any one of claims 1 to 4.
8. The disordered grasping device based on the grasping manipulator according to claim 7, characterized in that a plurality of position return springs are further provided between the connecting bracket and the manipulator connecting base, and the plurality of position return springs are disposed in rotational symmetry around the universal rotational joint.
9. The disordered grasping device based on the grasping manipulator according to claim 7, characterized in that a sponge cushion pad is provided on the suction surface of the suction cup main body.
10. A storage medium having a program stored thereon, wherein the program, when executed, implements the method of any of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210593367.3A CN114952842A (en) | 2022-05-27 | 2022-05-27 | Unordered grabbing method and device based on grabbing manipulator and storage medium |
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| CN202210593367.3A CN114952842A (en) | 2022-05-27 | 2022-05-27 | Unordered grabbing method and device based on grabbing manipulator and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922738A (en) * | 2023-03-09 | 2023-04-07 | 季华实验室 | Electronic component grabbing method, device, equipment and medium in stacking scene |
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