Robot picking system, method, terminal and medium based on code scanning and posture control

Abstract

The present invention provides a robot picking system, method, terminal and medium based on code scanning and posture control, including a visual system for obtaining visual information of items to be picked and generating corresponding grasping posture information; a picking robot, which is connected to the visual system in communication to receive visual information and grasping posture information of items to be picked; the picking robot moves to the current location of the items to be picked according to the visual information of the items to be picked, and grasps the items to be picked to the target location after adjusting the grasping posture of its end effector according to the grasping posture information; the picking robot is also used to adjust the placement posture of the items to be picked, and the placement posture includes the placement direction and / or the placement surface orientation. Starting from practical applications, the present invention can not only realize the function of barcode recognition in the commodity picking process, but also develop a function that can realize the direction and posture control of commodities. The integration of picking, code scanning and orientation functions is the core of this product.

Description

Technical Field

[0001] The present invention relates to the technical field of robot picking, and in particular to a robot picking system, method, terminal and medium based on code scanning and posture control. Background Art

[0002] With the rapid development of the e-commerce industry and the overall economy, consumer demand is also increasing. The sales of daily products such as 3C products, cosmetics, and toiletries on e-commerce platforms are also increasing. These products not only have many brands and models, but also have different shapes and sizes. On the product packaging, the position and size of the product barcode vary greatly. This situation has brought great challenges to packaging and shipping. The traditional automation industry has encountered difficulties in the face of a large number of products with different specifications, so a large amount of manpower is needed to complete the related work.

[0003] With the increase of labor costs and the increase of enterprise efficiency requirements, new industrial intelligent technologies have emerged, and 3D vision technology is one of them. Based on 3D vision technology, people can handle the grabbing applications of various chaotically stacked commodities. Combined with code reading technology and automation technology, intelligent industry has become a reality.

[0004] Therefore, this field is in urgent need of a new type of intelligent system to provide the e-commerce logistics industry with a series of complete solutions such as disordered grabbing, code reading, and packaging. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a robot picking system, method, terminal and medium based on code scanning and posture control, so as to solve the problems in the prior art.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present invention provides a robot picking system based on code scanning and posture control, including: a visual system, used to obtain visual information of the items to be picked and generate corresponding grasping posture information; a picking robot, which is communicated with the visual system to receive the visual information and grasping posture information of the items to be picked; the picking robot moves to the current location of the items to be picked according to the visual information of the items to be picked, and adjusts the grasping posture of its end effector according to the grasping posture information, and then grasps the items to be picked to the target position; wherein, the picking robot is also used to adjust the placement posture of the items to be picked, and the placement posture includes the placement direction and / or the placement surface orientation.

[0007] In some embodiments of the first aspect of the present invention, the robot picking system also includes: a first code scanning system, used to scan the bottom of the item to be picked to confirm whether there is an identification code at the bottom of the item; and a steering mechanism, used to drive the item to be picked to flip so that the item identification code is not located at the bottom.

[0008] In some embodiments of the first aspect of the present invention, the target position is provided with a transparent carrier for placing the items to be picked; the first code scanning system is located below the transparent carrier; the steering mechanism includes: a steering box, including a accommodating cavity for accommodating the items to be picked, which drives the items to be picked to flip by flipping itself; a pushing mechanism, including a retractable pushing member, used to push the item into the accommodating cavity of the steering box when the first code scanning system recognizes that there is an identification code on the bottom of the item, and then push the item to the next process after the steering box is flipped; and also used to push the item to the next process when the first code scanning system does not recognize that there is an identification code on the bottom of the item.

[0009] In some embodiments of the first aspect of the present invention, the steering mechanism includes: a suction cup mechanism; the picking robot grabs the items to be picked passing above the first code scanning system; if an identification code is recognized at the bottom, the picking robot places the items to be picked on the suction cup mechanism, and then grabs the items to be picked to the transmission mechanism after the suction cup mechanism rotates; if no identification code is recognized at the bottom, the picking robot places the items to be picked on the transmission mechanism; the transmission mechanism is used to transmit the items to be picked to the next process.

[0010] In some embodiments of the first aspect of the present invention, the visual information acquired by the visual system includes the external size information of the items to be picked; the way in which the picking robot adjusts the placement direction of the items to be picked includes: through the rotation axis of the picking robot and according to the external size information of the items to be picked, adjusting the placement direction of the items to be picked to a preset direction.

[0011] In some embodiments of the first aspect of the present invention, the way in which the picking robot adjusts the orientation of the placement surface of the item to be picked includes: judging whether the currently grasped surface is a large surface based on the external dimension information of the item to be picked; if not, using the end effector of the picking robot to knock over the item to be picked.

[0012] In some embodiments of the first aspect of the present invention, the way in which the picking robot adjusts the orientation of the placement surface of the item to be picked includes: judging whether the currently grasped surface is a large surface based on the external dimension information of the item to be picked; if not, adjusting the posture of the end effector of the picking robot to adjust the orientation of the placement surface of the item to be picked.

[0013] In some embodiments of the first aspect of the present invention, it also includes: a second code scanning system, including a plurality of dispersed code scanners, for scanning multiple surfaces of the items to be picked.

[0014] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present invention provides a robot picking method based on code scanning and posture control, including: obtaining visual information and grasping posture information of the item to be picked; moving to the current location of the item to be picked according to the visual information of the item to be picked, and adjusting the grasping posture of its end effector according to the grasping posture information to grasp the item to be picked to the target position; adjusting the placement posture of the item to be picked, the placement posture including the placement direction and / or placement surface orientation.

[0015] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the robot picking method based on code scanning and posture control is implemented.

[0016] To achieve the above-mentioned purpose and other related purposes, the fourth aspect of the present invention provides an electronic terminal, including: a processor and a memory; the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal executes the robot picking method based on code scanning and posture control.

[0017] As described above, the robot picking system, method, terminal and medium based on barcode scanning and posture control of the present invention have the following beneficial effects: Starting from practical application, the present invention can not only realize the function of barcode recognition in the commodity picking process, but also develop the function of controlling the direction and posture of the commodity. The integration of picking, barcode scanning and orientation functions is the core of this product. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic diagram of the structure of a robot picking system based on code scanning and posture control in one embodiment of the present invention.

[0019] Figure 2 Shown is a schematic diagram of the structure of a picking robot in one embodiment of the present invention.

[0020] Figure 3A It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0021] Figure 3B It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0022] Figure 3C It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0023] Figure 4A It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0024] Figure 4B It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0025] Figure 4C It is a schematic diagram showing the adjustment of the orientation of the placement surface of an object in one embodiment of the present invention.

[0026] Figure 5 Shown is a schematic diagram of the structure of a visual system in one embodiment of the present invention.

[0027] Fig. 6A Shown is a structural schematic diagram of a code scanning system in one embodiment of the present invention.

[0028] Figure 6B Shown is a structural schematic diagram of a code scanning system in one embodiment of the present invention.

[0029] Figure 7 It is a schematic diagram of the structure of the steering mechanism in one embodiment of the present invention.

[0030] Figure 8 It is a schematic diagram of the structure of the steering mechanism in one embodiment of the present invention.

[0031] Fig. 9 Shown is a schematic diagram of the workflow of a robot picking system based on code scanning and posture control in one embodiment of the present invention.

[0032] Fig.10 Shown is a flow chart of a robot picking method based on code scanning and posture control in one embodiment of the invention.

[0033] Fig.11 Shown is a schematic diagram of the structure of an electronic terminal in one embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0035] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It should be understood that other embodiments may also be used, and that mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present invention is limited only by the claims of the published patents. The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0038] In order to provide the e-commerce logistics industry with a series of complete solutions such as disordered grabbing, code reading, and packaging, the present invention proposes a new type of industrial automation system for picking, separating, scanning, and posture control of goods. Among them, the picking and separation function uses robot motion control technology and 3D vision technology to stably and quickly grab various types of chaotically stacked items one by one. When the robot places the grabbed products in the downstream position, product separation is achieved, which can be applied to the outbound delivery of various types of goods and the loading of parts. The code scanning function is usually related to the correspondence between goods and orders in the field of logistics and e-commerce, as well as the tracking of the transportation status of packages, and these requirements are usually achieved by scanning the barcode on the goods or packages. The posture control function is in the field of industrial automation. When processing parts or assembling products, it is usually necessary to have specific requirements for the feeding direction and posture of semi-finished products, so as to achieve efficient and stable automated production. In the field of logistics and e-commerce, there are also specific requirements for the placement posture and direction of goods when performing operations such as packaging goods or box stacking.

[0039] Therefore, based on practical applications, the present invention can not only realize the function of barcode recognition in the commodity picking process, but also develop a function that can realize the direction and posture control of the commodity. The integration of picking, scanning and orientation functions is the core of this product. In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the invention.

[0040] Embodiment 1:

[0041] like Figure 1 As shown, a schematic diagram of the structure of a robot picking system based on code scanning and posture control in one embodiment of the present invention is shown. The robot picking system of this embodiment mainly includes: a picking robot 11, a visual system (not shown), a first code scanning system 12, a second code scanning system 13, and a steering mechanism 14. To facilitate the understanding of those skilled in the art, each mechanism / system in the robot picking system will be further described below.

[0042] like Figure 2 FIG. 2 is a schematic diagram showing the structure of a picking robot in an embodiment of the present invention. The picking robot in this embodiment includes a robot body 21 and an end effector 22 .

[0043] Optionally, the robot body 21 may be a multi-axis robot such as a six-axis robot, a four-axis robot, an eight-axis robot, an XYZ three-axis robot, a parallel robot, or a Scara robot with three rotating joints that can be used for assembly operations, or a Delta robot that can achieve high-precision material picking, etc. It is worth noting that in actual application scenarios, any automated device that can achieve the functions of grasping and transporting can be applied to the technical solution of the present invention.

[0044] Optionally, the end effector 22 includes but is not limited to a suction cup, pneumatic fingers, or a clamp. In practical applications, the type of the end effector can be determined based on the size information of the object to be picked. For example, a small suction cup pneumatic finger or clamp is used for a small-sized object to be picked, and a large suction cup pneumatic finger or clamp is used for a large-sized object to be picked, or a combination of multiple suction cups, multiple pneumatic fingers, and multiple clamps. The type of the end effector can also be determined based on the posture information of the object to be picked. For example, a suction cup is used to suck up an object to be picked with a regular and flat posture, and a pneumatic finger or clamp is used to grab an object to be picked with an irregular and flat posture, etc. This embodiment does not limit this.

[0045] In this embodiment, the picking robot is used to transport the items to be picked from the picking position to the target position, and adjust the placement posture of the items to be picked, including adjusting the placement direction and placement surface orientation of the items to be picked.

[0046] In some examples, the process of adjusting the placement direction of the items to be picked by the picking robot includes: the picking robot adjusts the placement direction of the items to be picked by rotating an axis (such as the sixth axis of the robot) according to the size information (including length, width, height, etc.) of the items to be picked from the visual system. Taking a hexahedron as an example, when placing a hexahedron, the direction of the long side needs to be controlled. Then the visual system first obtains and calculates the length, width, and height information of the hexahedron, and controls the direction of the long side by rotating the sixth axis of the robot.

[0047] In some examples, the process of adjusting the orientation of the placement surface of the items to be picked by the picking robot includes: if the current suction surface of the robot is the small surface, the end effector is made to perform a tipping action, so that the picked items are tipped over to face the large surface upward. Figures 3A to 3C The following three cases are used to illustrate this. Figure 3A In the figure, the small side (the side consisting of the length and the height) of the object 32 to be picked faces upwards, and the end effector 31 of the picking robot can flip the object 32 to be picked along the direction of arrow A after sucking the small side, so that the large side (the side consisting of the length and the width) of the object 32 to be picked faces upwards. Figure 3BIn the figure, the small side (the side composed of width and height) of the object 32 to be picked faces upwards, and the end effector 31 of the picking robot can flip the object 32 to be picked along the direction of arrow B after sucking the small side, so that the large side (the side composed of length and width) of the object 32 to be picked faces upwards. Figure 3C In the embodiment, the large surface (the surface composed of the length and the width) of the object 32 to be picked faces upward, and the end effector 31 does not need to perform the knocking action.

[0048] In some examples, the process of adjusting the orientation of the placement surface of the items to be picked by the picking robot includes: if the current suction surface of the robot is a small surface, the posture of the end effector is changed to make the large surface face up. Figures 4A to 4C The following three cases are used to illustrate this. Figure 4A In the example, the small side (the side consisting of the length and height) of the object 42 to be picked faces upwards, and the posture of the end effector 41 is changed by using the flexibility of the picking robot, so that the large side of the object 42 to be picked faces upwards after lying down. Figure 4B In the example, the small side (the side composed of width and height) of the object 42 to be picked faces upwards, and the posture of the end effector 41 is changed by using the flexibility of the picking robot, so that the large side of the object 42 to be picked faces upwards after lying down. Figure 4C In the embodiment, the large surface (the surface composed of the length and the width) of the object 42 to be picked faces upward, and the end effector 41 does not need to change its posture.

[0049] like Figure 5 As shown, a schematic diagram of the structure of the visual system in one embodiment of the present invention is shown. The visual system 51 is arranged on the support frame, and its visual scanning range covers the picking position, and is used to scan the items to be picked 52 on the picking position. It should be noted that the types of items to be picked involved in this embodiment include but are not limited to 3C products, snacks, daily chemicals, hardware parts, express parcels or clothing, etc., and this embodiment does not limit them.

[0050] In some examples, the visual system 51 includes an image acquisition module, an image processing module and a communication module; the image acquisition module is used to acquire images of each item to be picked in the picking position; the image processing module is used to extract visual information (such as position information, depth information, size information, etc.) of the item to be picked from the image and generate corresponding grasping posture information; the communication module is used to transmit the visual information, grasping posture information and target position information of the item to be picked to the outside (such as to a picking robot, etc.).

[0051] The image acquisition module involved in this embodiment can be a camera, a video camera, a camera module integrated with an optical system or a CCD chip, a camera module integrated with an optical system and a CMOS chip, etc.; in order to increase the size of the visual scanning area, the image acquisition module can also use a wide-angle lens or a fisheye lens, etc. The image processing module can use an ARM (Advanced RISC-Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc. The communication module can use a Wi-FI module, a ZigBee module, a Bluetooth module, a NB-IoT module, a LoRA module, an eMTC module, etc., which is not limited in this embodiment.

[0052] like Fig. 6A and 6B , which shows a schematic diagram of the structure of a code scanning system in an embodiment of the present invention. This embodiment involves two code scanning systems, namely a first code scanning system 61 and a second code scanning system 62. Fig. 6A The side view of the code scanning system is shown. Figure 6B Shown is a top view of the barcode scanning system.

[0053] The first code scanning system 6A is located below the transparent plate 64, and the items to be picked 63 are placed above the transparent plate 64. The first code scanning system 6A scans the bottom of the items to be picked 63 through the transparent plate 64. It is worth mentioning that the function of the first code scanning system 61 is to check whether there is an identification code (such as a QR code or a barcode, etc.) at the bottom of the items to be picked 63. If it is detected that there is an identification code at the bottom of the items to be picked 63, the turning mechanism is used to flip the items to ensure that the identification code is not at the bottom.

[0054] The second barcode scanning system 6B is located on the subsequent transport channel, that is, the second barcode scanning system 6B performs a second barcode scanning after the first barcode scanning system 6A scans and identifies the barcode. The second barcode scanning system 6B in this embodiment includes a plurality of dispersed barcode scanners, such as arranging 5 sets of barcode scanners at the front, back, left, right and top, or at the top right, bottom right, top left, bottom and top, for scanning the surfaces of the items to be picked except the bottom surface.

[0055] like Figure 7As shown, a schematic diagram of the structure of the steering mechanism in one embodiment of the present invention is shown. The steering mechanism of this embodiment includes a steering box 71, a transparent carrier 72, a pushing mechanism 73, and a barcode scanner 74, and the items to be picked 75 are placed on the transparent carrier 72. It should be understood that before the items to be picked 75 placed on the transparent carrier 72 are turned, the placement direction and placement surface orientation have been adjusted by the end effector of the picking robot. In addition, the barcode scanner 74 in this embodiment is the first barcode scanning system 6A in Figure 6, which will not be described in detail in this embodiment.

[0056] Specifically, the picking robot uses the end effector to place the item to be picked 75 on the transparent carrier 72, and ensures that the large surface of the item to be picked 75 faces upward when placed through posture control. The barcode scanner 74 located below the transparent carrier 72 scans the bottom of the item to be picked 75 through the transparent carrier 72 to see if there is an identification code. The pushing mechanism 73 is used to push the item to be picked 75 into the turning box. If there is an identification code at the bottom of the item to be picked 75, the turning box 71 will rotate 180° around the X-axis and then the pushing mechanism 73 will push the item to be picked into the next process; if there is no identification code at the bottom of the item to be picked 75, the turning box 71 will not rotate, and the pushing mechanism 73 will directly push the item to be picked into the next process.

[0057] It should be noted that the steering mechanism in the present invention is not only applicable to polyhedral objects, but also to dihedral or very thin objects. Figure 8 The steering mechanism specifically includes a suction cup mechanism 81 and a transmission mechanism 82. The suction cup mechanism 81 includes a plurality of vacuum suction cups / electromagnetic suction cups, and the transmission mechanism 82 can be a conveyor belt.

[0058] The picking robot uses the end effector to grab the item to be picked and passes over a code reading system to identify whether there is an identification code on the ground of the item. It should be noted that in this embodiment, a transparent carrier is no longer required, and the transmission path of the picking robot only needs to pass through the code reading system. If there is no identification code on the bottom of the item to be picked, the picking robot can place it directly on the transmission mechanism 82; if there is an identification code on the bottom of the item to be picked, the picking robot will send the item to the suction cup mechanism 81, the suction cup mechanism 81 will rotate 180° around the installation axis, and then the picking robot will place the item on the transmission mechanism 82.

[0059] like Fig. 9 FIG. 1 is a schematic diagram showing the workflow of a robot picking system based on code scanning and posture control in one embodiment of the present invention. Figure 1 To explain each workflow step.

[0060] Step S901: Upstream incoming materials. The items to be picked are transported from upstream to the picking position 15 manually or by an AGV (Automated Guided Vehicle) trolley; specifically, the material box containing the items to be picked can be placed in the incoming material conveying system and transported to the picking position 15, or the items to be picked can be transported to the picking position 15 by a conveyor belt upstream.

[0061] Step S902: The visual system (not shown) is arranged on the support rod and its scanning range covers the picking position 15, and is used to obtain the visual information (such as position information, depth information, size information, etc.) of the object to be picked and generate corresponding grasping posture information; the visual system transmits the visual information and grasping posture information of the object to be picked to the picking robot 11. After receiving this information, the picking robot 11 first moves to the current position of the object to be picked according to the visual information of the object to be picked, and then adjusts the grasping posture of its end effector (such as a tool such as a suction cup or a gripper) according to the grasping posture information, and then grasps the object to be picked to the target position.

[0062] Step S903: adopt different strategies to process items with and without direction requirements.

[0063] Step S904: For items with direction requirements, the picking robot 11 uses the end effector to adjust the placement posture of the items to be picked, including adjusting the placement direction and placement surface orientation of the items to be picked. For items without direction requirements, directly go to step S907.

[0064] Step S905: Determine whether it is completely oriented.

[0065] Step S906: If it is not fully oriented, the first code scanning system 12 located below the target position (using transparent material) identifies whether there is an identification code at the bottom of the item to be picked placed at the target position, and gives the result information. The steering mechanism 14 performs a steering operation on the item to be picked with the identification code at the bottom and transfers it to the scanning area of ​​the second code scanning system 13, thereby ensuring that the face with the identification code is at the bottom of the item, and then proceeds to step S907. If it is fully oriented, it directly proceeds to step S907.

[0066] Step S907: Determine whether to scan the code. If scanning the code is not required, directly proceed to step S909; if scanning the code is required, proceed to step S908.

[0067] Step S908: The second barcode scanning system 13 includes a plurality of dispersed barcode scanners, such as arranging 5 sets of barcode scanners at the front, back, left, right and top, or at the upper right, lower right, upper left, bottom and top, for scanning the surfaces of the items to be picked except the bottom surface. After completion, step S909 is entered.

[0068] Step S909: The items to be picked are transported to the downstream for operations such as packaging, testing, and order generation.

[0069] Embodiment 2:

[0070] like Fig.10 As shown, it is a schematic diagram of the process of a robot picking method based on code scanning and posture control in one embodiment of the present invention. The robot picking method of this embodiment can be applied to the picking robot in the above embodiment, and the specific process includes the following steps.

[0071] Step S101: Obtain visual information and grasping posture information of the item to be picked.

[0072] Step S102: moving to the current location of the object to be picked according to the visual information of the object to be picked, and adjusting the grasping posture of its end effector according to the grasping posture information to grasp the object to be picked to the target location.

[0073] Step S103: adjusting the placement posture of the to-be-picked items, wherein the placement posture includes a placement direction and / or a placement surface orientation.

[0074] It should be noted that the robot picking method based on code scanning and posture control in this embodiment is similar to the implementation method of the robot picking system based on code scanning and posture control in the above embodiment, so it will not be repeated here.

[0075] Embodiment three:

[0076] like Fig.11 As shown, a schematic diagram of the structure of an electronic terminal in an embodiment of the present invention is shown. The electronic terminal provided in this example includes: a processor 111, a memory 112, and a communicator 113; the memory 112 is connected to the processor 111 and the communicator 113 through a system bus and completes communication with each other, the memory 112 is used to store computer programs, the communicator 113 is used to communicate with other devices, and the processor 111 is used to run the computer program, so that the electronic terminal executes each step of the robot picking method based on code scanning and posture control as described above.

[0077] The system bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage.

[0078] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0079] Embodiment 4:

[0080] The present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the robot picking method based on code scanning and posture control is implemented.

[0081] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0082] In summary, the present invention provides a robot picking system, method, terminal and medium based on barcode scanning and posture control. Starting from practical application, the present invention can not only realize the function of barcode recognition in the commodity picking process, but also develop a function that can realize the direction and posture control of the commodity. The integration of picking, barcode scanning and orientation functions is the core of this product. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A robot picking system based on code scanning and posture control, characterized in that: include: A visual system, used to obtain visual information of the items to be picked and generate corresponding grasping posture information; The picking robot is connected to the visual system for receiving the visual information and grasping posture information of the items to be picked; the picking robot moves to the current location of the items to be picked according to the visual information of the items to be picked, and adjusts the grasping posture of its end effector according to the grasping posture information, and then grasps the items to be picked to the target location; wherein the picking robot is also used to adjust the placement posture of the items to be picked, and the placement posture includes the placement direction and / or the placement surface orientation; The first code scanning system is used to scan the bottom of the items to be picked to confirm whether there is an identification code on the bottom of the items; A steering mechanism, used for driving the items to be picked to flip so that the item identification code is not located at the bottom; The target position is provided with a transparent carrier for placing the items to be picked; the first code scanning system is located below the transparent carrier; the steering mechanism includes: The turning box includes a receiving cavity for receiving the items to be picked, and drives the items to be picked to turn by turning itself; The pushing mechanism includes a retractable pushing member, which is used to push the object into the accommodating cavity of the turning box when the first code scanning system recognizes that there is an identification code on the bottom of the object, and then push the object to the next process after the turning box is turned over; and is also used to push the object to the next process when the first code scanning system does not recognize that there is an identification code on the bottom of the object; The steering mechanism also includes: Suction cup mechanism; the picking robot grabs the items to be picked and passes through the top of the first code scanning system; if an identification code is recognized at the bottom, the picking robot places the items to be picked on the suction cup mechanism, and grabs the items to be picked to the transmission mechanism after the suction cup mechanism rotates; if no identification code is recognized at the bottom, the picking robot places the items to be picked on the transmission mechanism; The transmission mechanism is used to transmit the items to be picked to the next process.

2. The robot picking system according to claim 1, characterized in that: The visual information acquired by the visual system includes the external size information of the items to be picked; the way in which the picking robot adjusts the placement direction of the items to be picked includes: adjusting the placement direction of the items to be picked to a preset direction through the rotation axis of the picking robot and according to the external size information of the items to be picked.

3. The robot picking system according to claim 1, characterized in that: The picking robot adjusts the orientation of the placement surface of the object to be picked by: judging whether the currently grasped surface is a large surface according to the external dimension information of the object to be picked; if not, knocking over the object to be picked by using the end effector of the picking robot.

4. The robot picking system according to claim 1, characterized in that: The method for the picking robot to adjust the orientation of the placement surface of the item to be picked includes: judging whether the currently grasped surface is a large surface according to the external dimension information of the item to be picked; if not, adjusting the posture of the end effector of the picking robot to adjust the orientation of the placement surface of the item to be picked.

5. The robot picking system according to claim 1, characterized in that: Also includes: The second barcode scanning system includes a plurality of dispersed barcode scanners for scanning multiple surfaces of the items to be picked.

6. A robot picking method based on code scanning and posture control, characterized in that: Applied to a robot picking system based on code scanning and posture control as claimed in any one of claims 1 to 5, the method comprising: Obtain visual information and grasping posture information of the items to be picked; Move to the current location of the object to be picked according to the visual information of the object to be picked, and adjust the grasping posture of its end effector according to the grasping posture information to grasp the object to be picked to the target location; Adjusting the placement posture of the items to be picked, wherein the placement posture includes a placement direction and / or a placement surface orientation; Scan the bottom of the item to be picked to confirm whether there is an identification code on the bottom of the item; The object to be picked is driven to flip over so that the object identification code is not located at the bottom.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the robot picking method based on code scanning and posture control as described in claim 6 is implemented.

8. An electronic terminal, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the terminal executes the robot picking method based on code scanning and posture control as described in claim 6.

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