WO2021179871A1

WO2021179871A1 - Automated grasping method and apparatus, and device and storage medium

Info

Publication number: WO2021179871A1
Application number: PCT/CN2021/075917
Authority: WO
Inventors: 李永红; 王海涛; 莫健超; 段志鹏; 吴丰礼
Original assignee: 广东拓斯达科技股份有限公司
Priority date: 2020-03-11
Filing date: 2021-02-08
Publication date: 2021-09-16
Also published as: CN111392402B; CN111392402A

Abstract

An automated grasping method, comprising: acquiring a first time of when a grasping station receives a tray (210) and a second time of when same receives first data information, and storing the first data information in the grasping station, wherein the first data information comprises product information (310) and detection information (320) which are stored in the previous station; determining whether the time difference between the first time and the second time is greater than the time of the tray moving from the previous station to the grasping station; if a determination result shows that the time difference is greater than the time of the tray moving from the previous station to the grasping station, acquiring second data information, wherein the second data information comprises product information and detection information, stored in a memory, of a product (212) in the tray on the grasping station; determining whether the first data information and the second data information are the same; if a determination result shows that the first data information and the second data information are not the same, covering the first data information with the second data information, and storing the second data information in the grasping station; and grasping the product in the tray according to the second data information. Further disclosed are an automated grasping apparatus, a device and a storage medium.

Description

Automatic grab method, device, equipment and storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010165206.5 on March 11, 2020, and the entire content of the application is incorporated into this application by reference.

Technical field

This application relates to the field of automation technology, for example, to an automated grabbing method, device, equipment, and storage medium.

Background technique

On modern industrial production lines, more and more manufacturers use automated equipment to replace manual operations. The high efficiency and accuracy of automated equipment can improve product yield and product productivity.

In the automated production line, a number of inspection processes are required to take out the unqualified products to ensure the yield of the shipped products. Usually, the equipment captures the unqualified products according to the data corresponding to the products. However, during the transmission process, if the pallet loaded with the product is removed, and the data corresponding to the removed product is still stored at the grabbing station, it will cause the data to be misplaced, causing the data to not correspond to the product, and it will appear. If you pick up the wrong problem, the defective product will flow to the back station.

Summary of the invention

This application provides an automatic grab method, device, equipment and storage medium to avoid grabbing misalignment and achieve accurate grabbing of products.

The embodiment of the present application provides an automated grasping method, including: acquiring the first time when the grasping station receives the tray; acquiring the second time when the grasping station receives the first data information, using the first The data information covers the information currently stored in the grasping station, and the first data information is stored in the grasping station, where the first data information includes product information and inspections of the products stored in the previous station Information; determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the previous station to the grab station; if the first time The time difference from the second time is greater than the threshold time difference, and second data information is acquired, where the second data information includes product information and detection information of the products in the tray on the grab station stored in the memory; Determine whether the first data information is the same as the second data information; if the first data information is not the same as the second data information, cover the first data information with the second data information, and change the second data information The information is stored in the grasping station, and the product in the tray is grasped according to the second data information stored in the grasping station.

The embodiment of the present application provides an automated grasping device, which includes: a first time acquisition module, configured to acquire the first time when the grasping station receives a tray; an information storage module, configured to acquire first data information, Overwrite the currently stored information with the first data information, and store the first data information, where the first data information includes product information and inspection information of the product stored in the previous station; the second time acquisition module, Is set to obtain the second time when the grab station receives the first data information; a time judgment module is set to judge whether the time difference between the first time and the second time is greater than a threshold time difference, where The threshold time difference refers to the time for the tray to move from the front station to the grabbing station; the information acquisition module is configured to acquire the second data information in response to the judgment result that the first data information is different from the second data information , Wherein the second data information includes product information and detection information of the product in the tray on the grabbing station stored in the memory; an information judgment module is configured to judge whether the first data information is related to the Whether the second data information is the same; the information storage module is further configured to cover the first data information with the second data information when the first data information is different from the second data information, and Storing the second data information; a grabbing module for grabbing the products in the tray according to the second data information stored by the information storage module.

An embodiment of the present application provides a device that includes: a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the above-mentioned automated grabbing method when the computer program is executed.

The embodiment of the present application provides a storage medium storing a computer program, and when the program is executed by a processor, the above-mentioned automatic capturing method is realized.

Description of the drawings

FIG. 1 is a schematic flowchart of an automated grabbing method provided by an embodiment of the application;

FIG. 2 is a schematic structural diagram of a tray provided by an embodiment of the application;

FIG. 3 is a schematic diagram of first data information provided by an embodiment of this application;

FIG. 4 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of the application;

FIG. 5 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of the application;

FIG. 6 is a schematic diagram of pre-stored information data provided by an embodiment of this application;

FIG. 7 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of the application;

FIG. 8 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of the application;

FIG. 9 is a schematic structural diagram of an automated grasping device provided by an embodiment of the application;

FIG. 10 is a schematic structural diagram of yet another automatic grasping device provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of a device provided by an embodiment of this application.

Detailed ways

The application will be described below with reference to the drawings and embodiments. It can be understood that the embodiments described here are only used to explain the application, but not to limit the application. For ease of description, the drawings only show a part of the structure related to the present application, but not all of the structure.

FIG. 1 is a schematic flowchart of an automated grabbing method provided by an embodiment of the application. As shown in Figure 1, the method includes the following steps.

Step 110: Obtain the first time when the gripping station receives the pallet.

2 is a schematic structural diagram of a tray provided by an embodiment of the application. As shown in FIG. 2, 20 products 212 are placed on the tray 210, and a buckle 211 is provided on one side of the tray 210 where the product 212 is placed. It is configured to fix the product 212 on the tray 210. FIG. 2 only illustrates that one tray 210 can hold 20 products, and this application does not limit the number of products held on one tray.

Exemplarily, a sensor is provided on the grasping station. When the pallet is moved to the grasping station, the sensor generates an electrical signal, it is considered that the grasping station receives the pallet, and the time at this moment is the first time t1. In other embodiments, other methods can also be used to determine that the gripping station receives the tray, which is not limited in this application.

Step 120: Obtain the second time when the grab station receives the first data information, use the first data information to overwrite the information currently stored in the grab station, and store the first data information in the The grasping station, wherein the first data information includes product information and inspection information of the product stored in the previous station.

The front station transmits the first data information corresponding to the pallet while transmitting the pallet, so the grabbing station can receive both the pallet transmitted by the front station and the first data information transmitted by the front station. When the grasping station receives the first data message, the time at this moment is the second time t2.

The product information in the first data information may be a product number, a measurement value of a previous process section, etc., and the detection information may be a detection result obtained by detecting a product at a detection station. FIG. 3 is a schematic diagram of a first data information provided by an embodiment of the application. As shown in FIG. 3, the first data information includes product information 310 and detection information 320. The product information 310 includes product number, device number and length, The information includes flatness test results. Exemplarily, a tray holds 20 products, and the acquired first data information includes 20 sets of information, as shown in FIG. 3.

Step 130: Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station.

Assuming that the pallet is successfully transferred to the grasping station and received by the grasping station, the time for the previous station to transmit the tray and the first data information is recorded as T1, the time for the grasping station to receive the tray is recorded as T2, and the grasping station The time to obtain the first data information is recorded as T3, the time required for the pallet to move from the front station to the grasping station is T2-T1, and the time required for the first data information to be transmitted from the previous station to the grasping station is T3- T1. Generally speaking, the transmission speed of data information is very fast, far greater than the transmission speed of the pallet, that is, T3=T1. Therefore, the time T2 when the grab station receives the pallet and the time T3 when the grab station receives the first data information The time difference T2-T3 is equal to the time required for the pallet to move from the front station to the grab station, T2-T1. Taking into account the limitation of process equipment accuracy, the time required for the tray to move from the front station to the grasping station should be within a neighborhood of T2-T1, which is assumed to be 97% (T2-T1) ~ 103% (T2-T1) .

Accordingly, 103% (T2-T1) is set as the threshold time difference, and it is judged whether the time difference Δt between the first time t1 and the second time t2 is greater than 103% (T2-T1), if Δt is greater than 103% (T2-T1), It means that the tray corresponding to the first data information may be taken away, that is, the first data information received by the grabbing station may not correspond to the tray. Optionally, if Δt is less than or equal to 103% (T2-T1), it is considered that the first data information received by the grabbing station corresponds to the pallet, and the pallet is directly grabbed according to the first data information stored by the grabbing station The product can reduce the steps of grabbing and improve work efficiency. The embodiments of the present application only exemplarily illustrate the setting value and the setting process of the threshold time difference, and the present application does not limit this.

Step 140: If the time difference between the first time and the second time is greater than the threshold time difference, obtain second data information, where the second data information includes the products in the tray on the grab station stored in the memory Product information and testing information.

Step 150: Determine whether the first data information is the same as the second data information.

When the time difference between the first time and the second time is greater than the threshold time difference, it is necessary to determine whether the first data information received by the grasping station corresponds to the tray. The determination method is as follows: Obtain the actual data information corresponding to the tray received by the grab station, that is, the second data information, compare the second data information with the first data information received by the grab station, and determine the first data information Is the same as the second data information? If the first data information is different from the second data information, it means that the first data information received by the grabbing station does not correspond to the tray. If the first data information is the same as the second data information, It means that the first data information received by the grabbing station corresponds to the pallet, and the reason for the excessive time difference between the first time and the second time may be a production line transmission jam.

Step 160: If the first data information is different from the second data information, cover the first data information with the second data information, and store the second data information in the grabbing station.

Step 170, grab the product in the tray according to the second data information stored in the grab station.

If the first data information is different from the second data information, it means that the first data information received by the grabbing station does not correspond to the pallet. At this time, the first data information is overwritten with the acquired second data information, and the The second data information is stored in the grasping station, so that the tray received by the grasping station corresponds to the data information stored on the grasping station. Then, the unqualified products are captured according to the second data information stored in the capturing station.

In the embodiment of the present application, by obtaining the first time when the gripping station receives the tray and the second time when the first data information stored in the previous station is received, it is determined whether the time difference between the first time and the second time is greater than that of the tray before The time for the station to move to the grasping station. If the time difference is greater than the time for the pallet to move from the previous station to the grasping station, it means that the pallet may be taken away from the previous station to the grasping station. The first data received by the fetching station may not correspond to the received pallet. By obtaining the actual data information of the pallet received by the fetching station, that is, the second data information, determine whether the first data information and the second data information are the same , If it is different, it means that the tray received by the grasping station does not correspond to the first data information received, that is, it is determined that the tray is taken away from the previous station to the grasping station, and the second data information is used to cover it The received first data information and the second data information are stored in the grabbing station, so that the data information stored in the grabbing station corresponds to the tray received by the grabbing station, so as to avoid grabbing errors and realize Grasp the products accurately to ensure the yield of the shipped products.

Optionally, step 170 includes: detecting whether there is a product to be grasped at a position on the tray where the product to be grasped is placed. If there is a product to be grasped at the position where the product to be grasped is placed on the tray, the product to be grasped is grasped according to the second data information stored in the grasping station; if the product to be grasped is placed on the tray If there is no product to be fetched at the position of, the fetch will not be carried out.

Before grabbing the product, check whether there is a product to be grabbed at the position on the tray where the product to be grabbed is placed. Only when there is a product to be grabbed at the position where the product to be grabbed is placed on the tray, can the product to be grabbed be grabbed; When the product to be grasped on the tray is lost due to the loose buckle or other reasons, that is, when there is no product to be grasped at the position on the tray where the product is to be grasped, the grasping is not performed at that position. Therefore, unnecessary grabbing actions can be avoided and work efficiency can be improved.

Optionally, FIG. 4 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of this application. As shown in Figure 4, the method includes the following steps.

Step 410: Obtain the first time when the picking station receives the tray.

Step 420: Obtain the second time when the grab station receives the first data information, use the first data information to overwrite the information currently stored in the grab station, and store the first data information in the The grasping station, wherein the first data information includes product information and inspection information of the product stored in the previous station.

Step 430: Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station.

Step 440: If the time difference between the first time and the second time is greater than the threshold time difference, obtain second data information, where the second data information includes the tray on the grabbing station stored in the memory Product information and testing information of the product.

Step 450: Determine whether the first data information and the second data information are the same. If the first data information is different from the second data information, step 460 is executed; if the first data information is the same as the second data information, step 472 is executed.

Step 460: Cover the first data information with the second data information, and store the second data information in the grabbing station; go to step 471.

Step 471: Grab the product in the tray according to the second data information stored in the grabbing station.

Step 472, grab the product in the tray according to the first data information stored in the grab station.

When the first data information is the same as the second data information, it is considered that the first data information received by the grabbing station corresponds to the pallet. At this time, the unqualified product is directly grabbed according to the first data information stored in the grabbing station , Reduce the steps of grabbing and improve work efficiency.

Optionally, FIG. 5 is a schematic flowchart of yet another automated grabbing method provided by an embodiment of the application. As shown in Figure 5, the method includes the following steps.

Step 510: At the inspection station, it is judged whether the product information of each product among all the products in the tray matches the pre-stored information data.

Exemplarily, the product information of multiple products in the tray is shown in FIG. 3, and the product information includes a product number, a device number, and a length. FIG. 6 is a schematic diagram of pre-stored information data provided by an embodiment of the application. As shown in Figure 6, the pre-stored information data includes the device number, the maximum value of the length, and the minimum value of the length. The length of the qualified product flowing from the device 1 is greater than or equal to 2.050 and less than or equal to 2.150, and the length of the qualified product flowing from the device 2 The length of the qualified product is greater than or equal to 2.070 and less than or equal to 2.130, and the length of the qualified product flowing out of the device 3 is greater than or equal to 2.080 and less than or equal to 2.120. Match the product information shown in Figure 3 with the pre-stored information data shown in Figure 6. The matching rule is: according to the product information shown in Figure 3, the device number is 1, the length is greater than or equal to 2.050 and less than or equal to The product corresponding to a set of product information of 2.150 is regarded as a matching product, and the product corresponding to a set of product information with a device number of 1, and a length less than 2.050 or greater than 2.150 is regarded as a mismatched product; the device number is 2 and the length is greater than Products corresponding to a set of product information that is 2.070 or less and less than or equal to 2.130 are regarded as matched products, and products corresponding to a set of product information with a device number of 2 or less than 2.070 or greater than 2.130 are regarded as unmatched products; The product corresponding to a set of product information with a device number of 3 and a length greater than or equal to 2.080 and less than or equal to 2.120 is regarded as a matching product. The product corresponding to a set of product information with a device number of 3 and a length less than 2.080 or greater than 2.120 is regarded as Is a mismatched product. According to the above matching rules, the matching results of multiple products in the tray can be obtained. The unmatched products are essentially products with unqualified length, that is, the matched products are all parameters except the parameters to be tested at the inspection station. qualified products.

Step 520: Perform detection on the matched product at the detection station, and obtain detection information of the matched product.

The matching products are tested, and the unmatched products are not tested. Because the unmatched product means that the product is already a substandard product, there is no need to test this part of the product again, which can avoid useless detection actions and improve work efficiency .

Step 532: Store product information, matching results, and detection information of the matched products of all products in the tray as first data information in the detection station.

The first data information includes the product information of each product, the matching result, and the detection information of the matched product. According to the first data information, it can be determined whether the product in the tray is a qualified product.

Step 540: Obtain the first time when the gripping station receives the pallet.

Step 550: Obtain the second time when the grab station receives the first data information, use the first data information to overwrite the information currently stored in the grab station, and store the first data information in the The grasping station, wherein the first data information includes product information and inspection information of the product stored in the previous station.

Step 560: Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station.

Step 570: If the time difference between the first time and the second time is greater than the threshold time difference, acquire second data information, where the second data information includes the products in the tray on the grab station stored in the memory Product information and testing information.

Step 580: Determine whether the first data information is the same as the second data information.

Step 590: If the first data information is different from the second data information, cover the first data information with the second data information, and store the second data information in the grabbing station.

Step 5100, grab the product in the tray according to the second data information stored in the grab station.

The unmatched products may be captured first according to the product information and matching results of all the products in the tray; then the unqualified products may be captured according to the product information and inspection information of all the products in the tray. In other embodiments, it is also possible to first capture the unqualified products according to the product information and inspection information of all the products in the tray, and then capture the unmatched products according to the product information and matching results of all the products in the tray. product.

In the embodiment of the present application, by judging whether the product information of each product in the tray matches the pre-stored information data at the detection station, the matching result of each product can be obtained, the matching products are detected, and the non-matching products are not performed. Detection can avoid unnecessary detection actions and improve work efficiency.

Optionally, continue to refer to FIG. 5, the automated grabbing method further includes the following steps.

Step 531: Store product information, matching results, and detection information of the matched products of all products in the tray as second data information in the memory.

The data information in the memory will not be overwritten, and according to the product information and the storage rules of the memory, the storage location corresponding to the product information can be accessed, and the detection information corresponding to the product information can be obtained.

Optionally, FIG. 7 is a schematic flow diagram of another automated grabbing method provided by an embodiment of this application, and FIG. 8 is a schematic flow diagram of another automated grabbing method provided by an embodiment of this application. The front station includes a detection station or a buffer station. If the front station includes a detection station, as shown in Fig. 7, the automated grasping method includes the following steps.

Step 710, at the inspection station, it is judged whether the product information of each product among all the products in the tray matches the pre-stored information data.

Step 720: Perform detection on the matched product at the detection station, and obtain detection information of the matched product.

Step 730: Store product information, matching results, and detection information of the matched products of all products in the tray as first data information in the detection station.

In step 740, the tray is transferred to the grasping station, and the first data information of the product stored in the tray in the inspection station is transmitted to the grasping station.

The inspection station is the front station of the grasping station. After the inspection station completes the inspection of the product on the pallet, the pallet on the inspection station and the first data information stored in the inspection station are transmitted to the downstream grasping station. Bit.

Step 750: Obtain the first time when the gripping station receives the pallet.

Step 760: Obtain the second time when the grab station receives the first data information, use the first data information to overwrite the information currently stored in the grab station, and store the first data information in the The grasping station, wherein the first data information includes product information and inspection information of the product stored in the previous station.

Step 770: Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station.

Step 780, if the time difference between the first time and the second time is greater than the threshold time difference, obtain second data information, where the second data information includes the product information of the tray on the grab station stored in the memory. Product information and testing information.

Step 790: Determine whether the first data information is the same as the second data information.

Step 7100: If the first data information is different from the second data information, cover the first data information with the second data information, and store the second data information in the grabbing station.

Step 7110, grab the product in the tray according to the second data information stored in the grab station.

If the front station includes a buffer station, as shown in FIG. 8, the automated grab method includes the following steps.

Step 810, at the inspection station, it is judged whether the product information of each product among all the products in the tray matches the pre-stored information data.

Step 820: Perform detection on the matched product at the detection station, and obtain detection information of the matched product.

Step 830: Store product information, matching results, and detection information of the matched products of all products in the tray as first data information in the detection station.

Step 841: Transfer the tray to a buffer station, and transfer the first data information stored in the inspection station to the buffer station.

Step 842: The cache station receives the tray, receives the first data information, and stores the first data information in the cache station.

Step 843: Transfer the tray to the grab station, and transmit the first data information stored in the buffer station to the grab station.

The inspection station is the front station of the cache station. After the inspection station completes the inspection of the product on the tray, the tray on the inspection station and the first data information stored in the inspection station are transmitted to the downstream cache station. The buffer station then transmits the tray and the first data information to the downstream grasping station. When there is a pallet on the grasping station, the detected pallet can be placed in the buffer station without affecting the subsequent normal work of the detecting station.

Step 850: Obtain the first time when the gripping station receives the pallet.

Step 860: Obtain the second time when the grab station receives the first data information, use the first data information to overwrite the information currently stored in the grab station, and store the first data information in the The grasping station, wherein the first data information includes product information and inspection information of the product stored in the previous station.

Step 870: Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station.

Step 880: If the time difference between the first time and the second time is greater than the threshold time difference, acquire second data information, where the second data information includes the products in the tray on the grab station stored in the memory Product information and testing information.

Step 890: Determine whether the first data information is the same as the second data information.

Step 8100: If the first data information is different from the second data information, cover the first data information with the second data information, and store the second data information in the grabbing station.

Step 8110, grab the product in the tray according to the second data information stored in the grab station.

Based on the same application concept, an embodiment of the present application also provides an automatic grasping device, which can implement the automatic grasping method provided by any embodiment of the present application.

FIG. 9 is an automatic grasping device provided by an embodiment of the application. The device includes: a first time acquisition module 910 is set to acquire the first time when a pallet is received by a grasping station; an information storage module 920 is set to acquire a first time Data information, covering the currently stored information with the first data information, and storing the first data information, where the first data information includes product information and inspection information of the product stored in the previous station; the second time The acquiring module 930 is configured to acquire the second time when the grab station receives the first data information; the time determining module 940 is configured to determine whether the time difference between the first time and the second time is greater than a threshold time difference, Wherein, the threshold time difference refers to the time for the tray to move from the front station to the grabbing station; the information acquisition module 950 is configured to respond to the judgment that the first data information is different from the second data information As a result, the second data information is acquired, where the second data information includes the product information and detection information of the product in the tray on the grabbing station stored in the memory; the information judgment module 960 is configured to judge the location. Whether the first data information and the second data information are the same; the information storage module 920 is further configured to cover the second data information with the second data information when the first data information is different from the second data information. The first data information stores the second data information; the grab module 970 is configured to grab the products in the tray according to the second data information stored by the information storage module.

In the embodiment of the present application, the first time is obtained by the first time obtaining module, the second time is obtained by the second time obtaining module, the first data information is obtained by the information storage module, and the first data information is stored, and the time judgment module determines Whether the time difference between the first time and the second time is greater than the time for the pallet to move from the previous station to the grasping station, if the time difference is greater than the time for the pallet to move from the previous station to the grasping station, the first data received by the grasping station It may not correspond to the received pallet. The information acquisition module is used to acquire the second data information corresponding to the pallet received by the grabbing station, and the information judgment module determines whether the first data information and the second data information are the same. If they are different, then Explain that the tray received by the grabbing station does not correspond to the first data information received. The first data information is covered with the second data information and stored in the information storage module to ensure that the data information stored in the information storage module is consistent with the grabbing information. Corresponding to the tray received by the station, so as to avoid grabbing errors, achieve accurate grabbing of products, and ensure the yield of shipped products.

Optionally, the grabbing module 970 is further configured to grab the product in the tray according to the first data information stored by the information storage module when the time difference between the first time and the second time is less than a threshold time difference.

Optionally, the grab module 970 is further configured to grab the pallet in the tray according to the first data information stored in the grab station when the first data information is the same as the second data information. product.

Optionally, the grasping module 970 is further configured to detect whether there is a product to be grasped at the position on the tray where the product to be grasped is placed; when there is a product to be grasped at the position where the product to be grasped is placed on the tray , Grab the product to be grabbed according to the second data information stored in the grab station, and do not grab the product when there is no product to be grabbed at the position where the product to be grabbed is placed on the tray .

Optionally, FIG. 10 is another automatic grabbing device provided by an embodiment of the application, and the device further includes: a matching judgment module 981 is configured to judge the product information of each product among all the products in the tray and the pre-stored product information. Whether the information data of the pallet matches; the detection information acquisition module 982 is set to detect the matched products and obtain the detection information of the matched products; the first data information storage module 983 is set to store the product information and matching results of all products in the tray And the detection information of the matched product is stored as the first data information.

Optionally, continue to refer to FIG. 10, the automated grabbing device further includes: a memory 990 configured to store product information, matching results, and detection information of the matched products as second data information of all products in the tray .

Optionally, the front station includes the inspection station, and the automated grasping device further includes: a first transmission module configured to transfer the tray to the grasping station and store it in the inspection station. The first data information of the bit is transmitted to the grabbing station.

Alternatively, the front station includes a buffer station, and the automated grabbing device further includes: a second transmission module configured to transfer the tray to the buffer station, and transmit the first data information stored in the detection station To the buffer station; the buffer station receiving module, configured to receive the tray, receive the first data information, and store the first data information; the third transmission module, transmit the tray to the The grabbing station transmits the first data information stored in the buffering station to the grabbing station.

Optionally, continue to refer to FIG. 10, the grabbing module 970 is further configured to grab products that do not match according to the product information and matching results of all products in the tray; according to the product information and detection information of all products in the tray Grab the unqualified products.

FIG. 11 is a schematic structural diagram of a device provided by an embodiment of the present application, and FIG. 11 shows a block diagram of an exemplary device suitable for implementing the embodiments of the present application. The device shown in FIG. 11 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present application.

As shown in FIG. 11, the device 12 is represented in the form of a general-purpose computing device. The components of the device 12 may include, but are not limited to: one or more processors 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processor 16).

The bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure among multiple bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards) Association, VESA) local bus and Peripheral Component Interconnect (PCI) bus.

The device 12 includes a variety of computer system readable media. These media can be any media that can be accessed by the device 12, including volatile and non-volatile media, removable and non-removable media.

The system memory 28 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 30 and/or a cache memory 32. The device 12 may include other removable/non-removable, volatile/non-volatile computer system storage media. For example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media (not shown in FIG. 11, usually referred to as a "hard drive"). Although not shown in FIG. 11, this embodiment can provide a magnetic disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and a removable non-volatile optical disk (such as a compact disk read-only CD-ROM drive for reading and writing of memory (Compact Disc-Read Only Memory, CD-ROM), Digital Video Disc-Read Only Memory (DVD-ROM) or other optical media). In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The system memory 28 may include at least one program product. The program product has a set of (for example, at least one) program modules that are configured to perform functions of multiple embodiments of the present application.

A program/utility tool 40 having a set of (at least one) program module 42 may be stored in, for example, the system memory 28. Such program module 42 includes but is not limited to an operating system, one or more application programs, other program modules, and programs Data, each of these examples or a combination may include the realization of a network environment. The program module 42 usually executes the functions and/or methods in the embodiments described in the embodiments of the present application.

The device 12 may also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and may also communicate with one or more devices that enable a user to interact with the device 12, and/or communicate with The device 12 can communicate with any device (such as a network card, modem, etc.) that can communicate with one or more other computing devices. This communication can be performed through an input/output (Input/Output, I/O) interface 22. The device 12 may also communicate with one or more networks (for example, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the device 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and/or software modules can be used in conjunction with the device 12, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, and disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

The processor 16 executes multiple functional applications and data processing by running at least one of the multiple programs stored in the system memory 28, for example, to implement the automated capture method provided in the embodiment of the present application.

The embodiments of the present application also provide a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, an automated grabbing method as provided in all the embodiments of the present application is implemented. That is, when the program is executed by the processor, it is realized: obtain the first time when the grab station receives the tray; obtain the second time when the first data information is received by the grab station, and use the first data information Overwrite the information currently stored in the grasping station, and store the first data information in the grasping station, wherein the first data information includes product information and inspection information of the products stored in the previous station Whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grabbing station; if the first time and the second time When the time difference is greater than the threshold time difference, second data information is acquired, where the second data information includes product information and detection information of the products in the tray on the grab station stored in the memory; judging the Whether the first data information is the same as the second data information; if the first data information is different from the second data information, the first data information is overwritten with the second data information, and the second data information is stored in The grabbing station grabs the product in the tray according to the second data information stored in the grabbing station.

Any combination of one or more computer-readable media may be used. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above. Examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Erasable Programmable Read-Only Memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

The computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and the computer-readable signal medium carries computer-readable program code. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium. The computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .

The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

The computer program code used to perform the operations of this application can be written in one or more programming languages or a combination thereof. The programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language. The program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN) domain, or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).

Claims

An automated crawling method, including:

Obtain the first time when the picking station receives the pallet;

Acquire the second time when the first data information is received by the grabbing station, overwrite the information currently stored in the grabbing station with the first data information, and store the first data information in the grabbing station Take a station, wherein the first data information includes product information and inspection information of the product stored in the previous station;

Determine whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time for the tray to move from the front station to the grab station;

In response to the judgment result that the time difference between the first time and the second time is greater than a threshold time difference, obtain second data information, where the second data information includes all data stored in the grabbing station in the memory. Describe the product information and inspection information of the products in the tray;

Determine whether the first data information is the same as the second data information;

In response to the judgment result that the first data information is not the same as the second data information, cover the first data information with the second data information, and store the second data information in the capture A station, grabbing the product in the tray according to the second data information stored in the grabbing station.
The automated crawling method according to claim 1, after determining whether the first data information and the second data information are the same, the method further comprises:

In response to a judgment result that the first data information is the same as the second data information, the product in the tray is grabbed according to the first data information stored in the grabbing station.
The automated grasping method according to claim 1, wherein the grasping the product in the tray according to the second data information stored in the grasping station comprises:

Detecting whether there is a product to be grabbed at the position where the product to be grabbed is placed on the tray;

In response to the detection information of the product to be grabbed at the position on the tray where the product to be grabbed is placed, grab the product to be grabbed according to the second data information stored in the grabbing station; If there is no detection information of the product to be grabbed at the position on the tray where the product to be grabbed is placed, grabbing is not performed.
The automated grasping method according to claim 1, wherein before the first time when the pallet is received by the grasping station, the method further comprises:

Determine whether the product information of each product among all the products in the tray matches the pre-stored information data at the inspection station;

Detect the matched product at the detection station, and obtain the detection information of the matched product;

The product information, matching results, and detection information of the matched products of all products in the tray are stored in the detection station as the first data information.
The automated grasping method according to claim 4, after detecting the matched product at the detection station and acquiring the detection information of the matched product, the method further comprises:

The product information, matching results, and detection information of the matched products of all products in the tray are stored in the memory as the second data information.
The automated grasping method according to claim 4, wherein the front station includes the detection station; and the product information, matching results, and detection information of the matched products of all the products in the tray are collected As the first data is stored in the detection station, the method further includes:

Transferring the pallet to the grasping station, and transmitting the first data information stored in the inspection station to the grasping station;

Alternatively, the front station includes a buffer station; the product information, matching results, and detection information of the matched products of all products in the tray are stored as the first data after the detection station , The method further includes:

Transferring the tray to the buffer station, and transferring the first data information stored in the inspection station to the buffer station;

The buffer station receives the tray, receives the first data information, and stores the first data information in the buffer station;

The tray is transferred to the grasping station, and the first data information stored in the buffer station is transferred to the grasping station.
The automated grasping method according to claim 5, wherein the grasping the products in the tray according to the second data information stored in the grasping station comprises:

Grab the unmatched products according to the product information and matching results of all products in the tray;

According to the product information and the inspection information of all the products in the tray, the unqualified products are captured.
An automatic grabbing device, including:

The first time acquisition module is set to acquire the first time when the grab station receives the pallet;

The information storage module is configured to obtain the first data information, cover the currently stored information with the first data information, and store the first data information, wherein the first data information includes the product information stored in the previous station Product information and testing information;

The second time obtaining module is configured to obtain the second time when the first data information is received by the grabbing station;

The time judging module is configured to judge whether the time difference between the first time and the second time is greater than a threshold time difference, where the threshold time difference refers to the time when the tray moves from the front station to the grab station time;

The information acquisition module is configured to acquire second data information in response to a judgment result that the first data information is not the same as the second data information; wherein, the second data information includes the captured data stored in a memory Product information and inspection information of the products in the tray at the workstation;

The information judgment module is configured to judge whether the first data information and the second data information are the same; the information storage module is further configured to respond to a judgment that the first data information is different from the second data information As a result, covering the first data information with the second data information and storing the second data information;

The grabbing module is configured to grab the product in the tray according to the second data information stored by the information storage module.
A device comprising: a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor executes the computer program as described in any one of claims 1-7 The described automated crawling method.
A storage medium storing a computer program, wherein when the program is executed by a processor, the automated grabbing method according to any one of claims 1-7 is realized.