Gripping control method, device, medium, product and gripping control system

Abstract

This application provides a grasping control method, device, medium, product, and grasping control system. Responding to grasping control commands, based on a 3D image of the space inside the source material box acquired by a 3D vision system, the robotic arm is controlled to grasp materials from the source material box and transfer them to a pallet. Once the pallet is full, the robotic arm unloads the materials into the target material box, and the grasping operation continues. When the source material box is empty, the roles of the source and target material boxes are switched, and the above processing flow continues. This method automatically switches the roles of the source and target material boxes when the source material box is empty, turning a material box that was originally a feeder into a material receiver, and vice versa. This solves the problem of traditional transfer methods that can only operate in one direction and require manual intervention when the source box is empty, thus achieving bidirectional material transfer, effectively improving the flexibility of material transfer, and ensuring the continuity of material transfer operations between different material boxes.

Description

Technical Field

[0001] This application relates to the field of industrial robot control technology, and in particular to a gripping control method, device, medium, product and gripping control system. Background Technology

[0002] With the rapid evolution of intelligent manufacturing and flexible production, the types of materials that industrial automated production lines need to handle are becoming increasingly diversified. Therefore, the demand for efficient sorting of multiple types and specifications of materials is becoming increasingly prominent.

[0003] In material handling scenarios, robot-assisted grasping and unloading operations are often used. That is, the robot uses a robotic arm to grasp the materials to be transferred from the feeding box one by one and transfer them to the receiving box, thereby completing the cross-box handling of materials.

[0004] However, this traditional method can only achieve one-way transfer of materials from the feed box to the receiving box. When the feed box is completely emptied, it cannot automatically achieve reverse transfer, resulting in interruption of the operation process. Summary of the Invention

[0005] This application provides a gripping control method, device, medium, product, and gripping control system to realize bidirectional transfer of materials from the feed box to the receiving box.

[0006] In a first aspect, embodiments of this application provide a grasping control method, comprising: in response to a grasping control command, performing the following grasping control processing in a loop:

[0007] Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the robotic arm is controlled to perform a grasping operation from the source material box to the pallet; and after the pallet reaches a full load, the robotic arm is controlled to perform an unloading operation from the pallet to the target material box and then continue to perform the grasping operation.

[0008] When the source material box is empty, the source material box and the target material box are switched so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and the grasping control process continues.

[0009] In one possible implementation, controlling the robotic arm to perform a grasping operation from the source material box to the pallet based on a three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system includes:

[0010] The three-dimensional image of the space inside the source material box is used for image recognition. Based on the image recognition results, the target object to be grasped is determined, and the position information of the target object inside the source material box is determined.

[0011] Based on the position information of the target object within the source material box, the robotic arm is controlled to grab the target object from the source material box and place the target object into the receiving space of the tray.

[0012] In one possible implementation, the source material box and the target material box are placed side by side, and the tray is disposed on a slide rail, which is movable along the slide rail so that the tray can reach above the source material box and above the target material box.

[0013] In one possible implementation, the tray's receiving space includes at least one receiving hole, with a baffle disposed below the at least one receiving hole. The baffle is connected to a switch. When the switch is in a first position, the at least one receiving hole is blocked by the baffle below to support the target object. When the switch is in a second position, the at least one receiving hole is exposed outside the baffle to allow the target object to fall from the receiving hole.

[0014] In one possible implementation, before controlling the robotic arm to perform a grasping operation from the source material box to the pallet based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes:

[0015] The robotic arm is controlled to drive the tray to move along the slide rail to above the target material box.

[0016] In one possible implementation, before controlling the robotic arm to perform a grasping operation from the source material box to the pallet based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes:

[0017] The robotic arm is controlled to perform a reset operation to reset the switch to the first position.

[0018] In one possible implementation, after the pallet reaches a full load, controlling the robotic arm to perform an unloading operation from the pallet to the target material box includes:

[0019] After the pallet reaches full load, the robotic arm is controlled to move the switch to the second position so that the target object in the pallet falls from the pallet into the target material box.

[0020] The robotic arm is controlled to move the switch to the first position.

[0021] In one possible implementation, the method further includes:

[0022] After switching the source material box and the target material box, the robotic arm is controlled to drive the tray to move along the slide rail to above the new target material box.

[0023] In one possible implementation, the tray is placed on a support assembly, and the source material box and the target material box are placed on either side of the support assembly;

[0024] The tray has openings on both sides, which are located above the source material box and the target material box, respectively.

[0025] After the pallet reaches full load, controlling the robotic arm to perform an unloading operation from the pallet to the target material box includes:

[0026] Once the pallet is fully loaded, the robotic arm is controlled to move the target object inside the pallet so that the target object falls from the opening on the pallet above the target material box into the target material box.

[0027] In one possible implementation, the method further includes:

[0028] Acquire a three-dimensional image of the tray's accommodating space, captured by the three-dimensional vision system;

[0029] Based on a three-dimensional image of the pallet's storage space, it is determined whether the pallet is fully loaded.

[0030] In one possible implementation, the three-dimensional vision system includes a first three-dimensional camera and a second three-dimensional camera, which are respectively configured to correspond to the source material box and the target material box.

[0031] Secondly, embodiments of this application provide a grasping control system, including: a three-dimensional vision system, a control device, and a robotic arm.

[0032] The three-dimensional vision system is used to: acquire three-dimensional images of the space inside the source material box;

[0033] The control device is used to: in response to a grasping control command, cyclically perform the following grasping control processing:

[0034] Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the robotic arm is controlled to perform a grasping operation from the source material box to the pallet; and after the pallet reaches a full load, the robotic arm is controlled to perform an unloading operation from the pallet to the target material box and then continue to perform the grasping operation.

[0035] When the source material box is empty, the source material box and the target material box are switched so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and the grasping control process continues.

[0036] Thirdly, embodiments of this application provide a grasping control device, including: a memory and a processor;

[0037] The memory stores computer-executed instructions;

[0038] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0039] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0040] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0041] The grasping control method, device, medium, product, and grasping control system provided in this application, upon receiving a grasping control command, control a robotic arm based on a 3D image acquired by a 3D vision system to grasp materials from a source material box to a pallet. Once the pallet is full, the material is unloaded to a target material box, and this grasping and unloading operation is repeated cyclically. When the source material box is empty, the system automatically switches between the source and target material boxes and continues the cyclical operation. This method, through automatic switching between the two material boxes, solves the problem of traditional transfer methods that only allow unidirectional operation and require manual intervention when the source box is empty, achieving bidirectional, continuous, and fully automated material transfer between the two material boxes. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 Flowchart of the capture control method provided in this application Figure 1 ;

[0044] Figure 2 Flowchart of the capture control method provided in this application Figure 2 ;

[0045] Figure 3Structural diagram of the structural components involved in the grasping control method provided in this application Figure 1 ;

[0046] Figure 4 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 2 ;

[0047] Figure 5 Flowchart of the capture control method provided in this application Figure 3 ;

[0048] Figure 6 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 3 ;

[0049] Figure 7 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 4 ;

[0050] Figure 8 Flowchart of the capture control method provided in this application Figure 4 ;

[0051] Figure 9 The grasping control system provided in this application;

[0052] Figure 10 A schematic diagram of the gripping control device provided in this application.

[0053] Figure label:

[0054] Tray-1, receiving hole-11, baffle-12, actuating element-13

[0055] Slide rail-2,

[0056] Source Material Box-3

[0057] Target material box-4,

[0058] Support component -5.

[0059] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] With the rapid evolution of intelligent manufacturing and flexible production, the types of materials that industrial automated production lines need to handle are becoming increasingly diversified. Therefore, the demand for efficient sorting of multiple types and specifications of materials is becoming increasingly prominent.

[0062] In material transfer scenarios, robot-assisted grasping and unloading operations are often used. That is, the robot uses a robotic arm to grasp the materials to be transferred one by one from the supply material box and transfer them to the receiving material box, thereby completing the cross-box handling of materials.

[0063] However, this traditional method can only achieve one-way transfer of materials from the feeding box to the receiving box. When the feeding box is completely emptied, it cannot automatically achieve reverse transfer, resulting in interruption of the operation process.

[0064] To address the aforementioned issues, this application provides a grasping control method. Responding to grasping control commands, and based on a 3D image of the space inside the source material box acquired by a 3D vision system, the method controls a robotic arm to grasp materials from the source material box and transfer them to a pallet. Once the pallet is full, the robotic arm unloads the materials into the target material box, and the grasping operation continues. When the source material box is empty, the roles of the source and target material boxes are switched, and the above processing flow continues. This method automatically switches the roles of the source and target material boxes when the source material box is empty, transforming a material box that was originally a feeder into a receiver, and vice versa. This achieves bidirectional material transfer, effectively improving the flexibility and efficiency of material transfer, reducing manual intervention, and ensuring the continuity of material transfer operations between different material boxes.

[0065] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0066] Figure 1 Flowchart of the capture control method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0067] S101. In response to the gripping control command, perform the following gripping control processing in a loop: Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, control the robotic arm to perform a gripping operation from the source material box to the pallet; and after the pallet reaches full load, control the robotic arm to perform an unloading operation from the pallet to the target material box and then continue to perform the gripping operation.

[0068] The grasping control command is used to instruct the robotic arm mounted on the robot to grasp materials. This application can be applied to central control computer scenarios as well as robot automation demonstration scenarios.

[0069] Three-dimensional images refer to image data acquired from the space inside the source material box and used for workpiece recognition and pose calculation. They can be single-frame depth images, color images, depth and color fused images, point cloud images, or multi-view stitched images.

[0070] The robotic arm is the actuator of a robot, and its end can be equipped with a buffered electric gripper, a flexible gripper, or a composite gripping mechanism with a force sensor.

[0071] A pallet is a load-bearing component used to temporarily hold and store materials. The working states of a pallet include: fully loaded and unloaded. A fully loaded state refers to a state where the pallet has reached the preset loading conditions, requiring a halt to further loading and transition to the unloading process. For example, in the case of a pallet with multiple accommodating holes, the preset loading conditions are: the number of accommodating holes with placed materials, the occupancy rate of the accommodating holes, or the number of consecutive empty spaces can be used to determine whether the pallet is fully loaded.

[0072] The non-full-load state refers to the working state where the pallet has not reached the preset loading conditions, but materials can still be loaded, and there is no need to switch to the unloading process. For example, in the case of a pallet with a multi-accommodation hole structure, the non-full-load state means that there are still empty accommodation holes on the pallet, and materials can continue to be placed on it.

[0073] The source material box refers to the material box used to store the material to be grabbed. Its size can be, for example, 300mm*250mm.

[0074] The target material box refers to the material box used to receive and store the transferred materials. Its dimensions can be, for example, 300mm*250mm.

[0075] The purpose of this step is to continuously transfer the material in the source material box to the target material box according to the grab control command, temporarily store the material through the pallet, and unload the material in a centralized manner when the pallet is full.

[0076] Understandably, after receiving the grasping control command, the process enters a cyclic transfer process: the position of the material in the source material box is obtained through the 3D vision system, and the robotic arm is controlled to grasp the material one by one and place it on the pallet for temporary storage; when the pallet reaches the full load state, the robotic arm is controlled to unload the material in the pallet into the target material box; after the unloading is completed, the grasping operation continues to be executed in a cyclical manner.

[0077] In one possible implementation, the 3D vision system may include a first 3D camera and a second 3D camera, which are respectively configured to correspond to the source material box and the target material box.

[0078] Understandably, a 3D vision system comprises two 3D cameras: one for monitoring the source material box and the other for monitoring the target material box. Each camera acquires images of its respective material box area, enabling independent visual monitoring and data acquisition.

[0079] S102. Until the source material box is empty, switch the source material box and the target material box, so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and continue to execute the grab control process.

[0080] "The source material box is empty" means that all the materials in the source material box have been grabbed and there are no usable materials left in the box.

[0081] The purpose of this step is to swap the roles of the source material box and the target material box after the material in the source material box is emptied, so as to realize the bidirectional circulation and transfer of materials between the two boxes.

[0082] Understandably, when the source material box is empty, it means that there is no material to take from the source material box. At this time, the functions of the original source material box and the target material box can be interchanged, so that the box that originally discharged material becomes the box that receives material, and the box that originally received material becomes the box that discharges material, and the cycle of grabbing and unloading operations can continue to be performed.

[0083] The gripping control method provided in this application embodiment, in response to gripping control commands, cyclically executes gripping control processing: based on the source material box image acquired by the 3D vision system, the robotic arm is controlled to grip the material from the source material box to the pallet; when the pallet is full, the robotic arm is controlled to unload the material to the target material box and continue the gripping operation. Until the source material box is empty, the roles of the source material box and the target material box are automatically swapped, making the original source material box the new target material box and the original target material box the new source material box, maintaining the continuity of the transfer process. This method, through the collaborative operation of the 3D vision system and the robotic arm, monitors the material status in real time and automatically adjusts the gripping and unloading actions, realizing bidirectional cyclic transfer of materials between the two material boxes, improving production efficiency, reducing manual intervention, and enhancing the continuity and automation level of material transfer.

[0084] Figure 2 Flowchart of the capture control method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, the grasping control method is described in detail, which includes:

[0085] S201. In response to the grasping control command, perform the following grasping control processing in a loop: perform image recognition on the three-dimensional image of the space inside the source material box, determine the target object to be grasped this time based on the image recognition result, and determine the position information of the target object inside the source material box.

[0086] The target object can be a bolt-like workpiece, a ring-like workpiece, or other workpieces to be transferred. The pallet can be adapted to the shape of the target object. For example, when the target object is a bolt-like workpiece, a bolt gripper can be used to hold the pallet; when the target object is a ring-like workpiece such as a pentagonal ring, a ring gripper can be used to hold the pallet.

[0087] Location information includes, but is not limited to: the three-dimensional coordinates, placement angle, and center point of the target object in the space where the source material box is located.

[0088] The purpose of this step is to determine the location of the target object by identifying the image of the source material box.

[0089] Understandably, as materials in the source material bin are continuously being grabbed, the position of the materials within the bin will constantly change. Therefore, by re-identifying and determining the position before each grab, the grab coordinates can be updated in real time, avoiding grab failures, missed grabs, or incorrect grabs due to position changes.

[0090] S202. Based on the position information of the target object in the source material box, control the robotic arm to grab the target object from the source material box and place the target object in the tray's holding space.

[0091] Understandably, with the known location information of the target object, the robotic arm can be controlled to complete the grasping action and transfer the target object into the pallet's storage space, thereby realizing the transfer of materials from the source material box to the pallet.

[0092] S203. Obtain a three-dimensional image of the tray's storage space captured by the three-dimensional vision system.

[0093] Among them, the three-dimensional image of the pallet's storage space refers to the image captured by the three-dimensional vision system of the pallet's storage space, which is used to reflect the placement of materials and the distribution of empty spaces within the pallet.

[0094] Understandably, by acquiring a second image of the pallet's storage space, the load-bearing status inside the pallet can be obtained in real time, providing visual data for subsequent judgment on whether the pallet is fully loaded.

[0095] S204. Based on the three-dimensional image of the pallet's storage space, identify whether the pallet is fully loaded.

[0096] The purpose of this step is to determine whether the pallet needs to continue holding materials or to switch to the unloading process.

[0097] Understandably, if the second image indicates that the pallet is fully loaded, the process switches to unloading. If the second image indicates that the pallet is not fully loaded, material is continued to be placed into the pallet.

[0098] S205. After the pallet reaches full load, control the robotic arm to perform the unloading operation from the pallet to the target material box and then continue to perform the gripping operation.

[0099] The explanation of step S205 is the same as that in the above embodiments, and will not be repeated here.

[0100] S206. Until the source material box is empty, switch the source material box and the target material box, so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and continue to execute the grab control process.

[0101] The explanation of step S206 is the same as that in the above embodiments, and will not be repeated here.

[0102] The gripping control method provided in this application responds to gripping control commands by recognizing the 3D image of the source material box to determine the position of the target object, controlling the robotic arm to grip the material into the pallet, and using a 3D image of the pallet's capacity to determine if the pallet is full; when the pallet is full, an unloading operation is performed and gripping is repeated until the source material box is empty, at which point the roles of the source material box and the target material box are automatically switched to continue the transfer operation. This method ensures reliable gripping and accurate unloading timing through precise positioning via image recognition and real-time detection of pallet fullness. Furthermore, by automatically switching between the two material boxes, it solves the problem of traditional transfer methods that can only operate in one direction and require manual intervention after the source box is empty, achieving bidirectional automated cyclic transfer and improving transfer continuity, operational efficiency, and automation level.

[0103] Figure 3 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 1 Taking the circular gripping pallet as an example, the structure includes a pallet 1, a slide rail 2, a source material box 3, and a target material box 4. The source material box 3 and the target material box 4 are placed side by side, and the pallet 1 is set on the slide rail 2. The pallet 1 can move along the slide rail 2 so that the pallet 1 can reach above the source material box 3 and above the target material box 4 (the slide rail 2 is not shown in the figure).

[0104] Figure 4 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 2 Taking the circular gripping tray as an example, the structure also includes a receiving hole 11, a baffle 12, and a switch 13. The tray 1's accommodating space includes at least one receiving hole 11. A baffle 12 is disposed below the at least one receiving hole 11, and the baffle 12 is connected to the switch 13. When the switch 13 is in a first position, at least one receiving hole 11 is blocked by the baffle 12 below to support the target object. When the switch 13 is in a second position, at least one receiving hole 11 is exposed outside the baffle 12, allowing the target object to fall from the receiving hole 11.

[0105] Understandably, tray 1 is used to carry and temporarily store target objects. Its two ends are mounted on slide rails 2, allowing for directional movement and providing a carrier for the flow of target objects. The tray has at least one receiving hole 11 inside. When unloading is not required, a baffle 12 covers the bottom of the receiving hole 11, ensuring that tray 1 can safely receive and accommodate materials falling from above. When unloading is required, the baffle 12 removes the cover from the bottom of the receiving hole 11, allowing the material in the receiving hole 11 to fall accurately into the target material box 4, achieving batch unloading of materials.

[0106] The slide rail 2 is a guiding and supporting structure that enables the displacement of the pallet 1, providing a stable running track for the pallet 1. Extending horizontally, the slide rail 2 restricts the movement path of the pallet 1, ensuring that the pallet 1 maintains a straight trajectory and avoids deviation when moving back and forth between the source material box 3 and the target material box 4. Through its sliding connection with the pallet 1, the slide rail 2 reduces the frictional resistance during the movement of the pallet 1, while ensuring the structural stability and smooth movement of the pallet 1 under heavy loads.

[0107] The source material box 3 serves as the material supply end, used to store the target object to be grasped. It contains pre-placed materials to be processed or transported. The source material box 3 is located below the tray 1 and is arranged side-by-side with the target material box 4 along the tray's moving direction. This layout allows the tray 1 to pass over the area above the source material box 3 during movement, facilitating both the identification and collection of materials within the box by the 3D vision system and the precise grasping by the robotic arm based on its position information.

[0108] The target material box 4 serves as the final receiving end for materials, used to receive the target object after it has been transferred via pallet 1. Located below pallet 1, the target material box 4 is arranged side-by-side with the source material box 3 along the pallet's movement direction, together forming the supply and receiving ends of the target object. When pallet 1 reaches full capacity and needs to be unloaded, the target object can be directly dropped into the target material box 4 by opening the baffle 12, completing the orderly transfer of materials from the source to the target.

[0109] The receiving hole 11 is formed in the receiving space of the tray 1, and is a channel for materials to fall vertically through the tray 1 into the target material box 4. The receiving hole 11 cooperates with the baffle 12 below to ensure that the object falls smoothly under its own weight.

[0110] A baffle 12 is positioned below the receiving hole 11 to control the flow of material on the tray 1 (the structure of the baffle 12 is not shown in the figure). When the switch 13 is in the first position, the baffle 12 completely blocks the bottom opening of the receiving hole 11, at which point the tray 1 can act as a closed container to receive material. When the switch 13 is in the second position, the baffle 12 opens, allowing the receiving hole 11 to communicate with the target material box 4 below.

[0111] The switch 13 is connected to the baffle 12 and is used to drive the baffle 12 to switch between different positions. When the switch 13 is adjusted to the first position, the baffle 12 can block the receiving hole 11 to prevent the target object from falling, thereby enabling the tray 1 to stably receive the material; when the switch 13 is adjusted to the second position, the baffle 12 can release the blockage of the receiving hole 11 to prevent the material from falling, thereby realizing the unloading operation of the material in the tray 1. The switch 13 can be, for example, a toggle, a slider, or a press.

[0112] For example, taking a robotic automated cyclic grasping demonstration scenario as an example, suppose material boxes A and B can be used alternately as source and target material boxes. Initially, only material box A contains stacked annular metal parts, while material box B is empty. The implementation of the method in this application in this scenario includes:

[0113] First, after the robot receives the grasping command, at this point, A is the source material box and B is the target material box. The robot arm moves the tray above the target material box B and moves the switch to the first position, so that the baffle blocks the bottom of the receiving hole to prevent the material from falling. Then, it grasps a single part from the source material box A and puts it into the tray. After it is full, it moves the switch to the second position, so that the part falls into the target material box B to complete the unloading. This process is repeated until all the parts in the source material box A are transferred to the target material box B, the source material box A is empty and the target material box B is full.

[0114] Secondly, after the source material box A is empty and the target material box B is full, the robot automatically switches roles, with B as the source material box and A as the target material box. The robotic arm moves the tray above the target material box A and repeats the above-mentioned switching operation, material picking and unloading process until all the parts in the source material box B are transferred to the target material box A, and the source material box B is empty and the target material box A is full.

[0115] Figure 5 Flowchart of the capture control method provided in this application Figure 3 . Figure 5 Is Figure 3 and Figure 4 Based on the structural components shown, the specific process of the grasping control method is explained in detail, which includes:

[0116] S301. In response to the gripping control command, perform the following gripping control processing in a loop: Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, control the robotic arm to perform a gripping operation from the source material box to the pallet; and after the pallet reaches full load, control the robotic arm to perform an unloading operation from the pallet to the target material box and then continue to perform the gripping operation.

[0117] In one possible implementation, before controlling the robotic arm to perform a grasping operation from the source material box to the pallet based on a three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes: controlling the robotic arm to drive the pallet to move along a slide rail above the target material box.

[0118] Understandably, in response to the grabbing control command, material grabbing is not executed immediately. First, it is determined whether the pallet is above the target material box: if the pallet is already above the target material box, it remains stationary; if it is not above the target material box, the robotic arm moves the pallet above the target material box, fixes the unloading position, and ensures that subsequent materials can accurately fall into the target material box.

[0119] In one possible implementation, before controlling the robotic arm to perform a grasping operation from the source material box to the tray based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes: controlling the robotic arm to perform a reset operation to reset the switch to a first position.

[0120] The purpose of this step is to reset the switch to the first position, so that the baffle blocks the receiving hole of the tray, thereby blocking the falling path when grabbing materials and preventing materials from accidentally falling into the target material box.

[0121] Understandably, when the pallet moves above the target material box, the position of the switch can be determined. If the switch is already in the first position, it remains stationary; if the switch is in the second position, it is controlled to reset to the first position, ultimately causing the baffle to completely block the receiving hole of the pallet, physically blocking the material's falling path and preventing the material from accidentally falling into the target material box during the gripping process, thus ensuring the safety and accuracy of the gripping process.

[0122] S302. After the pallet reaches full load, control the robotic arm to move the switch to the second position so that the target object in the pallet falls from the pallet to the target material box.

[0123] The purpose of this step is to remove the obstruction of the receiving hole by switching the position of the switch after the pallet is full, so that the target objects temporarily stored in the pallet can fall into the target material box.

[0124] Understandably, when the pallet is full of accumulated material, the robotic arm can be controlled to move the switch on the pallet from the first position to the second position. At this time, the switch moves the baffle synchronously, removing the obstruction of the pallet's receiving hole. The target object inside the pallet falls through the receiving hole under the action of gravity and finally falls into the target material box below the pallet, completing the batch transfer of materials from the source material box to the target material box after temporary storage on the pallet.

[0125] S303. Control the robotic arm to move the switch to the first position and then continue to perform the grasping operation.

[0126] The purpose of this step is to reset the switch to the first position after unloading, so that the baffle covers the receiving hole of the tray again, preparing for the next round of material grabbing and temporary storage.

[0127] Understandably, after all the material in the tray has fallen into the target material box, the robotic arm can be controlled to switch the switch back from the second position to the first position, so that the baffle closes the receiving hole again to prevent the material from falling out accidentally during the next round of grabbing, and then the next grabbing action can be repeated.

[0128] S304. Until the source material box is empty, switch the source material box and the target material box, so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and continue to execute the grab control process.

[0129] The explanation of step S304 is the same as that in the above embodiments, and will not be repeated here.

[0130] S305. After switching the source material box and the target material box, control the robotic arm to drive the tray to move along the slide rail to above the new target material box.

[0131] Understandably, after the material box switching is completed, the control robot arm moves the tray along the slide rail to directly above the new target material box; after the tray is in place, a reset operation is performed to restore the switch to the first position, so that the baffle covers the receiving hole again, preventing the material from falling into the new target material box during the new round of grabbing.

[0132] The gripping control method provided in this application responds to gripping control commands by first controlling a robotic arm to move a pallet above the target material box and resetting the switch to the first position. Then, based on the 3D image acquired by the 3D vision system, it performs a gripping operation from the source material box to the pallet. After the pallet is full, the robotic arm switches the switch to the second position to complete unloading, then resets the switch and continues the cyclic gripping. When the source material box is empty, it switches to a dual-box role, moves the pallet above the new target material box, resets the switch, and continues the transfer operation. This method achieves stable and reliable loading and unloading through pallet positioning and switch opening and closing control. The automatic switching between dual boxes solves the problem of traditional transfer methods that can only operate in one direction and require manual intervention after the box is empty, achieving bidirectional automated cyclic transfer and improving the continuity, stability, and overall operational efficiency of material transfer.

[0133] Figure 6 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 3 This is used to demonstrate the overall layout and usage status of structural components. Taking the bolt gripping pallet as an example, the structural component includes a pallet 1, a source material box 3, a target material box 4, and a support assembly 5.

[0134] Figure 7 Structural diagram of the structural components involved in the grasping control method provided in this application Figure 4 The tray 1 is placed on the support component 5, and the source material box 3 and the target material box 4 are placed on both sides of the support component 5. The tray 1 has openings on both sides of its accommodating space, and the openings on both sides of the accommodating space are located above the source material box 3 and the target material box 4, respectively.

[0135] Understandably, the support component 5 is used for overall load-bearing and positioning. The tray 1 is placed on the support component 5 and is provided with stable support by the support component 5. The source material box 3 and the target material box 4 are respectively arranged on both sides of the support component 5. The support component 5 is used to fix the positioning and prevent the material boxes from shifting or shaking during operation.

[0136] The pallet 1 has openings on both sides of its accommodating space. The openings on both sides are located above the source material box 3 and the target material box 4, respectively, so that materials can enter the pallet from the source material box 3 and fall from the pallet 1 into the target material box 4 during unloading.

[0137] For example, taking a robot automation demonstration scenario, suppose material boxes A and B can be used alternately as source material boxes and target material boxes. Initially, only source material box A contains bolts, while target material box B is empty. The method provided in this application is implemented in this scenario as follows:

[0138] First, when the robot receives a grasping control command, it controls the robotic arm to sequentially grasp individual bolts from source material box A and place them on the tray; this grasping and unloading action is repeated until the tray is full. Then, the robotic arm moves the bolts in the tray, causing all bolts to fall into target material box B, completing one batch unloading. This "grab-unload-unload" process is repeated until all bolts in source material box A have been transferred to target material box B, making source material box A empty and target material box B full.

[0139] With source material box A empty and target material box B full, the robot automatically switches the roles of the material boxes, making the original target material box B the new source material box and the original source material box A the new target material box. Then, the robotic arm sequentially picks up individual bolts from the new source material box B and places them on a tray. Once the tray is full, the robotic arm moves the tray to dislodge the bolts into the new target material box A, completing one batch unloading. This process is repeated until all bolts in source material box B have been transferred to target material box A, at which point source material box B becomes empty and target material box A becomes full.

[0140] Figure 8 Flowchart of the capture control method provided in this application Figure 4 . Figure 8 Is Figure 6 and Figure 7 Based on the structure shown, the specific process of the grasping control method is explained in detail, which includes:

[0141] S401. In response to the gripping control command, perform the following gripping control processing in a loop: Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, control the robotic arm to perform a gripping operation from the source material box to the pallet.

[0142] The explanation of step S401 is the same as that in the above embodiments, and will not be repeated here.

[0143] S402. After the pallet reaches full load, control the robotic arm to move the target object inside the pallet so that the target object falls from the opening above the target material box on the pallet into the target material box and then the gripping operation continues.

[0144] The purpose of this step is to use a robotic arm to move materials after the pallet is fully loaded, so that the target objects in the pallet can fall smoothly from the opening above the target material box into the target material box, thus completing the batch unloading. After unloading, the robotic arm continues to grab materials in a cyclical manner to achieve continuous transfer.

[0145] Understandably, when a pallet reaches full capacity, it means that the pallet can no longer hold materials. Therefore, a robotic arm can be used to move the material, allowing the target object in the pallet to fall smoothly from the opening above the target material box into the target material box, completing batch unloading. After unloading, the material can be continuously picked up in a loop to achieve continuous transfer.

[0146] S403. Until the source material box is empty, switch the source material box and the target material box, so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and continue to execute the grab control process.

[0147] The explanation of step S403 is the same as that in the above embodiments, and will not be repeated here.

[0148] The grasping control method provided in this application responds to grasping control commands and, based on 3D images acquired by a 3D vision system, controls a robotic arm to grasp materials from a source material box into a pallet. When the pallet is full, the robotic arm moves the material, causing it to fall into the corresponding target material box from the opening above the pallet, and the grasping continues in a cyclical manner. When the source material box is empty, the roles of the source and target material boxes are automatically switched, and the transfer operation continues. This method, through image recognition grasping and pallet side opening unloading, has a simple structure and reliable operation. Furthermore, the automatic switching between dual material boxes solves the problem of traditional transfer methods that only allow unidirectional operation and require manual intervention when the material box is empty, achieving bidirectional automated cyclic transfer and improving the continuity, efficiency, and stability of material transfer.

[0149] Figure 9 The grasping control system provided in this application includes: a 3D vision system, control equipment, and a robotic arm.

[0150] The 3D vision system is used to: acquire 3D images of the space inside the source material box;

[0151] The control device is used to: cyclically perform the following grasping control processing in response to grasping control commands:

[0152] Based on the 3D image of the space inside the source material box acquired by the 3D vision system, the robotic arm is controlled to perform a grasping operation from the source material box to the pallet; and after the pallet reaches full load, the robotic arm is controlled to perform an unloading operation from the pallet to the target material box and then continue to perform the grasping operation.

[0153] When the source material box is empty, switch the source material box and the target material box, so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and continue to execute the grab control process.

[0154] Figure 10 This is a schematic diagram of the gripping control device provided in this application. Figure 10 As shown, the electronic device 1000 provided in this embodiment includes at least one processor 1001 and a memory 1002. Optionally, the device 1000 further includes a communication component 1003. The processor 1001, memory 1002, and communication component 1003 are connected via a bus 1004.

[0155] In a specific implementation, at least one processor 1001 executes computer execution instructions stored in memory 1002, causing at least one processor 1001 to perform the above-described method.

[0156] The specific implementation process of processor 1001 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0157] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0158] The memory may include high-speed memory (Random Access Memory, RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0159] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0160] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0161] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0162] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0163] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application-Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0164] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0165] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0166] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0167] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0168] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0169] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A gripping control method characterized by, include: In response to the grab control command, the following grab control processing is performed cyclically: Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the robotic arm is controlled to perform a grasping operation from the source material box to the pallet; and after the pallet reaches a full load, the robotic arm is controlled to perform an unloading operation from the pallet to the target material box and then continue to perform the grasping operation. When the source material box is empty, the source material box and the target material box are switched so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and the grasping control process continues.

2. The method of claim 1, wherein, The step of controlling the robotic arm to perform a grasping operation from the source material box to the pallet based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system includes: The three-dimensional image of the space inside the source material box is used for image recognition. Based on the image recognition results, the target object to be grasped is determined, and the position information of the target object inside the source material box is determined. Based on the position information of the target object within the source material box, the robotic arm is controlled to grab the target object from the source material box and place the target object into the receiving space of the tray.

3. The method of claim 2, wherein, The source material box and the target material box are placed side by side, and the tray is set on the slide rail. The tray can move along the slide rail so that the tray can reach above the source material box and above the target material box.

4. The method of claim 2, wherein, The tray's accommodating space includes at least one accommodating hole, and a baffle is provided below the at least one accommodating hole. The baffle is connected to a switch. When the switch is in a first position, the at least one accommodating hole is blocked by the baffle below to support the target object. When the switch is in a second position, the at least one accommodating hole is exposed outside the baffle so that the target object falls out of the accommodating hole.

5. The method according to claim 3, characterized in that, Before controlling the robotic arm to perform the grasping operation from the source material box to the pallet based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes: The robotic arm is controlled to drive the tray to move along the slide rail to above the target material box.

6. The method according to claim 4, characterized in that, Before controlling the robotic arm to perform the grasping operation from the source material box to the pallet based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the method further includes: The robotic arm is controlled to perform a reset operation to reset the switch to the first position.

7. The method according to claim 4, characterized in that, After the pallet reaches full load, controlling the robotic arm to perform an unloading operation from the pallet to the target material box includes: After the pallet reaches full load, the robotic arm is controlled to move the switch to the second position, so that the target object in the pallet falls from the pallet into the target material box; The robotic arm is controlled to move the switch to the first position.

8. The method according to claim 3, characterized in that, The method further includes: After switching the source material box and the target material box, the robotic arm is controlled to drive the tray to move along the slide rail to above the new target material box.

9. The method according to claim 1, characterized in that, The tray is placed on the support assembly, and the source material box and the target material box are placed on both sides of the support assembly; The tray has openings on both sides, which are located above the source material box and the target material box, respectively. After the pallet reaches full load, controlling the robotic arm to perform an unloading operation from the pallet to the target material box includes: Once the pallet is fully loaded, the robotic arm is controlled to move the target object inside the pallet so that the target object falls from the opening on the pallet above the target material box into the target material box.

10. The method according to claim 1, characterized in that, The method further includes: Acquire a three-dimensional image of the tray's accommodating space, captured by the three-dimensional vision system; Based on a three-dimensional image of the pallet's storage space, it is determined whether the pallet is fully loaded.

11. The method according to claim 1, characterized in that, The three-dimensional vision system includes a first three-dimensional camera and a second three-dimensional camera, which are respectively configured to correspond to the source material box and the target material box.

12. A grasping control system, characterized in that, include: 3D vision system, control equipment, and robotic arm. The three-dimensional vision system is used to: acquire three-dimensional images of the space inside the source material box; The control device is used to: in response to a grasping control command, cyclically perform the following grasping control processing: Based on the three-dimensional image of the space inside the source material box acquired by the three-dimensional vision system, the robotic arm is controlled to perform a grasping operation from the source material box to the pallet; and after the pallet reaches a full load, the robotic arm is controlled to perform an unloading operation from the pallet to the target material box and then continue to perform the grasping operation. When the source material box is empty, the source material box and the target material box are switched so that the current source material box is used as the new target material box and the current target material box is used as the new source material box, and the grasping control process continues.

13. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-11.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-11.

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