Adaptive Positioning and Grasping Control Method for Workpieces Based on Non-Standard Machining

Abstract

The present invention provides a workpiece adaptive positioning and grasping control method based on non-standard machining, including: obtaining the position information and contour information of the workpiece, determining the grasping trajectory of the grasping mechanism according to preset grasping rules, position information and contour information, and completing the grasping operation according to the grasping trajectory. Through the present invention, when facing non-standard machining products that cannot be accurately positioned, the grasping trajectory is automatically generated adaptively to complete the grasping of non-standard machining products.

Description

Technical Field

[0001] The present invention relates to the technical field of processing and manufacturing, and in particular to a workpiece adaptive positioning and grasping control method based on non-standard processing. Background Art

[0002] In the field of material processing, in addition to standard processed products, for some products with non-standard external features, the prior art cannot accurately position them during processing and manufacturing, and cannot use automatic loading and unloading methods for operation. Therefore, there is an urgent need for a workpiece adaptive positioning and grasping control method based on non-standard processing, which is used to automatically adapt to generate a grasping trajectory when facing non-standard processed products that cannot be accurately positioned, solve the positioning problem during product grasping, complete the grasping of non-standard processed products, and thus achieve the automation of loading non-standard processed products. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a workpiece adaptive positioning and grasping control method based on non-standard processing, which is used to automatically adapt to generate a grasping trajectory when facing non-standard processed products that cannot be accurately positioned, solve the positioning problem during product grasping, complete the grasping of non-standard processed products, and thus achieve the automation of loading non-standard processed products.

[0004] A workpiece adaptive positioning and grasping control method based on non-standard processing includes: obtaining the position information and contour information of the workpiece, determining the grasping trajectory of the grasping mechanism according to the preset grasping rules, position information and contour information, and completing the grasping operation according to the grasping trajectory.

[0005] As an embodiment of the present invention, obtaining the position information of the workpiece includes: determining the position information of the workpiece according to a weight sensing device fixedly arranged inside the workpiece production line within the grasping range of the grasping mechanism in advance.

[0006] As an embodiment of the present invention, obtaining the contour information of the workpiece includes: determining the contour information of the workpiece according to a contour sensing device fixedly arranged above the workpiece production line within the grasping range of the grasping mechanism in advance.

[0007] As an embodiment of the present invention, determining the grasping trajectory of the grasping mechanism according to the preset grasping rules, position information and contour information includes: determining a first motion trajectory of the shortest distance required for the grasping mechanism to move above the workpiece according to the position information; determining the optimal grasping position of the grasping mechanism according to the position information, contour information and preset grasping rules; adjusting the first motion trajectory according to the optimal grasping position to obtain the grasping trajectory.

[0008] As an embodiment of the present invention, a workpiece adaptive positioning and grasping control method based on non-standard processing also includes: after the grasping is completed, the adjustment angle is determined according to the contour information of the workpiece and the preset contour information, and the grasping mechanism is controlled according to the adjustment angle to make corresponding adjustments to the grasped workpiece to obtain a grasped workpiece whose contour information conforms to the preset contour information.

[0009] As an embodiment of the present invention, a method for adaptive positioning and grasping control of workpieces based on non-standard processing also includes: after the adjustment is completed, according to a preset unloading position, controlling the grasping mechanism to perform unloading operations on the grasped workpiece.

[0010] As an embodiment of the present invention, a workpiece adaptive positioning and grasping control method based on non-standard processing also includes: after unloading is completed, determining a recovery angle according to an adjustment angle, and controlling the grasping mechanism to restore the angle and then reset according to the recovery angle.

[0011] As an embodiment of the present invention, a workpiece adaptive positioning and grasping control method based on non-standard processing also includes: obtaining the type of workpiece assembly line, if the workpiece assembly line type is a mixed assembly line of multiple types of workpieces, determining the first workpiece type according to the contour information of the workpiece; if there are multiple first workpiece types, obtaining a random snapshot image of the workpiece according to an image acquisition device pre-fixed above the workpiece assembly line within the grasping range of the grasping mechanism, and determining the second workpiece type according to the random snapshot image of the workpiece and the first workpiece type; if there is only one first workpiece type, selecting the corresponding preset grasping rule according to the first workpiece type to complete the grasping operation; if there are multiple first workpiece types, selecting the corresponding preset grasping rule according to the second workpiece type to complete the grasping operation.

[0012] As an embodiment of the present invention, a second workpiece type is determined based on a randomly captured image of a workpiece and a first workpiece type, including: pre-constructing three-dimensional workpiece models of different types of non-standard processed workpieces, and performing workpiece feature analysis and extraction to generate standard color feature data for multiple workpieces; determining the actual color feature data of the workpiece based on the randomly captured images of the workpiece; performing feature similarity matching on the actual color feature data of the workpiece based on all standard color feature data corresponding to the first workpiece type, and screening out standard color feature data with the highest similarity to the actual color feature data of the workpiece as target color feature data; and obtaining the first workpiece type corresponding to the target color feature data as the second workpiece type.

[0013] As an embodiment of the present invention, a workpiece adaptive positioning and grasping control method based on non-standard machining further includes: If there are multiple grasping modules in the grasping mechanism, when the contour sensing device collects the contour information of multiple workpieces within a preset time, obtain the first grasping simulation information; wherein, the first grasping simulation information includes grasping trajectories and trajectory movement instructions corresponding to the multiple workpieces one by one; perform synchronous grasping simulation according to the first grasping simulation information. Before each grasping module moves the next preset unit distance according to the grasping trajectory, judge whether the instruction to move the next preset unit distance can be immediately executed. If so, start to execute the instruction to move the next preset unit distance. If not, judge whether the movement direction adjustment instruction can be immediately executed. If so, execute the movement direction adjustment instruction. If not, wait until the instruction to move the next preset unit distance or the movement direction adjustment instruction can be immediately executed, and then execute the instruction to move the next preset unit distance or the movement direction adjustment instruction; complete the synchronous grasping simulation to obtain the second grasping simulation information with modified instructions; control the multiple grasping modules to complete the grasping operation according to the second grasping simulation information.

[0014] As an embodiment of the present invention,

[0015] The beneficial effects of the present invention are:

[0016] The present invention provides a workpiece adaptive positioning and grasping control method based on non-standard machining, which is used to automatically adaptively generate a grasping trajectory when facing non-standard machining products that cannot be accurately positioned, solve the positioning problem during product grasping, complete the grasping of non-standard machining products, and thus realize the automation of feeding non-standard machining products.

[0017] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the accompanying drawings.

[0018] The following will further describe the technical solutions of the present invention in detail through the accompanying drawings and embodiments. Description of the Drawings

[0019] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0020] Figure 1 is a flowchart of a workpiece adaptive positioning and grasping control method based on non-standard machining in an embodiment of the present invention;

[0021] Figure 2It is a flowchart for determining the grasping trajectory in a workpiece adaptive positioning and grasping control method based on non-standard machining in an embodiment of the present invention;

[0022] Figure 3 It is a flowchart for determining the second workpiece type in a workpiece adaptive positioning and grasping control method based on non-standard machining in an embodiment of the present invention. Specific embodiments

[0023] The following is a description of the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0024] Please refer to Figure 1 , an embodiment of the present invention provides a workpiece adaptive positioning and grasping control method based on non-standard machining, including: S101, obtaining the position information and contour information of the workpiece; S102, determining the grasping trajectory of the grasping mechanism according to the preset grasping rules, position information and contour information; S103, completing the grasping operation according to the grasping trajectory.

[0025] The working principle of the above technical solution is: in a specific embodiment, a workpiece adaptive positioning and grasping control method based on non-standard machining can be used for an adaptive grasping device, which includes a conical guiding structure, a suction mechanism and a slider mechanism. Among them, the conical guiding structure is matched with the corresponding structure of the workpiece based on the position information and contour information of the workpiece, and guides the suction mechanism to the required position through the slider mechanism according to the preset grasping rules, position information and contour information, so as to realize the picking up of the workpiece.

[0026] The beneficial effect of the above technical solution is: when facing non-standard machining products that cannot be accurately positioned, it can automatically adapt to generate a grasping trajectory, solve the positioning problem during product grasping, complete the grasping of non-standard machining products, and thus realize the automation of feeding non-standard machining products.

[0027] In an embodiment, obtaining the position information of the workpiece includes: determining the position information of the workpiece according to a weight sensing device fixedly arranged inside the workpiece production line within the grasping range of the grasping mechanism in advance.

[0028] The beneficial effect of the above technical solution is: the above technical solution is beneficial to assisting in positioning the position of the workpiece.

[0029] In an embodiment, obtaining the contour information of the workpiece includes: determining the contour information of the workpiece according to a contour sensing device fixedly arranged above the workpiece production line within the grasping range of the grasping mechanism in advance.

[0030] The beneficial effect of the above technical solution is: the above technical solution is beneficial to assisting in positioning the grasping position of the grasped workpiece.

[0031] Please refer to Figure 2 , in one embodiment, determining the grasping trajectory of the grasping mechanism according to a preset grasping rule, position information, and contour information includes: S201, determining a first motion trajectory of the shortest distance required for the grasping mechanism to move above the workpiece according to the position information; S202, determining the optimal grasping position of the grasping mechanism according to the position information, contour information, and preset grasping rule; S203, adjusting the first motion trajectory according to the optimal grasping position to obtain the grasping trajectory;

[0032] The working principle of the above technical solution is as follows: Preferably, taking the initial point of the grasping mechanism as the origin, determining the first motion trajectory of the shortest distance required for the grasping mechanism to move above the workpiece according to the coordinates provided by the position information. If the product assembly line is still in operation when grasping the product, then a loss function needs to be added when calculating the first motion trajectory of the shortest distance required for the grasping mechanism to move above the workpiece. This loss function is used to calculate the change loss of the position information according to the running speed of the product assembly line during the time it takes for the grasping mechanism to move from running to grasping the product. Since there are a wide variety of products on the non-standard processing assembly line, such as non-standard processed products made of materials like glass, ceramics, sapphire, and metal, if the grasping positions of all products are the same, there may be problems such as poor balance of the grasped object during grasping, resulting in difficult feeding. For example, when grasping metal, in order to ensure a firm grasp, it is usually adsorbed at the four corners of the metal material simultaneously. When grasping glass, if it is adsorbed at the four corners of the tempered glass material simultaneously, it may cause damage to the tempered glass material. Similarly, when grasping sapphire, since the size difference between sapphire and metal materials is too large, only central adsorption of the sapphire is required to ensure a firm grasp. Therefore, when selecting the grasping position, it is necessary to determine the optimal grasping position of the grasping mechanism according to the position information, contour information, and preset grasping rule. Among them, the preset grasping rule is preferably determined according to the product type on the corresponding product assembly line. Finally, the first motion trajectory is fine-tuned according to the optimal grasping position to obtain the grasping trajectory. In a specific embodiment, the grasping mechanism is preferably the above-mentioned adaptive grasping device;

[0033] The beneficial effect of the above technical solution is: Through the above technical solution, when facing non-standard processed products that cannot be accurately positioned, an adaptive grasping trajectory is generated, which is beneficial to solving the positioning problem of non-standard processed products.

[0034] In one embodiment, a method for adaptively positioning and grasping a workpiece based on non-standard processing further includes: after grasping is completed, determining an adjustment angle according to the contour information of the workpiece and the preset contour information, and controlling the grasping mechanism to perform corresponding adjustment on the grasped workpiece according to the adjustment angle to obtain a grasped workpiece whose contour information conforms to the preset contour information;

[0035] The working principle of the above technical solution is as follows: After the grasping is completed, for the convenience of subsequent blanking, the adjustment angle is determined according to the contour information of the workpiece and the preset contour information. The adjustment angle is the angle change step for rotating the contour information of the workpiece into the preset contour information. The preset contour information is preferably the blanking method specified by the user according to the product type. Then, according to the adjustment angle, the grasping mechanism is controlled to perform corresponding adjustment on the grasped workpiece to obtain a grasped workpiece whose contour information conforms to the preset contour information. In a specific embodiment, a workpiece adaptive positioning and grasping control method based on non-standard machining can be used for an adaptive grasping device. The adaptive grasping device further includes an automatic recovery structure. After the grasping is completed, the automatic recovery structure will adjust the workpiece to the preset position.

[0036] The beneficial effect of the above technical solution is that through the above technical solution, the position error of the product during grasping does not affect the accuracy of placing the product after grasping, realizing the precise placement of the product.

[0037] In one embodiment, a workpiece adaptive positioning and grasping control method based on non-standard machining further includes: after the adjustment is completed, according to the preset blanking position, controlling the grasping mechanism to perform a blanking operation on the grasped workpiece.

[0038] The beneficial effect of the above technical solution is that through the above technical solution, it is beneficial to realize the precise placement of the product.

[0039] In one embodiment, for a workpiece adaptive positioning and grasping control method based on non-standard machining, after the blanking is completed, the recovery angle is determined according to the adjustment angle, and the grasping mechanism is controlled to perform angle recovery and then reset according to the recovery angle.

[0040] The working principle of the above technical solution is as follows: In a specific embodiment, a workpiece adaptive positioning and grasping control method based on non-standard machining can be used for an adaptive grasping device. The adaptive grasping device further includes a slewing system with an automatic recovery structure inside. After the blanking is completed, the slewing system will control the conical guiding structure, the suction mechanism, and the slider mechanism to automatically reset and wait for the next grasping operation.

[0041] The beneficial effect of the above technical solution is that through the above technical solution, it automatically resets and waits for the next loading after the blanking is completed, thus realizing the automation of the loading and unloading of non-standard machining products.

[0042] In one embodiment, a method for adaptive positioning and grasping control of workpieces based on non-standard processing further includes: obtaining the type of workpiece assembly line, and if the type of the workpiece assembly line is a mixed assembly line of multiple types of workpieces, determining the first workpiece type according to the contour information of the workpiece; if there are multiple first workpiece types, obtaining a random snapshot image of the workpiece according to an image acquisition device pre-fixed above the workpiece assembly line within the grasping range of the grasping mechanism, and determining the second workpiece type according to the random snapshot image of the workpiece and the first workpiece type; if there is only one first workpiece type, selecting a corresponding preset grasping rule according to the first workpiece type to complete the grasping operation; if there are multiple first workpiece types, selecting a corresponding preset grasping rule according to the second workpiece type to complete the grasping operation;

[0043] The working principle of the above technical solution is as follows: in actual situations, due to funding issues of different companies, in order to save costs, only one or two assembly lines may be set up for picking up non-standard processed workpieces. At this time, as the types of workpieces on the assembly line increase, the method of only setting preset grabbing rules on each assembly line is no longer practical. In order to save company costs and improve grabbing accuracy, when the workpiece assembly line type is determined to be a mixed assembly line of multiple types of workpieces, the first workpiece type is determined according to the contour information of the workpiece. The determination method is preferably based on the contour information and compared with the pre-stored standard contour information of all non-standard processed workpieces of the company. This comparison method can quickly determine the workpiece type of the current workpiece, thereby quickly selecting the grabbing rules; but since most of the non-standard workpieces produced by the same company are similar, Therefore, it is very likely that the contour information of different types of workpieces is the same or similar. Then, when there are multiple first workpiece types, a random captured image of the workpiece is acquired according to an image acquisition device that is pre-fixed above the workpiece assembly line within the grasping range of the grasping mechanism, and the second workpiece type is determined according to the random captured image of the workpiece and the first workpiece type; wherein the image acquisition device is preferably arranged next to the contour sensing device, and the acquisition direction is preferably set toward the running direction of the assembly line. When the contour sensing device identifies the workpiece, the image acquisition device starts to randomly capture the workpiece image according to the contour information, that is, when there is an object with similar contour information in the acquisition picture, the image acquisition device is started; finally, a suitable workpiece type is selected from the first workpiece type and the second workpiece type to determine the preset grasping rule and complete the grasping operation;

[0044] The beneficial effects of the above technical solution are: through the above technical solution, a low-cost picking solution is provided for low-cost companies. At the same time, in a company with multiple assembly lines, when the workpiece orders decrease, costs can be reduced by temporarily closing multiple assembly lines and adopting a mixed assembly line approach. The above technical solution is also beneficial to improving the accuracy of workpiece type recognition.

[0045] See also Figure 3, in one embodiment, determining the second workpiece type according to the randomly captured image of the workpiece and the first workpiece type includes: S301. Pre-construct the three-dimensional workpiece models of non-standard machined workpieces of different types, perform workpiece feature analysis and extraction, and generate the standard color feature data of multiple workpieces; S302. Determine the actual color feature data of the workpiece according to the randomly captured image of the workpiece; S303. Based on the standard color feature data corresponding to all the first workpiece types, perform feature similarity matching on the actual color feature data of the workpiece, and screen out the standard color feature data with the highest similarity to the actual color feature data of the workpiece as the target color feature data; S304. Obtain the first workpiece type corresponding to the target color feature data as the second workpiece type;

[0046] The working principle of the above technical solution is as follows: In actual situations, for non-standard machined products made of different materials, after non-standard machining, there may be cases where the contour information is the same. However, due to the different material properties, the color characteristics of the materials after non-standard machining also vary. Therefore, in the case where the contour information is the same or similar, to accurately determine the workpiece type of the workpiece, the following operations are specifically included: Pre-construct the three-dimensional workpiece models of non-standard machined workpieces of different types, perform workpiece feature analysis and extraction, and generate the standard color feature data of multiple workpieces; The standard color feature data of multiple workpieces is the standard color feature data of all types of non-standard machined workpieces within the company. This step can be automatically completed during the operation of the production line or can be completed by the user's early input; Then, according to the randomly captured image of the workpiece, determine the actual color feature data of the workpiece, and based on the standard color feature data corresponding to all the first workpiece types, perform feature similarity matching on the actual color feature data of the workpiece, and screen out the standard color feature data with the highest similarity to the actual color feature data of the workpiece as the target color feature data. Due to the lighting problem in the processing site, the standard color feature data with the highest similarity to the actual color feature data of the workpiece is selected as the target color feature data. If a stable light source is provided for the processing site, the accuracy of feature similarity matching can be improved. Finally, obtain the first workpiece type corresponding to the target color feature data as the second workpiece type;

[0047] The beneficial effects of the above technical solution are as follows: Through the above technical solution, by using the difference in the color characteristics of the materials and performing a secondary screening based on the color characteristics from the first workpiece types initially screened out, it is beneficial to improve the screening accuracy. At the same time, performing a secondary screening from the initially screened out types is beneficial to reduce the screening time.

[0048] In one embodiment, an adaptive positioning and grasping control method for workpieces based on non-standard machining further includes: If there are multiple grasping modules in the grasping mechanism, when the contour sensing device collects the contour information of multiple workpieces within a preset time, obtain the first grasping simulation information; wherein, the first grasping simulation information includes grasping trajectories and trajectory movement instructions corresponding to the multiple workpieces one by one; perform synchronous grasping simulation according to the first grasping simulation information. Before each grasping module moves the next preset unit distance according to the grasping trajectory, judge whether the instruction to move the next preset unit distance can be immediately executed. If so, start to execute the instruction to move the next preset unit distance. If not, judge whether the movement direction adjustment instruction can be immediately executed. If so, execute the movement direction adjustment instruction. If not, wait until the instruction to move the next preset unit distance or the movement direction adjustment instruction can be immediately executed, and then execute the instruction to move the next preset unit distance or the movement direction adjustment instruction; complete the synchronous grasping simulation to obtain the second grasping simulation information with modified instructions; control the multiple grasping modules to complete the grasping operation according to the second grasping simulation information;

[0049] The working principle of the above technical solution is as follows: In actual situations, due to financial problems of different companies, to save costs, there may be only one or two assembly lines for picking up non-standard machined workpieces. However, when the number of assembly lines is small, the number of workpieces will still increase with the increase in orders. At this time, if the number of assembly lines is increased due to a sudden increase in orders, there will be a situation where the assembly lines are idle during the subsequent off-season, which is not conducive to the development of the company. Therefore, when the number of assembly lines is small, adding a grasping mechanism as the number of workpieces increases becomes a feasible method. The existing method of simultaneous grasping by multiple grasping mechanisms usually adopts sequential grasping, that is, multiple grasping mechanisms are set up separately within the grasping range of the assembly line. When a workpiece is identified, the first grasping mechanism grasps the workpiece. At this time, the first grasping mechanism is in an operating state and cannot grasp subsequent workpieces. When subsequent workpieces enter the grasping range of the second grasping mechanism, the second grasping mechanism grasps the workpiece, and so on. However, this method requires purchasing and laying multiple grasping mechanisms at the same time. When grasping by sequential grasping, when the number of workpieces appears irregularly, that is, there are small batches of workpieces at one time and large batches of workpieces at another time, then when there are small batches of workpieces, the grasping mechanisms with later sequences tend to be in a standby state for a long time. And when there are large batches of workpieces, after the first grasping mechanism completes the first grasping, the large batches of workpieces have already exceeded the grasping range of the first grasping mechanism, resulting in low grasping efficiency. Moreover, laying multiple grasping mechanisms at the same time takes up too much floor space and is not suitable for companies aiming to save costs;

[0050] To solve the above problems, this solution proposes a method for synchronous simulated grasping of multiple grasping modules. In a specific embodiment, within a preset time, the contour sensing device collects the contour information of N - 1 workpieces. N is a plurality, and N - 1 means that the upper limit of the number of workpieces processed by one grasping module is not reached. Among them, the number of multiple workpieces is preferably the upper limit of the number of workpieces processed by one grasping module. At this time, one grasping module performs normal grasping according to the grasping trajectory. When the first grasping module is in the process of grasping, the contour sensing device collects n more workpiece contour information, where n is greater than 1. According to the aforementioned method for determining the grasping trajectory, the first grasping simulation information is determined, and the trajectory movement instruction is generated according to the grasping trajectory. Since there is a certain distance between the contour sensing device and the grasping range of the grasping mechanism, within the time when the workpiece passes through this distance, the grasping mechanism performs synchronous grasping simulation according to the first grasping simulation information. Among them, each grasping module has determined the workpiece to be grasped according to the contour information and position information before performing the synchronous grasping simulation. The specific simulation of the synchronous grasping simulation includes: before each grasping module moves the next preset unit distance according to the grasping trajectory, it is judged whether the instruction to move the next preset unit distance can be immediately executed, and a first judgment result is obtained. Among them, the instruction to move the next preset unit distance includes a direction and a distance, and the distance is the preset unit distance; if the first judgment result is yes, the instruction to move the next preset unit distance is started to be executed. If the first judgment result is no, it is judged whether the movement direction adjustment instruction can be immediately executed, and a second judgment result is obtained. The movement direction adjustment instruction is preferably the instruction that is not in the same direction as the instruction to move the next preset unit distance in the corresponding trajectory movement instruction. For example, a complete trajectory movement instruction is to move 5 preset unit distances to the left and then 4 preset unit distances down. At this time, when executing the instruction to move the 3rd preset unit distance to the left, because the first judgment result is no, the adjustment instruction at this time is to move 1 preset unit distance down; if the second judgment result is yes, the movement direction adjustment instruction is executed. If the second judgment result is no, wait until the instruction to move the next preset unit distance can be immediately executed or the movement direction adjustment instruction can be immediately executed, and then execute the instruction to move the next preset unit distance or the movement direction adjustment instruction immediately. According to the above steps, the synchronous grasping simulation is gradually completed, the second grasping simulation information with the instruction modified is obtained, and the multiple grasping modules are controlled to complete the grasping operation according to the second grasping simulation information;

[0051] The beneficial effects of the above technical solution are as follows: Through the above technical solution, setting multiple grasping modules simultaneously is beneficial to reducing the grasping cost, and simulating and correcting the grasping instructions of the grasping modules is beneficial to improving the grasping efficiency and preventing accidents such as collisions during grasping.

[0052] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An adaptive positioning and grasping control method for workpieces based on non-standard machining, characterized in that Including: Obtain the position information and contour information of the workpiece, determine the grasping trajectory of the grasping mechanism according to the preset grasping rules, position information and contour information, and complete the grasping operation according to the grasping trajectory; Obtain the position information of the workpiece, including: determining the position information of the workpiece according to the weight sensing device inside the workpiece assembly line that is fixedly arranged in advance within the grasping range of the grasping mechanism; Obtain the contour information of the workpiece, including: determining the contour information of the workpiece according to the contour sensing device above the workpiece assembly line that is fixedly arranged in advance within the grasping range of the grasping mechanism; Determine the grasping trajectory of the grasping mechanism according to the preset grasping rules, position information and contour information, including: determining the first movement trajectory of the shortest distance required for the grasping mechanism to move above the workpiece according to the position information; determining the optimal grasping position of the grasping mechanism according to the position information, contour information and preset grasping rules; adjusting the first movement trajectory according to the optimal grasping position to obtain the grasping trajectory; It also includes: obtaining the type of the workpiece assembly line. If the type of the workpiece assembly line is a mixed assembly line for multiple types of workpieces, determine the first type of workpiece according to the contour information of the workpiece; if there are multiple first types of workpieces, obtain the random capture image of the workpiece according to the image acquisition device above the workpiece assembly line that is fixedly arranged in advance within the grasping range of the grasping mechanism, and determine the second type of workpiece according to the random capture image of the workpiece and the first type of workpiece; if there is only one first type of workpiece, select the corresponding preset grasping rule according to the first type of workpiece to complete the grasping operation; if there are multiple first types of workpieces, select the corresponding preset grasping rule according to the second type of workpiece to complete the grasping operation.

2. The adaptive positioning and grasping control method for a workpiece based on non-standard machining according to claim 1, wherein It also includes: After the grasping is completed, determine the adjustment angle according to the contour information of the workpiece and the preset contour information, and control the grasping mechanism to perform corresponding adjustment on the grasped workpiece according to the adjustment angle to obtain the grasped workpiece with the contour information conforming to the preset contour information.

3. A workpiece adaptive positioning and grasping control method based on non-standard machining according to claim 2, characterized in that, It also includes: After the adjustment is completed, control the grasping mechanism to perform the unloading operation on the grasped workpiece according to the preset unloading position.

4. A workpiece adaptive positioning and grasping control method based on non-standard machining according to claim 3, characterized in that, It also includes: After the unloading is completed, determine the recovery angle according to the adjustment angle, and control the grasping mechanism to perform angle recovery and then reset according to the recovery angle.

5. The adaptive positioning and grasping control method for a workpiece based on non-standard machining according to claim 1, characterized in that, Determine the second type of workpiece according to the random capture image of the workpiece and the first type of workpiece, including: pre-constructing the three-dimensional workpiece models of non-standard machined workpieces of different types, and performing workpiece feature analysis and extraction to generate the standard color feature data of multiple workpieces; determining the actual color feature data of the workpiece according to the random capture image of the workpiece; based on the standard color feature data corresponding to all the first types of workpieces, perform feature similarity matching on the actual color feature data of the workpiece, and screen out the standard color feature data with the highest similarity to the actual color feature data of the workpiece as the target color feature data; obtaining the first type of workpiece corresponding to the target color feature data as the second type of workpiece.

6. A workpiece adaptive positioning and grasping control method based on non-standard machining according to claim 1, characterized in that, It also includes: If there are multiple grasping modules in the grasping mechanism at the same time, when the contour sensing device collects the contour information of multiple workpieces within the preset time, obtain the first grasping simulation information; wherein, the first grasping simulation information includes the grasping trajectories and trajectory movement instructions corresponding to the multiple workpieces one by one; perform synchronous grasping simulation according to the first grasping simulation information. Before each grasping module moves the next preset unit distance according to the grasping trajectory, judge whether the instruction to move the next preset unit distance can be executed immediately. If so, start to execute the instruction to move the next preset unit distance. If not, judge whether the movement direction adjustment instruction can be executed immediately. If so, execute the movement direction adjustment instruction. If not, wait until the instruction to move the next preset unit distance can be executed immediately or the movement direction adjustment instruction can be executed immediately, and then execute the instruction to move the next preset unit distance or the movement direction adjustment instruction immediately; complete the synchronous grasping simulation to obtain the second grasping simulation information with modified instructions; control the multiple grasping modules to complete the grasping operation according to the second grasping simulation information.

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