Unlock instant, AI-driven research and patent intelligence for your innovation.

Control method based on intelligent self-service mechanical arm

A control method and a technology of a manipulator, which is applied in the direction of manipulators, comprehensive factory control, program control manipulators, etc., can solve the problems of inaccurate, unreasonable and collision path planning of manipulators, etc.

Active Publication Date: 2021-06-22
广东便捷神科技股份有限公司
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] When the existing unmanned convenience stores sell goods, they usually use the robotic arm to pick up the goods. The traditional control method is not accurate enough to select the picking position of the robotic arm, which will increase the difficulty of picking the robotic arm. The acquisition efficiency is low; and the path planning of the robotic arm is not accurate enough, it will easily collide or the path planning is unreasonable, resulting in low moving efficiency of the robotic arm

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method based on intelligent self-service mechanical arm
  • Control method based on intelligent self-service mechanical arm
  • Control method based on intelligent self-service mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0072] An embodiment of the present invention provides a control method based on an intelligent unmanned vending robot arm, such as figure 1 shown, including:

[0073] Step 1: Receive the purchase information from the user, determine the position of the product to be gripped, and determine the target position of the robotic arm;

[0074] Step 2: Determine the moving path of the mechanical arm based on the target position, and control the moving path of the mechanical arm to reach the actual position;

[0075] Step 3: After the robotic arm reaches the actual position, adjust the working parameters of each joint of the robotic arm to grip the purchased product;

[0076] Step 4: Based on the robotic arm, transfer the picked purchased commodity to the commodity picking area.

[0077] In this embodiment, the target position of the mechanical arm is an optimal position for gripping the product to be gripped.

[0078] In this embodiment, the actual position is different from the t...

Embodiment 2

[0082] Based on Embodiment 1, the embodiment of the present invention provides a control method based on an intelligent unmanned vending robot arm. In step 1, determining the position of the commodity to be gripped includes:

[0083] determining the first area where the purchased commodity is located based on the type of the purchased commodity;

[0084] Scanning the first area based on the name of the purchased product to determine a second area where the purchased product is located;

[0085] Analyzing the degree of positional correlation between each purchased product and other purchased products in the second area, and selecting the purchased product with the smallest degree of positional correlation as the product to be clamped;

[0086] The position of the commodity to be clamped is determined based on a preset position distribution map.

[0087] In this embodiment, the first area is an area where the type of commodity purchased is located. For example, if the type of c...

Embodiment 3

[0092] Based on Embodiment 1, the embodiment of the present invention provides a control method based on an intelligent unmanned vending robot arm. In step 1, determining the target position of the robot arm includes:

[0093] Acquiring the space image where the commodity to be clamped is located, analyzing and processing the space image to obtain a three-dimensional space model, and obtaining the available space in the three-dimensional space model;

[0094] selecting a first space that enables the free movement of the robotic arm from the available space based on the movement parameters of the robotic arm;

[0095] Based on the position of the commodity to be clamped, using a space selection model, selecting the best clamping space from the first space as the second space;

[0096] Based on the appearance parameters of the mechanical arm, determine the orientation of the mechanical arm in the second space, and determine the orientation of the mechanical arm according to the ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a control method based on an intelligent self-service mechanical arm. The method comprises the steps: 1, commodity purchasing information from a user is received, the position of a to-be-clamped commodity is determined, and the target position of the mechanical arm is determined; 2, based on the target position, the moving path of the mechanical arm is determined, and the mechanical arm is controlled to move according to the moving path to reach the actual position; 3, after the mechanical arm reaches the actual position, working parameters of all joints of the mechanical arm are adjusted, and the to-be-clamped commodity is clamped; and 4, based on the mechanical arm, the to-be-clamped commodity is transferred to a commodity taking area. The selection precision of the target position is improved, the clamping difficulty of the mechanical arm is reduced, the moving safety of the mechanical arm is guaranteed, the moving efficiency is improved, and finally the clamping efficiency of the mechanical arm is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned vending, in particular to a control method based on an intelligent unmanned vending robot arm. Background technique [0002] Unmanned convenience stores refer to all or part of the business processes in the store, which are intelligently and automatically processed through technical means. With the advancement of technology, unmanned convenience stores can be seen everywhere in major shopping malls and office buildings. [0003] When the existing unmanned convenience stores sell goods, they usually use the robotic arm to pick up the goods. The traditional control method is not accurate enough to select the picking position of the robotic arm, which will increase the difficulty of picking the robotic arm. The extraction efficiency is low; and the path planning of the robotic arm is not accurate enough, which may easily cause collisions or unreasonable path planning, resulting in low moving efficie...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/1664Y02P90/02
Inventor 龚庆祝周梓荣陈云尹波
Owner 广东便捷神科技股份有限公司