Robotic arm control method, device, robotic arm, and depalletizing system

Abstract

The present application discloses a robot arm control method, device, robot arm, and depalletizing system. The robot arm control method respectively obtains a first rotation angle of the robot arm coordinate system to the reading area coordinate system and a second rotation angle of the target object coordinate system to the robot arm coordinate system. Then, when the robot arm transfers the target object to the reading area, the target object is rotated according to the two rotation angles so that the reading mark on the side wall of the target object can be read by at least one of two vertically arranged reading devices, thereby solving the problem of the orientation of the barcode on the box when the box is transferred by the robot arm.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm control method and device, a robotic arm, and a depalletizing system. Background Art

[0002] With the continuous advancement of robotic arm technology and the expansion of application scenarios, people's requirements for the operating capabilities of robotic arms are also increasing.

[0003] During the depalletizing process, existing robotic arms simply remove the stacked boxes or goods to the production line.

[0004] However, the box or goods sometimes have a barcode on one side, and a reading device is required to read the barcode when the box or goods are placed on the production line by the robot arm; therefore, it is also necessary to ensure that the side of the box or goods with the barcode faces the reading device; that is, during the depalletizing process, the existing robot arm cannot solve the problem of the orientation of the barcode on the box. Summary of the invention

[0005] In response to at least one aspect of the above-mentioned technical problems, an embodiment of the present application provides a robot arm control method, device, robot arm, and depalletizing system. The robot arm control method respectively obtains a first rotation angle of the robot arm coordinate system to the reading area coordinate system and a second rotation angle of the target object coordinate system to the robot arm coordinate system. When the robot arm transfers the target object to the reading area, the target object is rotated according to the two rotation angles so that the reading mark on the side wall of the target object can be read by at least one of the two vertically arranged reading devices, thereby solving the problem of the orientation of the barcode on the box when the box is transferred by the robot arm.

[0006] In a first aspect, an embodiment of the present application provides a robot arm control method, the robot arm control method comprising:

[0007] Acquire a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system of the robot arm rotates to coincide with the first plane rectangular coordinate system of the reading area; wherein at least one reading device is placed corresponding to each of the two coordinate axes forming the first plane rectangular coordinate system;

[0008] When grasping the target object, a second rotation angle corresponding to the target object is obtained; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system of the target object is rotated to coincide with the second plane rectangular coordinate system; wherein the third plane rectangular coordinate system takes a preset vertex of the horizontal projection of the target object as the coordinate origin, takes two right-angled sides extending from the preset vertex as coordinate axes, and a reading mark is provided on at least one of the two side walls of the target object corresponding to the two right-angled sides, and the reading mark is used to be read by the reading device;

[0009] When the target object is transferred to the reading area, the target object is rotated with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

[0010] In one embodiment, the target objects are stacked on a stacking plate, the stacking plate includes four stacking areas, and the four stacking areas are circumferentially distributed relative to the center of the stacking plate;

[0011] The stacking area is used to stack a stack of the target objects, and the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as the preset vertex;

[0012] Wherein, when grabbing the target object, the step of obtaining a second rotation angle corresponding to the target object includes:

[0013] When grabbing a target object, obtaining a position image of the target object, wherein the position image at least includes the target object and the stacking plate;

[0014] At the same time, the second rotation angle corresponding to the target object is calculated according to the position image and the second plane rectangular coordinate system.

[0015] In one embodiment, the step of calculating the second rotation angle corresponding to the target object according to the position image and the second plane rectangular coordinate system comprises:

[0016] Determining the position coordinates of the stacking area occupied by the target object according to the position image;

[0017] Determine the third plane rectangular coordinate system according to the position coordinates;

[0018] The second rotation angle is calculated according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

[0019] In one embodiment, the absolute values ​​of the first rotation angle and the second rotation angle are not greater than 180 degrees.

[0020] In one embodiment, when the target object is transferred to the reading area, the step of rotating the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system includes:

[0021] When transferring the target object to the reading area, the target object is rotated with the vertical direction as the rotation axis and according to the sum of the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system; or

[0022] When the target object is transferred to the reading area, the target object is rotated with the vertical direction as the rotation axis and at the first rotation angle and the second rotation angle respectively, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

[0023] In a second aspect, an embodiment of the present application provides a robot arm control device, the robot arm control device comprising:

[0024] A first acquisition module is used to acquire a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system of the robot arm rotates to coincide with the first plane rectangular coordinate system of the reading area; wherein at least one reading device is placed corresponding to each of the two coordinate axes forming the first plane rectangular coordinate system;

[0025] A second acquisition module is used to acquire a second rotation angle corresponding to the target object when grasping the target object; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system of the target object is rotated to coincide with the second plane rectangular coordinate system; wherein the third plane rectangular coordinate system takes a preset vertex of the horizontal projection of the target object as a coordinate origin, takes two right-angled sides extending from the preset vertex as coordinate axes, and a reading mark is provided on at least one of the two side walls of the target object corresponding to the two right-angled sides, and the reading mark is used to be read by the reading device;

[0026] The rotation execution module is used to rotate the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle when transferring the target object to the reading area, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

[0027] In one embodiment, the target objects are stacked on a stacking plate, the stacking plate includes four stacking areas, and the four stacking areas are distributed circumferentially relative to the center of the stacking plate;

[0028] The stacking area is used to stack a stack of the target objects, and the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as the preset vertex;

[0029] Wherein, the second acquisition module further includes:

[0030] A shooting submodule, used for acquiring a position image of the target object when grabbing the target object, wherein the position image at least includes the target object and the stacking plate;

[0031] A calculation submodule is used to calculate the second rotation angle corresponding to the target object based on the position image and the second plane rectangular coordinate system at the same time.

[0032] In one embodiment, the calculation submodule further includes:

[0033] A first determining unit, configured to determine the position coordinates of the stacking area occupied by the target object according to the position image;

[0034] A second determining unit, configured to determine the third plane rectangular coordinate system according to the position coordinates;

[0035] A third determining unit is used to calculate the second rotation angle according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

[0036] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the robot arm control method as described above are implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a robotic arm, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robotic arm control method as described above when executing the computer program.

[0038] In a fifth aspect, an embodiment of the present application provides a depalletizing system, which includes a stacking plate, a robotic arm and a reading area; wherein the stacking plate is used to stack target objects, the reading area vertically places two reading devices, and the robotic arm implements the steps of the robotic arm control method as described above when transferring the target object from the stacking plate to the reading area.

[0039] In one embodiment, a conveyor belt is placed in the reading area, and the reading devices are respectively placed at the end and at least one side of the conveyor belt.

[0040] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0041] The embodiment of the present application provides a robot arm control method, device, robot arm, and depalletizing system. The robot arm control method first obtains a first rotation angle and a second rotation angle respectively; wherein the first rotation angle is the rotation angle when the coordinate system (second plane rectangular coordinate system) of the robot arm rotates to coincide with the coordinate system (first plane rectangular coordinate system) of the reading area, and the second rotation angle is the rotation angle when the coordinate system (third plane rectangular coordinate system) of the target object rotates to coincide with the coordinate system (second plane rectangular coordinate system) of the robot arm; then, when the robot arm transfers the target object to the reading area, the target object is rotated according to the above two rotation angles, so that the coordinate system (third plane rectangular coordinate system) of the target object and the coordinate system (first plane rectangular coordinate system) of the reading area coincide;

[0042] In addition, on this basis, on the one hand, the read mark of the target object is located on any side wall corresponding to its coordinate axis, and on the other hand, reading devices are respectively arranged on the two coordinate axes of the coordinate system of the reading area; therefore, it can be understood that after the coordinate system of the target object and the coordinate system of the reading area are overlapped by rotation, it can be ensured that one of the two vertically arranged reading devices can read the read mark on the target object;

[0043] That is to say, the embodiment of the present application first sets the reading directions of the two reading devices vertically to form a right-angle reading area, and then associates the right-angle coordinate system of the reading area and the coordinate system of the reading mark covered on the target object through the robotic arm coordinate system. In this way, the rotation angle that the target object needs to be rotated can be known through the above-mentioned associated angle, thereby ensuring that the reading mark on the target object is read by at least one of the above-mentioned two reading devices, solving the problem of the orientation of the barcode on the box (target object) when it is transferred by the robotic arm, and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0045] Figure 1 Schematic diagram of the flow of the robot arm control method described in the embodiment of the present application.

[0046] Figure 2 This is a schematic diagram of the structure of the robot arm transferring the target object to the reading area in an embodiment of the present application, wherein the target object is provided with a reading mark on a side wall.

[0047] Figure 3 For the corresponding Figure 2 The target object is provided with reading marks on both side walls.

[0048] Figure 4 This is a schematic structural diagram of the robot arm transferring the target object from the stack to the reading area in the embodiment of the present application, wherein the target object is provided with a reading mark on one side wall.

[0049] Figure 5 For the corresponding Figure 4 The target object is provided with reading marks on both side walls.

[0050] Figure 6 This is a schematic diagram of the structure of the robot arm transferring the target object from the stack plate to the conveyor belt in the embodiment of the present application, wherein the target object is provided with a reading mark on one side wall.

[0051] Figure 7 For the corresponding Figure 6 The target object is provided with reading marks on both side walls.

[0052] Figure 8 Schematic diagram of the structure of the stacking plate divided into four stacking areas in the embodiment of the present application.

[0053] Fig. 9 Schematic diagram of the structure of the robotic arm control device described in an embodiment of the present application.

[0054] Wherein, the reference numerals are:

[0055] 10-Read area, 11-Read device,

[0056] 20-Robotic Arm,

[0057] 30-target object, 31-read mark, 32-preset vertex,

[0058] 40-Pile of boards,

[0059] 50-Conveyor belt,

[0060] M1-first plane rectangular coordinate system, M2-second plane rectangular coordinate system, M3-third plane rectangular coordinate system,

[0061] 100-first acquisition module,

[0062] 200-Second acquisition module,

[0063] 300-Rotate the execution module. DETAILED DESCRIPTION

[0064] In order to better understand the above technical solution, the example embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described here.

[0065] Existing robotic arms are often used for disassembly and palletizing, that is, the robotic arms grasp, transport and place boxes or goods of various specifications and sizes placed on a chopping board in a certain order under a visual guidance system.

[0066] Among them, in the application scenario of robotic arm dismantling and chopping, there is a problem of the orientation of the box when it is placed. That is, when the existing robotic arm places the box, it cannot ensure that the side of the box with the barcode faces the code reading device. As a result, the barcode information on the box is not obtained by the code reading device, resulting in an invalid box being placed.

[0067] In response to the above situation, the present application proposes a robot arm control method, which respectively obtains a first rotation angle of the robot arm coordinate system to the reading area coordinate system and a second rotation angle of the target object coordinate system to the robot arm coordinate system. Then, when the robot arm transfers the target object to the reading area, the target object is rotated according to the two rotation angles so that the reading mark on the side wall of the target object can be read by at least one of the two vertically arranged reading devices, thereby solving the problem of the orientation of the barcode on the box when it is transferred by the robot arm.

[0068] Figure 1 It is a flowchart of the robot arm control method. Figure 2 and Figure 3 This is a schematic diagram of the structure of the robot arm transferring the target object to the reading area. Please also combine Figure 1 , Figure 2 and Figure 3 , a robot arm control method, the robot arm control method comprising:

[0069] S1, obtaining a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system M2 of the robot arm 20 rotates to coincide with the first plane rectangular coordinate system M1 of the reading area 10; wherein, at least one reading device 11 is placed corresponding to two coordinate axes forming the first plane rectangular coordinate system M1;

[0070] S2. When grasping the target object 30, obtain a second rotation angle corresponding to the target object 30; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system M3 of the target object 30 is rotated to coincide with the second plane rectangular coordinate system M2; wherein the third plane rectangular coordinate system M3 takes the preset vertex 32 of the horizontal projection of the target object 30 as the coordinate origin, takes the two right-angled sides extending from the preset vertex 32 as the coordinate axes, and at least one of the two side walls of the target object 30 corresponding to the two right-angled sides is provided with a reading mark 31, and the reading mark 31 is used to be read by the reading device 11;

[0071] S3. When the target object 30 is transferred to the reading area 10, the target object 30 is rotated with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system M3 coincides with the first plane rectangular coordinate system M1.

[0072] Specifically, in step S1, the robot arm has its own coordinate system, and the horizontal coordinate part of its own coordinate system can be used as the second plane rectangular coordinate system.

[0073] The robot arm needs to transfer the target object to the reading area, where a reading device is placed to read the reading mark on the target object; wherein, combined with Figure 2 , at least one reading device is placed corresponding to each of the two coordinate axes of the first plane rectangular coordinate system of the reading area; that is, for example, Figure 2 For the vertical coordinate axis in the first plane rectangular coordinate system, a reading device is placed on or next to the coordinate axis, and the reading direction of the reading device is in the same direction as the horizontal coordinate axis; similarly, for the horizontal coordinate axis in the first plane rectangular coordinate system, a reading device is placed on or next to the coordinate axis, and the reading direction of the reading device is in the same direction as the vertical coordinate axis; or it can be said that the above-mentioned first plane rectangular coordinate system is formed by vertically placing two reading devices in the reading area.

[0074] Among them, a first rotation angle is obtained, and the first rotation angle is the rotation angle when the above-mentioned second plane rectangular coordinate system is rotated to coincide with the first plane rectangular coordinate system, that is, the first rotation angle is the rotation angle when the plane coordinate system of the robot arm is rotated to coincide with the plane coordinate system of the reading area; it should be understood that the rotation of the two coordinate systems mentioned above to coincide should be based on the vertical direction as the axis of rotation; and it can be understood that after the placement positions of the robot arm and the above-mentioned two reading devices are determined, the first rotation angle is determined, for example, the robot arm can obtain the first rotation angle by manual input.

[0075] Specifically, in step S2, the robot arm grasps the target object, which is, for example, a box, and the horizontal projection of the box is a rectangle or a square. A vertex of the horizontal projection of the box is set as a preset vertex, and the coordinate system of the target object is set with the preset vertex as the coordinate origin and the two right-angled sides extending from the preset vertex as the coordinate axes, that is, the third plane rectangular coordinate system; and at least one of the two side walls of the box corresponding to the two right-angled sides is provided with a reading mark, which can be referred to Figure 2 , Figure 2 It shows that one of the two side walls of the box corresponding to the two right-angled sides is provided with a reading mark, and can refer to Figure 3 , Figure 3 It is shown that the two right-angled sides correspond to the two side walls of the box body and are respectively provided with reading marks; thus, the third plane rectangular coordinate system projects and covers the reading marks.

[0076] Specifically, in step S3, after grabbing the target object, the robotic arm transfers the target object to the reading area. In order to ensure that at least one of the two reading devices placed in the reading area reads the reading mark on the target object, the robotic arm rotates the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system of the target object coincides with the first plane rectangular coordinate system of the reading area.

[0077] It can be understood that, on the one hand, since the two coordinate axes of the first plane rectangular coordinate system of the reading area both cover the reading device, and on the other hand, since at least one of the two coordinate axes of the third plane rectangular coordinate system of the target object covers the reading mark, at this time, by rotating the two plane rectangular coordinate systems to overlap, it can be ensured that the reading mark on the target object is read by at least one of the two reading devices.

[0078] It can be understood that the robot arm control method provided in this embodiment can be applied to the transfer of a single target object; or, it can also be applied to the transfer of multiple target objects stacked in the vertical direction, that is, chopping.

[0079] It should be understood that, for example, Figure 2 In the robot arm coordinate system M2 and the reading area coordinate system M1, the first rotation angle is 180 degrees clockwise or 180 degrees counterclockwise.

[0080] It should be understood that the above-mentioned reading mark 31 is, for example, a barcode, etc., and the reading device 11 is correspondingly a code reading device.

[0081] The embodiment of the present application provides a robot arm control method, device, robot arm, and depalletizing system. The robot arm control method first obtains a first rotation angle and a second rotation angle respectively; wherein the first rotation angle is the rotation angle when the coordinate system (second plane rectangular coordinate system) of the robot arm rotates to coincide with the coordinate system (first plane rectangular coordinate system) of the reading area, and the second rotation angle is the rotation angle when the coordinate system (third plane rectangular coordinate system) of the target object rotates to coincide with the coordinate system (second plane rectangular coordinate system) of the robot arm; then, when the robot arm transfers the target object to the reading area, the target object is rotated according to the above two rotation angles, so that the coordinate system (third plane rectangular coordinate system) of the target object and the coordinate system (first plane rectangular coordinate system) of the reading area coincide;

[0082] In addition, on this basis, on the one hand, the read mark of the target object is located on any side wall corresponding to its coordinate axis, and on the other hand, reading devices are respectively arranged on the two coordinate axes of the coordinate system of the reading area; therefore, it can be understood that after the coordinate system of the target object and the coordinate system of the reading area are overlapped by rotation, it can be ensured that one of the two vertically arranged reading devices can read the read mark on the target object;

[0083] That is to say, the embodiment of the present application first sets the reading directions of the two reading devices vertically to form a right-angle reading area, and then associates the right-angle coordinate system of the reading area and the coordinate system of the reading mark covered on the target object through the robotic arm coordinate system. In this way, the rotation angle that the target object needs to be rotated can be known through the above-mentioned associated angle, thereby ensuring that the reading mark on the target object is read by at least one of the above-mentioned two reading devices, solving the problem of the orientation of the barcode on the box (target object) when it is transferred by the robotic arm, and improving efficiency.

[0084] In a possible implementation manner, the target objects 30 are stacked on a stacking plate 40, and the stacking plate 40 includes four stacking areas, and the four stacking areas are circumferentially distributed relative to the center of the stacking plate; the stacking area is used to stack a stack of target objects 30, and the point farthest from the center of the stacking plate in the horizontal projection of the target object 30 is set as a preset vertex;

[0085] Wherein, step S2 comprises:

[0086] S21, when grabbing the target object 30, obtaining a position image of the target object 30, the position image at least including the target object 30 and the stacking plate 40;

[0087] S22 . Calculate a second rotation angle corresponding to the target object 30 based on the position image and the second plane rectangular coordinate system M2 at the same time.

[0088] The robot arm control method of this embodiment can be applied to the transfer of multiple stacking target objects on a stacking plate.

[0089] For details, please combine Figure 4 , Figure 5 , the stacking plate can be square, and the stacking plate is, for example, divided into four stacking areas in the horizontal and vertical directions, and the four stacking areas are distributed circumferentially relative to the center of the stacking plate, that is, one right-angled vertex of the stacking plate corresponds to one stacking area; then, one stacking area is used to stack a stack of target objects, that is, four stacks of target objects are placed on the stacking plate; wherein, for each stack of target objects, the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as a preset vertex, and then combined with the setting of the third plane rectangular coordinate system and the reading mark, that is, the third plane rectangular coordinate system takes the point farthest from the center of the stacking plate in the horizontal projection of the target object as the coordinate origin, and takes the horizontal projection of the two side walls of the target object relative to the outside of the center of the stacking plate as the coordinate axis, and the reading mark is set on the side wall of the target object relative to the outside of the center of the stacking plate, as shown in FIG. Figure 4 , a reading mark is provided on a side wall of the target object relative to the center of the stacking board, or see Figure 5 , reading marks are provided on the two side walls of the target object relative to the outside of the center of the stack board.

[0090] It can be understood that, at this time, the third plane rectangular coordinate system of the target object on each stacking area is different, or in other words, for the target object, different stacking areas correspond to different third plane rectangular coordinate systems.

[0091] In step S21, a position image of the target object is first obtained, the position image at least including the target object and the pallet, and the stacking area of ​​the target object in the pallet can be determined by the position image, thereby determining the third plane rectangular coordinate system of the target object.

[0092] Wherein, in step S22, a second rotation angle corresponding to the target object is calculated based on the position image and the second plane rectangular coordinate system at the same time.

[0093] It should be understood that, for example, Figure 4 For the target object located at the lower left corner of the stack plate, the second rotation angle is 90 degrees clockwise.

[0094] In one embodiment, step S22 includes:

[0095] S221, determining the position coordinates of the stacking area occupied by the target object according to the position image;

[0096] S222, determining a third plane rectangular coordinate system according to the position coordinates;

[0097] S223: Calculate a second rotation angle according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

[0098] That is, continue to combine Figure 4 and Figure 8 For example, the four stacking areas on the stacking plate correspond to the four position coordinates A, B, C, and D respectively. From the perspective of the robot arm, the position coordinate A can be set to correspond to the upper left stacking area, the position coordinate B to correspond to the upper right stacking area, the position coordinate C to correspond to the lower left stacking area, and the position coordinate D to correspond to the lower right stacking area;

[0099] The camera device on the robotic arm captures a position image of the target object and the stacking plate, and through recognition and calculation of the position image, the position coordinates of the target object relative to the robotic arm at "upper left, upper right, lower left, lower right", for example, the position coordinate of the target object is A.

[0100] Then, the third plane rectangular coordinate system can be uniquely determined by the difference in the position coordinates;

[0101] The second rotation angle can be determined by combining the second plane rectangular coordinate system and the third plane rectangular coordinate system of the robot arm.

[0102] It should be understood that the absolute values ​​of the first rotation angle and the second rotation angle are not greater than 180 degrees. For example, clockwise rotation can be set as a positive value, counterclockwise rotation can be set as a negative value, or vice versa.

[0103] In a possible implementation manner, step S3 includes:

[0104] S301, when transferring the target object 30 to the reading area 10, rotating the target object 30 with the vertical direction as the rotation axis and according to the sum of the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system M3 coincides with the first plane rectangular coordinate system M1; or,

[0105] S302 , when transferring the target object 30 to the reading area 10 , rotate the target object with the vertical direction as the rotation axis and at a first rotation angle and a second rotation angle respectively, so that the third plane rectangular coordinate system M3 coincides with the first plane rectangular coordinate system M1 .

[0106] That is, when the robotic arm rotates the target object, it can first calculate the sum of the first rotation angle and the second rotation angle to obtain the superimposed rotation angle, and then rotate the target object according to the superimposed rotation angle; or, rotate the target object twice with the first rotation angle and the second rotation angle respectively, both of which can make the third plane rectangular coordinate system coincide with the first plane rectangular coordinate system.

[0107] Based on the above-mentioned robot arm control method, the present application embodiment also provides a robot arm control device, combined with Fig. 9 , the robot arm control device includes:

[0108] The first acquisition module 100 is used to acquire a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system of the robot arm rotates to coincide with the first plane rectangular coordinate system of the reading area; wherein at least one reading device is placed corresponding to each of the two coordinate axes forming the first plane rectangular coordinate system;

[0109] The second acquisition module 200 is used to acquire a second rotation angle corresponding to the target object when grasping the target object; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system of the target object is rotated to coincide with the second plane rectangular coordinate system; wherein the third plane rectangular coordinate system uses a preset vertex of the horizontal projection of the target object as the coordinate origin, and two right-angled sides extending from the preset vertex as the coordinate axes, and a reading mark is provided on at least one of the two side walls of the target object corresponding to the two right-angled sides, and the reading mark is used to be read by a reading device;

[0110] The rotation execution module 300 is used to rotate the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle when transferring the target object to the reading area, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

[0111] In one possible implementation, the target objects are stacked on a stacking plate, and the stacking plate includes four stacking areas, and the four stacking areas are distributed circumferentially relative to the center of the stacking plate;

[0112] The stacking area is used to stack a stack of target objects, and the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as the preset vertex;

[0113] Wherein, the second acquisition module further includes:

[0114] A shooting submodule is used to obtain a position image of the target object when grabbing the target object, and the position image at least includes the target object and the stacking board;

[0115] The calculation submodule is used to calculate a second rotation angle corresponding to the target object based on the position image and the second plane rectangular coordinate system at the same time.

[0116] In one possible implementation, the calculation submodule further includes:

[0117] A first determining unit, configured to determine the position coordinates of a stacking area occupied by a target object according to the position image;

[0118] A second determining unit, used to determine a third plane rectangular coordinate system according to the position coordinates;

[0119] The third determining unit is used to calculate the second rotation angle according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

[0120] In a possible implementation manner, the rotation execution module includes:

[0121] The superposition rotation submodule is used to rotate the target object with the vertical direction as the rotation axis and according to the sum of the first rotation angle and the second rotation angle when transferring the target object to the reading area, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system; or

[0122] The distributed rotation submodule is used to rotate the target object with the vertical direction as the rotation axis and at the first rotation angle and the second rotation angle respectively when transferring the target object to the reading area, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

[0123] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the robot arm control method as described above are implemented.

[0124] An embodiment of the present application also provides a robotic arm, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robotic arm control method as described above when executing the computer program.

[0125] An embodiment of the present application also provides a depalletizing system, which includes a stacking plate, a robotic arm and a reading area; wherein the stacking plate is used to stack target objects, and two reading devices are vertically placed in the reading area. When the robotic arm transfers the target object from the stacking plate to the reading area, the steps of the robotic arm control method as described above are implemented.

[0126] In one embodiment, please combine Figure 6 and Figure 7 A conveyor belt 50 is placed in the reading area, and a reading device 11 is placed at the end and any side of the conveyor belt 50; that is, the reading area is located at one end of the conveyor belt. After the robot arm transfers the target object to the reading area at the end of the conveyor belt, at least one of the two vertical reading devices can read the reading mark on the target object. At the same time, the conveyor belt transports the target object away to facilitate the placement of the next target object.

[0127] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0128] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0129] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0130] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0131] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize that some variations, modifications, changes, additions and sub-combinations thereof should be included within the scope of protection of the present invention.

Claims

1. A robot arm control method, characterized in that: The robot arm control method comprises: Acquire a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system of the robot arm rotates to coincide with the first plane rectangular coordinate system of the reading area; wherein at least one reading device is placed corresponding to each of the two coordinate axes forming the first plane rectangular coordinate system; When grasping the target object, a second rotation angle corresponding to the target object is obtained; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system of the target object is rotated to coincide with the second plane rectangular coordinate system; wherein the third plane rectangular coordinate system takes a preset vertex of the horizontal projection of the target object as the coordinate origin, takes two right-angled sides extending from the preset vertex as coordinate axes, and a reading mark is provided on at least one of the two side walls of the target object corresponding to the two right-angled sides, and the reading mark is used to be read by the reading device; When the target object is transferred to the reading area, the target object is rotated with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

2. The robot arm control method according to claim 1, characterized in that: The target objects are stacked on a stacking plate, the stacking plate includes four stacking areas, and the four stacking areas are distributed circumferentially relative to the center of the stacking plate; The stacking area is used to stack a stack of the target objects, and the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as the preset vertex; Wherein, when grabbing the target object, the step of obtaining a second rotation angle corresponding to the target object includes: When grabbing a target object, obtaining a position image of the target object, wherein the position image at least includes the target object and the stacking plate; At the same time, the second rotation angle corresponding to the target object is calculated according to the position image and the second plane rectangular coordinate system.

3. The robot arm control method according to claim 2, characterized in that: The step of calculating the second rotation angle corresponding to the target object according to the position image and the second plane rectangular coordinate system comprises: Determining the position coordinates of the stacking area occupied by the target object according to the position image; Determine the third plane rectangular coordinate system according to the position coordinates; The second rotation angle is calculated according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

4. The robot arm control method according to claim 1, characterized in that: The absolute values ​​of the first rotation angle and the second rotation angle are not greater than 180 degrees.

5. The robot arm control method according to claim 1, characterized in that: When transferring the target object to the reading area, the step of rotating the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system comprises: When transferring the target object to the reading area, the target object is rotated with the vertical direction as the rotation axis and according to the sum of the first rotation angle and the second rotation angle, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system; or When the target object is transferred to the reading area, the target object is rotated twice with the vertical direction as the rotation axis and at the first rotation angle and the second rotation angle respectively, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

6. A robot arm control device, characterized in that: The mechanical arm control device comprises: A first acquisition module is used to acquire a first rotation angle; the first rotation angle represents the rotation angle when the second plane rectangular coordinate system of the robot arm rotates to coincide with the first plane rectangular coordinate system of the reading area; wherein at least one reading device is placed corresponding to each of the two coordinate axes forming the first plane rectangular coordinate system; A second acquisition module is used to acquire a second rotation angle corresponding to the target object when grasping the target object; the second rotation angle represents the rotation angle when the third plane rectangular coordinate system of the target object is rotated to coincide with the second plane rectangular coordinate system; wherein the third plane rectangular coordinate system takes a preset vertex of the horizontal projection of the target object as a coordinate origin, takes two right-angled sides extending from the preset vertex as coordinate axes, and a reading mark is provided on at least one of the two side walls of the target object corresponding to the two right-angled sides, and the reading mark is used to be read by the reading device; The rotation execution module is used to rotate the target object with the vertical direction as the rotation axis and according to the first rotation angle and the second rotation angle when transferring the target object to the reading area, so that the third plane rectangular coordinate system coincides with the first plane rectangular coordinate system.

7. The robot arm control device according to claim 6, characterized in that: The target objects are stacked on a stacking plate, the stacking plate includes four stacking areas, and the four stacking areas are distributed circumferentially relative to the center of the stacking plate; The stacking area is used to stack a stack of the target objects, and the point farthest from the center of the stacking plate in the horizontal projection of the target object is set as the preset vertex; Wherein, the second acquisition module further includes: A shooting submodule, used for acquiring a position image of the target object when grabbing the target object, wherein the position image at least includes the target object and the stacking plate; A calculation submodule is used to calculate the second rotation angle corresponding to the target object based on the position image and the second plane rectangular coordinate system at the same time.

8. The robot arm control device according to claim 7, characterized in that: The calculation submodule further includes: A first determining unit, configured to determine the position coordinates of the stacking area occupied by the target object according to the position image; A second determining unit, configured to determine the third plane rectangular coordinate system according to the position coordinates; A third determining unit is used to calculate the second rotation angle according to the third plane rectangular coordinate system and the second plane rectangular coordinate system.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the robot arm control method according to any one of claims 1 to 5 are implemented.

10. A robotic arm, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robot arm control method as claimed in any one of claims 1 to 5 when executing the computer program.

11. A depalletizing system, characterized in that: The chopping system includes a stacking plate, a robotic arm and a reading area; wherein the stacking plate is used to stack target objects, the reading area vertically places two reading devices, and the robotic arm implements the steps of the robotic arm control method as described in any one of claims 1 to 5 when transferring the target object from the stacking plate to the reading area.

12. The chopping system according to claim 11, characterized in that: A conveyor belt is placed in the reading area, and the reading devices are respectively placed at the end and at least one side of the conveyor belt.

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