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A workpiece grabbing method, device, computer equipment and storage medium

A workpiece and component technology, which is applied in the fields of workpiece grasping, devices, computer equipment and storage media, can solve the problems of only reaching 15°, overlap of workpieces, and insufficient robot arm span, so as to save arm span, avoid strange posture, The effect of improving the success rate of crawling

Active Publication Date: 2022-04-26
SEIZET TECH SHEN ZHEN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Second, due to the random placement of workpieces, it is easy to cause a large number of workpieces in the material frame to have overlapping, occlusion, shadows, and complex backgrounds. The complete point cloud data of such workpieces cannot be obtained through the camera, and the related workpieces cannot be identified, resulting in this. class artifact grabbing
Third, in the current disorderly sorting, the common motion planning means that the robotic arm extends into the material frame, and the grasping depends on the kinematics model of the robotic arm body. The end hand of the robot is designed as a long straight rod, and the grasping strategy is that the end is perpendicular to For workpiece surface suction, when the size of the material frame is large or the material frame is relatively far away from the robot, the robot is prone to the problem of insufficient arm span, and the robot posture (straight rod angle) sometimes cannot meet within 30°
like figure 1 and figure 2 As shown, the near-end robot posture can reach 30°, but the far-end can only reach 15°

Method used

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  • A workpiece grabbing method, device, computer equipment and storage medium
  • A workpiece grabbing method, device, computer equipment and storage medium
  • A workpiece grabbing method, device, computer equipment and storage medium

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Embodiment 2

[0151] The present invention also discloses a workpiece grabbing device 10, which uses an end gripper to grip a workpiece, and the end gripper includes a straight rod and a gripper assembly connected to the straight rod; the gripper assembly is connected to the straight rod The straight bar is arranged at an included angle and the included angle is adjustable, the straight bar is used to connect the external mechanical arm so that the mechanical arm is located outside the material frame, and the gripper assembly is arranged vertically to the workpiece to be grasped;

[0152] Such as Figure 23 As shown, the workpiece grabbing device 10 includes:

[0153] The original point cloud acquisition module 11 of the workpiece is used to obtain the original point cloud of the workpiece;

[0154] Preliminary workpiece information acquisition module 12, used to segment and identify the original point cloud of the workpiece to obtain preliminary workpiece information, and transfer to the ...

Embodiment 4

[0179] Figure 24 Shown is a schematic structural diagram of a computer device provided by an embodiment of the present invention, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server or a cabinet server that can execute programs (including independent servers, or server clusters composed of multiple servers), etc. The computer device 20 of this embodiment at least includes but is not limited to: a memory 21 and a processor 22 that can communicate with each other through a system bus, such as Figure 24 shown. It should be pointed out that, Figure 24 Only computer device 20 is shown having components 21-22, but it should be understood that implementing all of the illustrated components is not a requirement and that more or fewer components may instead be implemented.

[0180] In this embodiment, the memory 21 (that is, a readable storage medium) includes a flash memory, a hard disk, a multimedia ca...

Embodiment 5

[0183] The present application also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Storage, Magnetic Disk, Optical Disk, Server, App Store, etc., on which computer programs, program When executed by the processor, corresponding functions are realized. The computer-readable storage medium in this embodiment is used to store the program code of the workpiece grasping device, and when executed by the processor, implements the workpiece grasping method in the method embodiment.

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Abstract

The invention discloses a workpiece grabbing method, comprising: S1 acquiring the original point cloud of the workpiece; S2 segmenting and identifying the original point cloud of the workpiece to obtain preliminary workpiece information; S3 identifying the preliminary workpiece information one by one to obtain the workpiece information; S4 obtaining the first sorting, via the second A grasping planning module performs grasping planning judgment according to the first sorting and polling workpiece point cloud, which includes at least two types of cylinder grasping attitudes, and the included angles of each type of cylinder grasping attitudes are set differently. If the cylinder grasping attitude The corresponding workpiece point cloud is exported to the outside world through the grasping plan; if none of them pass the grasping plan, it is transferred to S5; S5 obtains the second ranking, and the second grasping planning module polls the preliminary workpiece point cloud according to the second ranking for grasping planning Judgment, which includes at least one type of end-face grasping posture. If the end-face grasping posture corresponds to the preliminary workpiece point cloud and passes the grasping plan, it will be output to the outside; if all of them fail to pass the grasping plan, this method can effectively improve the grasping success rate. It realizes workpiece grasping in a completely disordered state.

Description

technical field [0001] The invention relates to a system and a control method for grabbing parts from a material frame, in particular to a workpiece grabbing method, device, computer equipment and storage medium. Background technique [0002] In the field of industrial manufacturing, the traditional loading and unloading system is realized based on automated tooling or manual methods. The workpiece is heavy, the manual operation is labor-intensive, and it is difficult to recruit corresponding workers. With the promotion of industrial-grade 3D cameras and the rise of 3D vision algorithms, the disorderly sorting and loading system based on 3D vision is expected to realize intelligence in the past manual or automated methods, and realize the industrial upgrading of automatic loading and unloading systems. [0003] The 3D visual guidance application grabs parts, grabs from the material frame stack, grabs from the accumulation chain, and grabs parts from the EHB conveyor system, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/161
Inventor 高磊秦继昊田希文
Owner SEIZET TECH SHEN ZHEN CO LTD
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