CN117901117A

CN117901117A - Goods grabbing method and system based on mechanical arm

Info

Publication number: CN117901117A
Application number: CN202410255871.1A
Authority: CN
Inventors: 车忠伟; 李嵩松
Original assignee: Weihai Lianke Intelligent Equipment Co ltd
Current assignee: Weihai Lianke Intelligent Equipment Co ltd
Priority date: 2024-03-06
Filing date: 2024-03-06
Publication date: 2024-04-19

Abstract

The application provides a cargo grabbing method and a cargo grabbing system based on a mechanical arm, wherein the cargo grabbing method based on the mechanical arm comprises the following steps: collecting a cargo image of a cargo to be grabbed; determining the target goods which are grabbed for the first time from the goods image according to the number of vacuum adsorption grippers on the mechanical arm; controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods; and performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods. According to the application, the vacuum adsorption gripper is arranged on the mechanical arm to grab the goods by utilizing vacuum adsorption, so that collision can be effectively avoided by vacuum adsorption, the collision loss of the traditional mechanical arm on the goods during grabbing can be reduced, and the integrity rate of the goods outer package is improved.

Description

Goods grabbing method and system based on mechanical arm

Technical Field

The application relates to the technical field of logistics loading and unloading, in particular to a cargo grabbing method and system based on a mechanical arm.

Background

Currently, the handling of goods onto a transport vehicle or unloading is usually performed manually, which is time-consuming and labor-consuming. There are also some enterprises to grasp through the mechanical arm, but to the existing mechanical arm, the robot principle is usually utilized, the hand of the robot is utilized to grasp, and the mechanical arm is usually made of hard parts, so that collision of goods is easy to be caused, damage to the outer package of the goods is easy to be caused, and inconvenience is brought to customers.

Therefore, how to solve the above-mentioned problems is a problem that needs to be solved at present.

Disclosure of Invention

The application provides a cargo grabbing method and system based on a mechanical arm, and aims to solve the problems.

In a first aspect, the application provides a cargo grabbing method based on a mechanical arm, which includes: collecting a cargo image of a cargo to be grabbed;

determining the target goods which are grabbed for the first time from the goods image according to the number of vacuum adsorption grippers on the mechanical arm;

controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods;

and performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods.

In a possible embodiment, the controlling each vacuum suction gripper to be respectively attached to the corresponding target cargo includes:

driving each vacuum adsorption gripper to respectively move to a grabbing area of the corresponding target goods;

And controlling each vacuum adsorption gripper to be respectively attached to the grabbing areas of the corresponding target goods.

In a possible embodiment, the performing vacuum suction on the vacuum suction gripper to grasp the target cargo includes:

and starting a vacuum pumping system in the mechanical arm to pump air between the vacuum adsorption gripper and the grabbing area so as to grab the target goods.

In a possible embodiment, the determining the first captured target cargo from the cargo image according to the number of vacuum suction grippers on the robot arm includes:

determining the unloading quantity from the goods image according to the quantity of vacuum adsorption grippers on the mechanical arm;

and determining the target goods which are grabbed for the first time from the goods images according to the unloading quantity and a preset rule.

Determining the size of each target cargo;

And controlling the adsorption force of the vacuum adsorption grippers according to the size of the target goods so as to grasp the target goods by the adsorption forces of different sizes.

Executing a first vacuum adsorption force on the vacuum adsorption grip to obtain the weight of the target cargo;

Adjusting the vacuum adsorption force of each vacuum adsorption gripper according to the weight;

and grabbing the target goods by utilizing the adjusted vacuum adsorption force.

In a second aspect, the present application also provides a cargo gripping system based on a robotic arm, the system comprising:

The acquisition unit is used for acquiring a cargo image of the cargo to be grabbed;

The target determining unit is used for determining target cargoes which are grabbed for the first time from the cargo image according to the number of the vacuum adsorption grippers on the mechanical arm;

The grabbing unit is used for controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods; and performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods.

In a possible embodiment, the grabbing unit is specifically configured to:

Determining the size of each target cargo;

In a possible embodiment, the target determining unit is specifically configured to:

The beneficial effects are that:

The goods grabbing method and the system based on the mechanical arm provided by the application are characterized in that the goods images of the goods to be grabbed are acquired; determining the target goods which are grabbed for the first time from the goods image according to the number of vacuum adsorption grippers on the mechanical arm; controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods; and performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods. According to the application, the vacuum adsorption gripper is arranged on the mechanical arm to grasp the goods, so that the mechanical arm can be effectively prevented from colliding with the goods by the vacuum adsorption gripper, the collision loss of the traditional mechanical arm on the goods during the grabbing of the goods can be reduced, and the integrity rate of the goods outer package is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an electronic device according to a first embodiment of the present application;

Fig. 2 is a flowchart of a cargo gripping method based on a mechanical arm according to a second embodiment of the present application;

fig. 3 is a schematic functional block diagram of a cargo gripping system based on a mechanical arm according to a third embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

First embodiment

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and in the present application, an electronic device 100 used to implement an example of a cargo gripping method and system based on a mechanical arm according to an embodiment of the present application may be described by using the schematic diagram shown in fig. 1.

As shown in fig. 1, an electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, and an output device 108, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown). It should be noted that the components and structures of the electronic device 100 shown in fig. 1 are exemplary only and not limiting, and that the electronic device may have some of the components shown in fig. 1 or may have other components and structures not shown in fig. 1, as desired.

The processor 102 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

It should be appreciated that the processor 102 in embodiments of the present application may be a central processing unit (central processing unit, CPU), which may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, dsps), application specific integrated circuits (asics), off-the-shelf programmable gate arrays (field programmable GATE ARRAY, fpgas) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 104 may include one or more computer program products, which may include various forms of computer-readable storage media.

It should be appreciated that the storage device 104 in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of random access memory (random access memory, RAM) are available, such as static random access memory (STATIC RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (doubledata RATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM).

Wherein one or more computer program instructions may be stored on the computer readable storage medium, the processor 102 may execute the program instructions to implement client functions and/or other desired functions in embodiments of the present application as described below (implemented by the processor). Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, mouse, microphone, touch screen, and the like.

Second embodiment:

referring to a flowchart of a cargo gripping method based on a mechanical arm shown in fig. 2, the cargo gripping method based on a mechanical arm specifically includes the following steps:

Step S201, acquiring a cargo image of the cargo to be grabbed.

Alternatively, the goods to be grabbed may be packaged goods.

Alternatively, the cargo may have been transferred to the transporter or may be to be transferred to the transporter.

As one embodiment, the image is acquired by an image acquisition device provided on a robot arm. If the camera is pre-installed on the mechanical arm, the goods to be grabbed are photographed.

The mechanical arm may be used in combination with a vehicle, may be used independently, or may be used in combination with a factory building, and is not particularly limited herein.

And step S202, determining the target goods which are grabbed for the first time from the goods image according to the number of vacuum adsorption grippers on the mechanical arm.

Optionally, at least one vacuum suction gripper is provided on the robot arm. The vacuum suction gripper adopts a sucker design (the sucker is a sucker with holes, the holes are used for vacuumizing, and the sucker is made of soft materials) and is not designed by hands.

For example, the number of vacuum suction grippers may be 2, or 3, or even more than 3.

As one embodiment, step S202 includes: determining the unloading quantity from the goods image according to the quantity of vacuum adsorption grippers on the mechanical arm; and determining the target goods which are grabbed for the first time from the goods images according to the unloading quantity and a preset rule.

The preset rule may be a proximity rule, that is, several close goods after a selected number are target goods.

For example, assuming that the number of vacuum suction grippers is 3, the number of the grippers is not greater than 3 at a time, that is, the number of the grippers can grasp 3 at most, after the number is determined, 3 close cargoes can be arbitrarily selected from the cargo pictures as target cargoes for first grasping, and then grasping is repeated until the cargoes are grasped.

It should be understood that when the number of cargoes is less than 3, the vacuum suction grippers which do not need to work can be controlled to be not working, and only the vacuum suction grippers which need to perform the grabbing task can be used for grabbing cargoes.

Of course, in other embodiments, the robot arm may also grasp the exposed cargo according to the number of graspable objects after judging the exposed cargo through the cargo image. If the acquired image shows that only 2 cargoes are exposed, other cargoes are stacked below the exposed cargoes, only two vacuum adsorption grippers are controlled to grasp the cargoes during primary grasping.

It can be appreciated that the power consumption of the vacuum suction grippers can be reduced while the cargo gripping efficiency can be effectively improved through the implementation mode.

And step 203, controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods.

Fitting is understood to mean that the vacuum suction grip is in contact with the surface of the target cargo, but not gripping.

As an embodiment, step S203 includes: driving each vacuum adsorption gripper to respectively move to a grabbing area of the corresponding target goods; and controlling each vacuum adsorption gripper to be respectively attached to the grabbing areas of the corresponding target goods.

It will be appreciated that the gripping area described above refers to the outer surface of the target cargo, i.e. the area where the vacuum suction grippers contact the outer surface of the target cargo.

It can be understood that each vacuum adsorption gripper can be independently controlled to accurately grasp goods, so that the success rate of grabbing the goods is improved, and the working efficiency is improved.

The driving mode of the vacuum suction gripper may be motor driving or link driving, and the specific driving process is not particularly limited herein.

It should be understood that the target cargo corresponding to each vacuum suction gripper is allocated to the mechanical arm, that is, after the cargo image is acquired, the respective corresponding target cargo is determined according to the arrangement sequence of the vacuum suction grippers on the mechanical arm. After the determination, the vacuum suction grippers are again driven toward the respective target cargo area and are brought into engagement with the outer surface of the cargo.

As another embodiment, step S203 includes: transmitting positioning laser to the center point of the grabbing area of the target cargo according to the cargo image; driving each vacuum adsorption gripper to move to the corresponding grabbing area respectively according to the position information of the central point returned by the positioning laser; and controlling each vacuum adsorption gripper to be respectively attached to the corresponding grabbing areas of the target goods, wherein the projection of the central position of the vacuum adsorption gripper on the grabbing areas of the target goods coincides with the central point.

It can be understood that through the mode of laser positioning, can be fast positioned to the central point of each target cargo's snatch region, and then the vacuum adsorption tongs of being convenient for coincides with this central point, is favorable to snatching the cargo, reduces the probability that the cargo snatchs the process and drops because of the focus skew.

And step S204, performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods.

It can be understood that the vacuum adsorption is performed, that is, the mechanical arm performs vacuum adsorption operation, for example, the vacuum pump in the mechanical arm is utilized to perform vacuumizing, so that air between the vacuum adsorption gripper and the target goods is pumped out, and thus, a vacuum adsorption force acts on the target goods to adsorb the target goods, the "hand" is not needed to be used for gripping/clamping, the hard material on the mechanical arm can be prevented from directly contacting the target goods, and the probability of damage of the outer package of the target goods is reduced.

As one embodiment, step S204 includes: and starting a vacuum pumping system in the mechanical arm to pump air between the vacuum adsorption gripper and the grabbing area so as to grab the target goods.

As another embodiment, step S204 includes: determining the size of each target cargo; and controlling the adsorption force of the vacuum adsorption grippers according to the size of the target goods so as to grasp the target goods by the adsorption forces of different sizes.

It will be appreciated that the size of the cargo may be determined in this embodiment using the principle of near-far size of the image or the principle of co-distance comparison. Because the sizes of the cargoes are different, if the same adsorption force is used, the cargoes are easy to fall due to small adsorption force, and if the adsorption force is large, the cargoes are easy to damage the outer package due to small adsorption force. Therefore, the application adjusts the adsorption force according to the size of the goods, and can further reduce the probability of damage of the goods while adsorbing the goods.

It should be understood that the manner of providing different suction forces for different vacuum suction grippers may be to design a plurality of vacuum pumps so that the magnitude of the vacuum suction force is controlled by controlling the vacuum pumps, which is not particularly limited herein.

As yet another embodiment, step S204 includes: executing a first vacuum adsorption force on the vacuum adsorption grip to obtain the weight of the target cargo; adjusting the vacuum adsorption force of each vacuum adsorption gripper according to the weight; and grabbing the target goods by utilizing the adjusted vacuum adsorption force.

It is understood that the mechanical arm is also provided with a weight sensor for collecting the weight of the goods. Specifically, the first vacuum adsorption force is utilized to lift the cargoes up to achieve weighing, after the weighing is completed, the weights of the respective target cargoes are summarized, and then the size of the adsorption force is adjusted according to the weights of the target cargoes, so that the power consumption of the vacuum pump is adjusted to be optimal, and the power consumption of a mechanical arm is reduced while the grabbing of the cargoes is completed.

For example, assuming that there are 3 vacuum suction grippers, namely vacuum suction gripper a, vacuum suction gripper B, vacuum suction gripper C, respectively, the weights of the respective corresponding cargoes after lifting up and weighing the cargoes with the first vacuum suction force are a, B, C, respectively, wherein a > B > C.

That is, if the weight of C is minimum, the suction force of the vacuum suction grip C is smaller than the suction force of the vacuum suction grip B after being adjusted, and the suction force of the vacuum suction grip B is smaller than the suction force of the vacuum suction grip a.

It should be noted that, the vacuum adsorption force output by each vacuum adsorption gripper is greater than the gravity of the target cargo.

It will be appreciated that in this embodiment, only the weight of the cargo is considered, and the size of the cargo is not considered.

In yet another possible embodiment, each vacuum suction grip may be moved to any position. If the hydraulic telescopic device is used for connecting the mechanical arm and the vacuum adsorption gripper, the direction and the position of the vacuum adsorption gripper can be changed by using the hydraulic telescopic device, the gripping of the goods in an indefinite direction is realized, and the goods gripping efficiency is further improved.

In summary, according to the method for grabbing goods based on the mechanical arm provided by the embodiment, the goods images of the goods to be grabbed are directly collected, and then the number of vacuum adsorption grippers on the mechanical arm is utilized to determine the target goods to be grabbed for the first time from the goods images, so that each vacuum adsorption gripper is controlled to be respectively attached to the corresponding target goods; finally, vacuum adsorption is carried out on the vacuum adsorption gripper to grasp the target goods so as to realize vacuum grasping of the goods, thereby effectively overcoming the defects caused by the way that the traditional mechanical arm grasps/clamps by hands, realizing nondestructive contact grasping by utilizing the way of vacuum adsorption, and reducing the damage rate of the goods on the one hand; on the other hand, because the traditional mechanical arm is made of hard materials made of iron/stainless steel, the hard materials inevitably and directly contact with the outer package of the goods in the process of grabbing/clamping, and because of stress, the hard materials are extremely easy to damage the outer package of the goods, such as puncture or deformation of the outer package, the stress is more uniform and the goods are not easy to deform in a vacuum adsorption mode; in addition, the vacuum adsorption gripper adopts the sucker made of soft materials, so that the outer package of the goods is not easy to puncture.

Third embodiment:

Referring to fig. 3, a robot-based cargo gripping system 500 includes: an acquisition unit 510, a target determination unit 520 and a grabbing unit 530. Wherein, the specific functions of each unit are as follows:

the acquisition unit 510 is used for acquiring a cargo image of a cargo to be grabbed;

a target determining unit 520, configured to determine a target cargo that is first grabbed from the cargo image according to the number of vacuum adsorption grippers on the mechanical arm;

A gripping unit 530, configured to control each vacuum suction gripper to be attached to the corresponding target cargo; and performing vacuum adsorption on the vacuum adsorption gripper to grasp the target goods.

Optionally, the grabbing unit 530 is specifically configured to: controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods; executing a first vacuum adsorption force on the vacuum adsorption grip to obtain the weight of the target cargo; adjusting the vacuum adsorption force of each vacuum adsorption gripper according to the weight; and grabbing the target goods by utilizing the adjusted vacuum adsorption force.

In another embodiment, the grabbing unit 530 is specifically configured to: controlling each vacuum adsorption gripper to be respectively attached to the corresponding target goods; determining the size of each target cargo; and controlling the adsorption force of the vacuum adsorption grippers according to the size of the target goods so as to grasp the target goods by the adsorption forces of different sizes.

Optionally, the target determining unit 520 is specifically configured to: determining the unloading quantity from the goods image according to the quantity of vacuum adsorption grippers on the mechanical arm; and determining the target goods which are grabbed for the first time from the goods images according to the unloading quantity and a preset rule.

It should be noted that, the specific function of the cargo gripping system 500 based on a mechanical arm provided by the present application is described with reference to the method embodiment, and is not described herein again.

Further, the present embodiment also provides a computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processing device, performs the steps of any of the method for grabbing goods based on a mechanical arm provided in the foregoing method embodiment.

The embodiment of the application provides a method and a system for grabbing goods based on a mechanical arm, which comprises a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated here.

It should be noted that the foregoing embodiments may be implemented in whole or in part by software, hardware (such as a circuit), firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.

It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In addition, the character "/" herein generally indicates that the associated object is an "or" relationship, but may also indicate an "and/or" relationship, and may be understood by referring to the context.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Claims

1.A method of gripping cargo based on a robotic arm, the method comprising:

Collecting a cargo image of a cargo to be grabbed;

2. The method of claim 1, wherein said controlling each of said vacuum suction grippers to engage a corresponding one of said target cargo, respectively, comprises:

3. The method of claim 1, wherein the performing vacuum suction on the vacuum suction gripper to grasp the target cargo comprises:

4. The method of claim 1, wherein the determining the first captured target cargo from the cargo image based on the number of vacuum suction grippers on the robotic arm comprises:

5. The method of claim 1, wherein the performing vacuum suction on the vacuum suction gripper to grasp the target cargo comprises:

Determining the size of each target cargo;

6. The method of claim 1, wherein the performing vacuum suction on the vacuum suction gripper to grasp the target cargo comprises:

7. A robotic arm-based cargo gripping system, the system comprising:

8. The system according to claim 7, characterized in that the gripping unit is specifically configured to:

9. The system according to claim 7, characterized in that the gripping unit is specifically configured to:

Determining the size of each target cargo;

10. The system according to claim 7, wherein the targeting unit is specifically configured to: