Material sorting equipment, material obstacle avoidance and grasping method and device

Abstract

The present invention provides a material sorting device, a material obstacle avoidance and grasping method and device. The method includes: in response to an instruction for a mechanical arm to reach an initial grasping position, acquiring image information of a target material on a vibrating and scattering plate and the position coordinates of a target suction nozzle in a preset reference coordinate system; in response to a suction nozzle movement instruction, moving the target suction nozzle from the initial grasping position to a target position; when the target suction nozzle is at the target position, calculating the current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data; calculating a current suction nozzle distance and a current contour point distance according to the current flange position; when it is determined that the current suction nozzle distance and / or the current contour point distance is less than a preset calibration distance, an obstacle avoidance instruction is issued, and the obstacle avoidance instruction is used to control the mechanical arm to move in a direction away from the obstacle. The technical problem that obstacles cannot be recognized during the material grasping process in the prior art and the material grasping efficiency is relatively low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of material sorting, and in particular to a material sorting device, a material obstacle avoidance and grasping method and device. Background Art

[0002] A material sorting device is an important device in bulk material sorting. The material sorting device includes structures such as a vibrating and loosening tray, an image acquisition device, and a material picking robot. During the working process, after the vibrating and loosening tray finishes vibrating and loosening, the materials on the vibrating and loosening tray are picked up by the end manipulator of the material picking robot. However, in the prior art, during the process of the manipulator grasping materials, it is impossible to determine whether there are obstacles that need to be avoided; at the same time, when the manipulator has multiple suction nozzles for grasping materials, it is impossible to select the optimal suction nozzle for specific materials, reducing the efficiency of material grasping. Summary of the Invention

[0003] The present invention provides a material sorting device, a material obstacle avoidance and grasping method and device, so as to solve the technical problems in the prior art that obstacles cannot be recognized during the material grasping process and the material grasping efficiency is relatively low.

[0004] The present invention provides a material obstacle avoidance and grasping method, and the method includes:

[0005] In response to an instruction that the manipulator reaches the initial grasping position, obtain the image information of the target material on the vibrating and loosening tray, and the position coordinates of the target suction nozzle in a preset reference coordinate system;

[0006] In response to a suction nozzle movement instruction, move the target suction nozzle from the initial grasping position to a target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position;

[0007] When the target suction nozzle is in the target position, calculate the current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data;

[0008] Calculate the current suction nozzle distance and the current contour point distance according to the current flange position;

[0009] When it is determined that the current suction nozzle distance and / or the current contour point distance is less than a preset calibration distance, an obstacle avoidance instruction is issued, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle.

[0010] In some embodiments, in response to a suction nozzle movement instruction, moving the target suction nozzle from the initial grasping position to a target position specifically includes:

[0011] When there are multiple empty suction nozzles installed on the flange, determine one of the multiple empty suction nozzles as the target suction nozzle;

[0012] Generate a movement path based on the position coordinates of the target nozzle in the reference coordinate system and the target position;

[0013] Generate a nozzle movement instruction according to the movement path, and the nozzle movement instruction is used to move the target nozzle to the target position along the movement path.

[0014] In some embodiments, when a plurality of empty nozzles are installed on the flange, determining one of the plurality of empty nozzles as the target nozzle specifically includes:

[0015] Determine the coordinates of the target material in the reference coordinate system based on the image information, and obtain the coordinates of each empty nozzle in the reference coordinate system;

[0016] According to the coordinate matching algorithm, calculate the distances between each empty nozzle and the target material respectively, and obtain a distance sequence;

[0017] Use the control nozzle with the smallest distance in the distance sequence as the target nozzle.

[0018] In some embodiments, the pre-calibrated reference data includes:

[0019] The horizontal and vertical coordinate distances between the nozzle center of each nozzle and the flange center of the flange; and,

[0020] The horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the flange center when the angle of the flange is 0°.

[0021] In some embodiments, calculating the current nozzle distance according to the current flange position specifically includes:

[0022] When the target nozzle is in the target position, calculate the current nozzle distance of the target nozzle according to the current flange position and the pre-calibrated horizontal and vertical coordinate distances between the nozzle center of each nozzle and the flange center of the flange.

[0023] In some embodiments, calculating the current contour point distance according to the current flange position specifically includes:

[0024] When the target nozzle is in the target position, calculate the current contour point distance of the end fixture according to the current flange position and the pre-calibrated horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the flange center.

[0025] In some embodiments, the reference coordinate system is a coordinate system established with the central position of the robot where the manipulator is located as the origin, the horizontal transverse direction as the X-axis, the horizontal longitudinal direction as the Y-axis, and the height direction as the Z-axis.

[0026] In some embodiments, the obstacle avoidance instruction is further used to control the alarm unit to emit an alarm signal.

[0027] The present invention also provides a material obstacle avoidance and grasping device, and the device includes:

[0028] A data acquisition unit, configured to acquire the image information of the target material on the vibrating disk and the position coordinates of the target suction nozzle in a pre-set reference coordinate system in response to an instruction that the manipulator reaches the initial grasping position;

[0029] A suction nozzle movement unit, configured to move the target suction nozzle from the initial grasping position to a target position in response to a suction nozzle movement instruction, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position;

[0030] A position calculation unit, configured to calculate the current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data when the target suction nozzle is in the target position;

[0031] A distance calculation unit, configured to calculate the current suction nozzle distance and the current contour point distance according to the current flange position;

[0032] An instruction generation unit, configured to issue an obstacle avoidance instruction when it is determined that the current suction nozzle distance and / or the current contour point distance is less than a pre-set calibration distance, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle.

[0033] The present invention also provides a material sorting device, including a vibrating disk, a storage bin, a manipulator with a suction nozzle, and a controller; wherein, the number of the suction nozzles is multiple, the controller includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and is characterized in that when the processor executes the program, the steps of the above-mentioned material obstacle avoidance and grasping method are implemented.

[0034] The material obstacle avoidance and grasping method for a material sorting device provided by the present invention obtains the image information of the target material on the vibrating disk and the position coordinates of the target suction nozzle in a pre-set reference coordinate system by responding to the instruction that the manipulator reaches the initial grasping position; responds to the suction nozzle movement instruction, and moves the target suction nozzle from the initial grasping position to the target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position; when the target suction nozzle is in the target position, calculates the current flange position of the flange where the target suction nozzle is located according to the pre-calibrated reference data; calculates the current suction nozzle distance and the current contour point distance according to the current flange position; when it is determined that the current suction nozzle distance and / or the current contour point distance is less than the pre-set calibration distance, an obstacle avoidance instruction is issued, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle.

[0035] In this way, during the process of the manipulator grasping the material, by the difference between the pre-calibrated data and the currently calculated data, it is determined whether an obstacle that needs to be avoided is encountered, realizing obstacle avoidance during material grasping, and improving the effect and efficiency of material grasping; at the same time, when the manipulator has multiple suction nozzles for grasping materials, the optimal suction nozzle can be selected according to the coordinate matching between the target material and each suction nozzle, minimizing the movement distance of the suction nozzle, thereby improving the efficiency of material grasping. Furthermore, the technical problems of the prior art that obstacles cannot be recognized during the material grasping process and the material grasping efficiency is relatively low are solved. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is one of the flow charts of the material obstacle avoidance and grasping method provided by the present invention;

[0038] Figure 2 It is another flow chart of the material obstacle avoidance and grasping method provided by the present invention;

[0039] Figure 3 It is the third flow chart of the material obstacle avoidance and grasping method provided by the present invention;

[0040] Figure 4 It is the fourth flow chart of the material obstacle avoidance and grasping method provided by the present invention;

[0041] Figure 5Schematic structural diagram of the material obstacle avoidance and grasping device provided by the present invention. Detailed implementation manners

[0042] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts in applying the embodiments to the present invention fall within the protection scope of the present invention.

[0043] To solve the problems in the prior art that the grasping efficiency of bulk materials such as electronic devices is low and obstacles cannot be recognized during the grasping process by a suction nozzle, the present invention provides a material obstacle avoidance and grasping method and device. Based on a manipulator structure with multiple suction nozzles, the optimal target suction nozzle is determined through pre-calibrated coordinate data and coordinate data calculated according to an image, thereby improving the material grasping efficiency and being able to accurately recognize obstacles.

[0044] Please refer to Figure 1 , Figure 1 One of the flow schematic diagrams of the material obstacle avoidance and grasping method provided by the present invention.

[0045] In a specific implementation manner, the material obstacle avoidance and grasping method provided by the present invention is based on a material sorting device with multiple suction nozzles. The material sorting device includes a frame, a vibrating disk, a storage bin, and a sorting robot. An image acquisition device is installed on the frame. The storage bin is used to store materials to be processed and transfer the materials to be processed to the vibrating disk. A manipulator is installed on the sorting robot, and multiple suction nozzles are installed at the end of the manipulator through a flange. For example, 6 suction nozzles can be provided, and the 6 suction nozzles can be evenly distributed in the circumferential direction of the flange.

[0046] As Figure 1 shown, the method includes the following steps:

[0047] S101: In response to an instruction that the manipulator reaches the initial grasping position, obtain the image information of the target material on the vibrating disk and the position coordinates of the target suction nozzle in a pre-set reference coordinate system. During the working process, after the vibrating disk finishes vibrating, the manipulator moves above the vibrating disk to reach the initial grasping position. At this time, the image acquisition device (such as a camera) captures the original image above the vibrating disk. The original image contains the target material and the target suction nozzle. The image information of the target material and the position coordinates of the target suction nozzle can be extracted from the original image.

[0048] For the sake of convenience of description, the reference coordinate system is a coordinate system established with the central position of the robot where the manipulator is located as the origin, the horizontal transverse direction as the X-axis, the horizontal longitudinal direction as the Y-axis, and the height direction as the Z-axis. All coordinates in this text are coordinates in this reference coordinate system.

[0049] S102: In response to the nozzle movement instruction, move the target nozzle from the initial grasping position to the target position, where the target position is the position where the target nozzle is located when the target nozzle and the target material are in a relative position; after determining the target nozzle and the target material, generate a nozzle movement instruction to move the target nozzle from the initial grasping position to the target position so that the target nozzle is directly opposite to the target material. When the subsequent judgment result is that there is no need to avoid obstacles, it is convenient for the target nozzle to grasp the target material.

[0050] S103: When the target nozzle is in the target position, calculate the current flange position of the flange where the target nozzle is located according to the pre-calibrated reference data; the pre-calibrated reference data are the distance data between the flange and the robot and between the flange and each nozzle calibrated in the reference coordinate system before the start of the action.

[0051] S104: Calculate the current nozzle distance and the current profile point distance according to the current flange position;

[0052] S105: When it is determined that the current nozzle distance and / or the current profile point distance is less than the preset calibration distance, issue an obstacle avoidance instruction, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle. That is to say, the calibration distance includes the nozzle calibration distance and the profile point calibration distance. When the current nozzle distance is less than the preset nozzle calibration distance or when the current profile point distance is less than the profile point calibration distance, it means that there is an obstacle for the target nozzle, and thus an obstacle avoidance instruction is generated.

[0053] In step S105, the obstacle avoidance instruction can also be used to control the alarm unit to issue an alarm signal to remind the staff to deal with the obstacle in time. The alarm unit can be an audible and visual alarm installed on the rack. At this time, the above alarm signal can be a sound alarm or a light alarm signal. The alarm unit can also be an APP installed on the staff's mobile phone. At this time, the alarm signal can be a pushed text message or a voice message.

[0054] In some embodiments, as Figure 2 shown, after step S104, the following steps are further included:

[0055] S201: When it is determined that the current nozzle distance and / or the current contour point distance is greater than a preset calibration distance, it indicates that there is no obstacle, and a grasping instruction is generated. This grasping instruction is used for the target nozzle to move downward along the Z-axis to grasp the target material.

[0056] That is to say, after step S104 calculates the current nozzle distance and the current contour point distance, the result of comparing the current distance with the calibration distance may be the result of step S105, that is, the result of the existence of an obstacle, or it may be the result of step S201, that is, the result of the non-existence of an obstacle. When there is no obstacle, material grasping is performed. When there is an obstacle, obstacle avoidance is performed and step S104 is returned, and the adjusted flange distance is recalculated until the obstacle is removed to achieve a logical closed loop.

[0057] In step S102, as Figure 3 shown, in response to the nozzle movement instruction, the target nozzle is moved from the initial grasping position to the target position, which specifically includes the following steps:

[0058] S301: When there are multiple vacant nozzles installed on the flange, determine one of the multiple vacant nozzles as the target nozzle; specifically, according to the collected image, determine which nozzles on the flange are vacant, that is, vacant nozzles. When there are two or more vacant nozzles, determine one of them as the target nozzle.

[0059] S302: Generate a movement path according to the position coordinates of the target nozzle in the reference coordinate system and the target position; this movement path is the shortest path when the target nozzle moves, that is, the shortest movement route in the XOY coordinate plane.

[0060] S303: Generate a nozzle movement instruction according to the movement path. The nozzle movement instruction is used to move the target nozzle to the target position according to the movement path.

[0061] In some embodiments, when there are multiple vacant nozzles installed on the flange, determine one of the multiple vacant nozzles as the target nozzle, as Figure 4 shown, which specifically includes the following steps:

[0062] S401: Based on the image information, determine the coordinates of the target material in the reference coordinate system, and obtain the coordinates of each vacant nozzle in the reference coordinate system;

[0063] S402: According to the coordinate matching algorithm, calculate the distances between each vacant nozzle and the target material respectively, and obtain a distance sequence;

[0064] S403: Use the control nozzle with the smallest distance in the distance sequence as the target nozzle.

[0065] For example, when 6 nozzles are loaded on a flange, it is possible that the nozzles numbered 1 - 4 are vacant. In this case, the nozzles numbered 1 - 4 are the vacant nozzles. The coordinates of the nozzles numbered 1 - 4 on the reference coordinate system are obtained respectively, and the distances between the nozzles numbered 1 - 4 and the target material are calculated respectively, obtaining 4 distance values. These 4 distance values can form a distance sequence from small to large. Take the nozzle number corresponding to the smallest distance value in the distance sequence. For example, if it is the nozzle numbered 2, then the nozzle numbered 2 is the target nozzle.

[0066] In step S103, the pre - calibrated reference data includes:

[0067] The horizontal and vertical coordinate distances between the center of each nozzle and the center of the flange of the flange; wherein, calculating the current nozzle distance according to the current flange position specifically includes:

[0068] When the target nozzle is in the target position, calculate the current nozzle distance of the target nozzle according to the current flange position and the pre - calibrated horizontal and vertical coordinate distances between the center of each nozzle and the center of the flange of the flange.

[0069] And, when the angle of the flange is 0°, the horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the center of the flange. Wherein, calculating the current contour point distance according to the current flange position specifically includes:

[0070] When the target nozzle is in the target position, calculate the current contour point distance of the end fixture according to the current flange position and the pre - calibrated horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the center of the flange.

[0071] In the above - mentioned specific implementation manner, the method for obstacle - avoiding grasping of materials for a material sorting device provided by the present invention includes: in response to an instruction that the manipulator reaches the initial grasping position, obtaining the image information of the target material on the vibrating disk and the position coordinates of the target nozzle in a pre - set reference coordinate system; in response to a nozzle movement instruction, moving the target nozzle from the initial grasping position to the target position, where the target position is the position where the target nozzle is located when the target nozzle and the target material are in a relative position; when the target nozzle is in the target position, calculating the current flange position of the flange where the target nozzle is located according to the pre - calibrated reference data; calculating the current nozzle distance and the current contour point distance according to the current flange position; when it is determined that the current nozzle distance and / or the current contour point distance is less than a pre - set calibration distance, an obstacle - avoiding instruction is issued, and the obstacle - avoiding instruction is used to control the manipulator to move in a direction away from the obstacle.

[0072] In this way, during the process of the manipulator grasping the material, based on the difference between the pre-calibrated data and the currently calculated data, it is determined whether an obstacle that needs to be avoided is encountered, realizing obstacle avoidance during material grasping and improving the effect and efficiency of material grasping. At the same time, when the manipulator has multiple suction nozzles for grasping materials, it can select the optimal suction nozzle according to the coordinate matching between the target material and each suction nozzle, minimizing the movement distance of the suction nozzle, thereby improving the efficiency of material grasping. Furthermore, it solves the technical problems in the prior art that obstacles cannot be recognized during the process of material grasping and the material grasping efficiency is relatively low.

[0073] In addition to the above method, the present invention also provides a device for obstacle-avoiding material grasping, as Figure 5 shown. The device includes:

[0074] A data acquisition unit 501, configured to, in response to an instruction that the manipulator reaches the initial grasping position, acquire the image information of the target material on the vibrating disk and the position coordinates of the target suction nozzle in a pre-set reference coordinate system;

[0075] A suction nozzle movement unit 502, configured to, in response to a suction nozzle movement instruction, move the target suction nozzle from the initial grasping position to the target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position;

[0076] A position calculation unit 503, configured to, when the target suction nozzle is at the target position, calculate the current flange position of the flange where the target suction nozzle is located according to the pre-calibrated reference data;

[0077] A distance calculation unit 504, configured to calculate the current suction nozzle distance and the current contour point distance according to the current flange position;

[0078] An instruction generation unit 505, configured to issue an obstacle avoidance instruction when it is determined that the current suction nozzle distance and / or the current contour point distance is less than a preset calibration distance, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle.

[0079] In some embodiments, in response to a suction nozzle movement instruction, moving the target suction nozzle from the initial grasping position to the target position specifically includes:

[0080] When there are multiple empty suction nozzles installed on the flange, determining one of the multiple empty suction nozzles as the target suction nozzle;

[0081] Generating a movement path according to the position coordinates of the target suction nozzle in the reference coordinate system and the target position;

[0082] Generate a nozzle movement instruction according to the movement path, where the nozzle movement instruction is used to move the target nozzle to the target position according to the movement path.

[0083] In some embodiments, when multiple empty nozzles are installed on the flange, determining one of the multiple empty nozzles as the target nozzle specifically includes:

[0084] Determine the coordinates of the target material in the reference coordinate system based on the image information, and obtain the coordinates of each empty nozzle in the reference coordinate system;

[0085] According to the coordinate matching algorithm, calculate the distances between each empty nozzle and the target material respectively, and obtain a distance sequence;

[0086] Use the control nozzle with the smallest distance in the distance sequence as the target nozzle.

[0087] In some embodiments, the pre-calibrated reference data includes:

[0088] The horizontal and vertical coordinate distances between the nozzle center of each nozzle and the flange center of the flange; and,

[0089] The horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the flange center when the angle of the flange is 0°.

[0090] In some embodiments, calculating the current nozzle distance according to the current flange position specifically includes:

[0091] When the target nozzle is in the target position, calculate the current nozzle distance of the target nozzle according to the current flange position and the pre-calibrated horizontal and vertical coordinate distances between the nozzle center of each nozzle and the flange center of the flange.

[0092] In some embodiments, calculating the current contour point distance according to the current flange position specifically includes:

[0093] When the target nozzle is in the target position, calculate the current contour point distance of the end fixture according to the current flange position and the pre-calibrated horizontal and vertical coordinate distances between the contour points of the end fixture of the manipulator and the flange center.

[0094] In some embodiments, the reference coordinate system is a coordinate system established with the central position of the robot where the manipulator is located as the origin, the horizontal horizontal direction as the X-axis, the horizontal longitudinal direction as the Y-axis, and the height direction as the Z-axis.

[0095] In some embodiments, the obstacle avoidance instruction is also used to control the alarm unit to emit an alarm signal.

[0096] In the above specific embodiments, the material avoidance and grasping device for a material sorting device provided by the present invention obtains image information of a target material on a vibrating and spreading plate and the position coordinates of a target suction nozzle in a pre-set reference coordinate system by responding to an instruction that the manipulator reaches an initial grasping position; in response to a suction nozzle movement instruction, moves the target suction nozzle from the initial grasping position to a target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position; when the target suction nozzle is in the target position, calculates the current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data; calculates the current suction nozzle distance and the current contour point distance according to the current flange position; and when it is determined that the current suction nozzle distance and / or the current contour point distance is less than a pre-set calibration distance, issues an avoidance instruction, where the avoidance instruction is used to control the manipulator to move in a direction away from the obstacle.

[0097] In this way, during the process of the manipulator grasping the material, by the difference between the pre-calibrated data and the currently calculated data, it is determined whether an obstacle that needs to be avoided is encountered, realizing obstacle avoidance during material grasping and improving the effect and efficiency of material grasping; at the same time, when the manipulator has multiple suction nozzles for grasping materials, the optimal suction nozzle can be selected according to the coordinate matching between the target material and each suction nozzle, minimizing the movement distance of the suction nozzle, thereby improving the efficiency of material grasping. Furthermore, the technical problems in the prior art that obstacles cannot be recognized during the material grasping process and the material grasping efficiency is relatively low are solved.

[0098] The present invention also provides a material sorting device, including a vibrating and spreading plate, a storage bin, a manipulator with suction nozzles, and a controller; wherein, the number of the suction nozzles is multiple, the controller includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of the above-mentioned material avoidance and grasping method are implemented.

[0099] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0100] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for obstacle avoidance and grasping of materials, characterized in that, The method includes: In response to an instruction that the manipulator reaches the initial grasping position, acquiring image information of the target material on the vibrating disk and the position coordinates of the target suction nozzle in a preset reference coordinate system; In response to a suction nozzle movement instruction, moving the target suction nozzle from the initial grasping position to a target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position; When the target suction nozzle is in the target position, calculating the current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data; Calculating the current suction nozzle distance and the current contour point distance according to the current flange position; When it is determined that the current suction nozzle distance and / or the current contour point distance is less than a preset calibration distance, an obstacle avoidance instruction is issued, and the obstacle avoidance instruction is used to control the manipulator to move in a direction away from the obstacle; Among them, in response to a suction nozzle movement instruction, moving the target suction nozzle from the initial grasping position to a target position specifically includes: According to the acquired image, determining which suction nozzles on the flange are vacant suction nozzles. When there are two or more vacant suction nozzles, determining one of them as the target suction nozzle; when there are multiple vacant suction nozzles installed on the flange, determining one of the multiple vacant suction nozzles as the target suction nozzle; Generating a movement path according to the position coordinates of the target suction nozzle in the reference coordinate system and the target position; the movement path is the shortest movement route of the target suction nozzle in the XOY coordinate plane; Generating a suction nozzle movement instruction according to the movement path, and the suction nozzle movement instruction is used to move the target suction nozzle to the target position according to the movement path.

2. The material avoidance grasping method according to claim 1, wherein When there are multiple vacant suction nozzles installed on the flange, determining one of the multiple vacant suction nozzles as the target suction nozzle specifically includes: Based on the image information, determining the coordinates of the target material in the reference coordinate system, and acquiring the coordinates of each vacant suction nozzle in the reference coordinate system; According to the coordinate matching algorithm, calculating the distances between each vacant suction nozzle and the target material respectively, and obtaining a distance sequence; Taking the vacant suction nozzle with the smallest distance in the distance sequence as the target suction nozzle.

3. The material avoidance and grasping method according to claim 1 or 2, characterized in that The pre-calibrated reference data includes: The horizontal and vertical coordinate distances between the suction nozzle center of each suction nozzle and the flange center of the flange; and, When the angle of the flange is 0°, the horizontal and vertical coordinate distances between the contour point of the end fixture of the manipulator and the flange center.

4. The material avoidance and grasping method according to claim 3, wherein Calculating the current suction nozzle distance according to the current flange position specifically includes: When the target suction nozzle is in the target position, calculating the current suction nozzle distance of the target suction nozzle according to the current flange position and the horizontal and vertical coordinate distances between the suction nozzle center of each suction nozzle pre-calibrated and the flange center of the flange.

5. The material avoidance and grasping method according to claim 3, wherein Calculating the current contour point distance according to the current flange position specifically includes: When the target suction nozzle is in the target position, calculating the current contour point distance of the end fixture according to the current flange position and the horizontal and vertical coordinate distances between the contour point of the end fixture of the manipulator pre-calibrated and the flange center.

6. The material avoidance and grasping method according to claim 1, wherein The reference coordinate system is a coordinate system established with the central position of the robot where the manipulator is located as the origin, the horizontal transverse direction as the X-axis, the horizontal longitudinal direction as the Y-axis, and the height direction as the Z-axis.

7. The material obstacle avoidance grasping method according to claim 1, wherein The obstacle avoidance instruction is also used to control the alarm unit to emit an alarm signal.

8. A material obstacle avoidance and grasping device, characterized in that, The device includes: A data acquisition unit, configured to, in response to an instruction that the manipulator reaches an initial grasping position, acquire image information of a target material on a vibrating disk and position coordinates of a target suction nozzle in a preset reference coordinate system; A suction nozzle movement unit, configured to, in response to a suction nozzle movement instruction, move the target suction nozzle from the initial grasping position to a target position, where the target position is the position where the target suction nozzle is located when the target suction nozzle and the target material are in a relative position; A position calculation unit, configured to, when the target suction nozzle is in the target position, calculate a current flange position of the flange where the target suction nozzle is located according to pre-calibrated reference data; A distance calculation unit, configured to calculate a current suction nozzle distance and a current contour point distance according to the current flange position; An instruction generation unit, configured to issue an obstacle avoidance instruction when it is determined that the current suction nozzle distance and / or the current contour point distance is less than a preset calibration distance, where the obstacle avoidance instruction is used to control the manipulator to move in a direction away from an obstacle.

9. A material sorting device, comprising a vibration and dispersion tray, a storage bin, a manipulator with a suction nozzle, and a controller; wherein, The number of the suction nozzles is multiple, and the controller includes a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor, when executing the program, implements the steps of the material obstacle avoidance grasping method according to any one of claims 1 to 7.

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