Article to be grasped determination method and apparatus, multi-grab array, and storage medium

Abstract

The present disclosure discloses a to-be-grabbed object determination method and device, a multi-grab array and a storage medium. The method comprises: determining a circle center object from a to-be-grabbed object group; the circle center object is an object to be grabbed by a clamp at one end of the multi-grab array; determining a target object to be grabbed including the circle center object from the to-be-grabbed objects included in a grabbable range; the grabbable range is a circular range with the circle center object as the center and the multi-grab array size as the radius; and the multi-grab array size is the distance between two clamps at both ends of the multi-grab array. The to-be-grabbed object determination method of the present disclosure determines the circle center object to be grabbed by the clamp at one end of the multi-grab array from the to-be-grabbed object group, and determines the grabbable range with the circle center object as the center and the multi-grab array size as the radius, thereby narrowing the object screening range and improving the efficiency of determining the target object to be grabbed.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent machines, and in particular to a method and device for determining to-be-grabbed objects, a multi-grab array, and a storage medium. BACKGROUND

[0002] A multi-grab array is a gripper tool integrating multiple grippers. In order to seek greater grabbing efficiency, as many grippers as possible are generally integrated on the multi-grab array.

[0003] However, the increase in the number of grippers has an impact on grabbing efficiency. Since the positions of multiple grippers are relatively fixed, high-efficiency grabbing needs to be achieved through an algorithm before grabbing. The so-called "high-efficiency grabbing" refers to grabbing as many objects as possible at a time. The increase in the number of grippers leads to an increase in the search space of the algorithm. For example, if there are 50 to-be-grabbed objects and 3 grippers, since each gripper needs to determine the corresponding object and the objects need to be arranged in order, there will be A 3 50 , about 110,000 results, and the search time is relatively long.

[0004] Therefore, the current grabbing method of the multi-grab array has low efficiency in determining multiple to-be-grabbed objects. SUMMARY

[0005] The method and device for determining to-be-grabbed objects, the multi-grab array, and the storage medium provided by the present disclosure solve the problem of low efficiency in determining multiple to-be-grabbed objects by the current grabbing method of the multi-grab array.

[0006] In a first aspect, the present disclosure provides a method for determining to-be-grabbed objects. The method is applied to a multi-grab array, and the multi-grab array includes multiple grippers. The method includes the following steps:

[0007] determining a center object from a group of to-be-grabbed objects; the center object is an object to be grabbed by a gripper at one end of the multi-grab array;

[0008] determining target objects to be grabbed, including the center object, from to-be-grabbed objects included in a grabbable range; the grabbable range is a circular range with the center object as the center and the size of the multi-grab array as the radius; the size of the multi-grab array is the distance between two grippers at both ends of the multi-grab array.

[0009] In a possible implementation, the step of determining the center object from the group of to-be-grabbed objects includes:

[0010] determining the center object from the group of to-be-grabbed objects according to a preset transfer direction after the multi-grab array grabs the objects.

[0011] In a possible implementation, the preset transfer direction is a direction from a region range where the group of to-be-grabbed articles belong to to a region range outside the group of to-be-grabbed articles belong to.

[0012] The preset transfer direction after the multi-grabbing array grabs the articles, and the center article is determined from the group of to-be-grabbed articles.

[0013] The terminal article in the group of to-be-grabbed articles along the preset transfer direction is determined.

[0014] The terminal article is determined as the center article.

[0015] In a possible implementation, the target article to be grabbed including the center article is determined from the to-be-grabbed articles included in the grabbable range, including:

[0016] The grabbable trajectory is determined according to the position of the center article and the distance between the other grippers and the one end gripper; the grabbable trajectory is a plurality of concentric circle trajectories with the center article as the center and the distance between the other grippers and the one end gripper as the radius.

[0017] The initial selection grabbing article is determined from the to-be-grabbed articles included in the grabbable range according to the grabbable trajectory; the initial selection grabbing article is the center article and the to-be-grabbed article adjacent to each of the concentric circle trajectories; the to-be-grabbed article adjacent to each of the concentric circle trajectories is an article in the grabbable range with a distance less than a first preset distance threshold between any concentric circle trajectory.

[0018] The target article to be grabbed is determined according to the initial selection grabbing article and the preset grabbing condition.

[0019] In a possible implementation, the target article to be grabbed is determined according to the initial selection grabbing article and the preset grabbing condition, including:

[0020] It is judged whether there is a re-selection grabbing article group satisfying the preset grabbing condition in the initial selection grabbing article; the re-selection grabbing article group at least includes the center article; the preset grabbing condition is that the articles in the re-selection grabbing article group are located on the same radius trajectory in the concentric circle trajectory with the largest radius, the number of articles in the re-selection grabbing article group is the total number of grippers, and the spacing between adjacent articles corresponds to the spacing between adjacent grippers of the multi-grabbing array.

[0021] If it is determined that there is a re-selection grabbing article group satisfying the preset grabbing condition, the re-selection grabbing article group satisfying the preset grabbing condition is determined as the to-be-grabbed scheme; the to-be-grabbed scheme includes the target article to be grabbed.

[0022] If it is determined that there is no reselected grab item group that meets the preset grab conditions, the difference between the total number of clamps and one is determined as the new total number of clamps, and the step of determining whether there is a reselected grab item group that meets the preset grab conditions is executed until the total number of clamps equals one.

[0023] In one possible implementation, determining whether there is a group of reselected items that meets preset grabbing conditions among the initially selected grabbing items includes:

[0024] Determine whether the number of the initially selected grab items is greater than or equal to the total number of the clamps;

[0025] If it is determined that the number of items to be initially selected for grabbing is greater than or equal to the total number of fixtures, then all the items to be initially selected for grabbing are divided into at least one group of items to be reselected for grabbing according to the total number of fixtures.

[0026] Determine the spacing between adjacent items within the reselected grab item group and the corresponding radius trajectory in the concentric circle trajectory with the largest radius;

[0027] Based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory, it is determined whether the reselected grab item group meets the preset grab conditions.

[0028] In one possible implementation, determining whether the reselected grab item group meets the preset grabbing conditions based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory includes:

[0029] Based on the reselected grab item group and the corresponding radius trajectory, determine whether each item in the reselected grab item group is located on the same radius trajectory;

[0030] Determine whether the spacing between adjacent items in the selected grab group corresponds to the spacing between adjacent grippers in the multi-grip array;

[0031] If it is determined that all items in the reselected grasping item group are located on the same radius trajectory and the spacing between adjacent items in the reselected grasping item group corresponds to the spacing between adjacent grippers of the multi-grip array, then the reselected grasping item group is determined to meet the preset grasping conditions.

[0032] In one possible implementation, the number of items in the reselected grab item group is greater than 2;

[0033] The step of determining whether each item in the reselected grab item group is located on the same radius trajectory based on the reselected grab item group and the corresponding radius trajectory includes:

[0034] Determine the deviation distance between each item in the reselected grab item group and its corresponding radius trajectory;

[0035] Based on the deviation distances described above, it is determined whether each item in the reselected grab item group is located on the same radius trajectory.

[0036] In one possible implementation, determining whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance includes:

[0037] Identify the items corresponding to the largest and second-largest deviation distances;

[0038] Determine whether the distance between the item with the largest deviation distance and the item with the second largest deviation distance is less than a second preset distance threshold.

[0039] If the distance is determined to be less than the second preset distance threshold, then it is determined that each item in the reselected grab item group is located on the same radius trajectory.

[0040] In one possible implementation, determining whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance includes:

[0041] Determine the first line connecting the item with the largest deviation distance to the item at the center of the circle;

[0042] Determine the second line connecting other items in the reselected grab item group and the center item; the other items are items in the reselected grab item group excluding the item corresponding to the largest deviation distance;

[0043] Determine whether the angle between the first connecting line and the second connecting line is an acute angle;

[0044] If it is determined that the angle between the first line and the second line is an acute angle, then it is determined that each item in the reselected grab item group is located on a trajectory with the same radius.

[0045] In one possible implementation, determining whether the spacing between adjacent items within the reselected grasping item group corresponds to the spacing between adjacent grippers in the multi-grip array includes:

[0046] Arrange the items in the reselected grabb group according to the direction from the center of the circle to the boundary of the grabbable area to generate a corresponding grabb queue;

[0047] The distance between adjacent items in the grabbing queue is compared with the distance between adjacent grippers in the corresponding multi-grab array to generate a comparison result;

[0048] If it is determined that the values ​​of all comparison results are within the preset value range threshold, then it is determined that the spacing between adjacent items in the selected grab item group corresponds to the spacing between adjacent clamps in the multi-grab array.

[0049] In one possible implementation, after determining the selected group of items that meet the preset grasping conditions as the grasping scheme, the method further includes:

[0050] Collision detection is performed on at least one grabbing scheme one by one, and the grabbing scheme that passes the collision detection is determined as the final scheme; the final scheme includes the object that is finally grabbed.

[0051] In one possible implementation, the number of the crawling schemes is multiple;

[0052] The step of performing collision detection on at least one target to be captured includes:

[0053] Collision detection is performed one by one according to the order of the number of items to be grabbed in each grabbing scheme from most to least.

[0054] Secondly, this disclosure provides a device for determining an object to be grasped, the device being located in a multi-grip array, the multi-grip array including multiple grippers, the device comprising:

[0055] The first determining module is used to determine the center item from the group of items to be grasped; the center item is the object to be grasped by one end of the multi-grab array.

[0056] The second determining module is used to determine the target items to be grasped, including the center item, from the items to be grasped within the graspable range; the graspable range is a circular range with the center item as the center and the size of the multi-grip array as the radius; the size of the multi-grip array is the distance between the two clamps located at both ends of the multi-grip array.

[0057] In one possible implementation, the first determining module is specifically used for:

[0058] The center item is determined from the group of items to be grabbed based on the preset transfer direction after the multi-grab array grabs the item.

[0059] In one possible implementation, the preset transfer direction is a direction from the area to which the group of items to be grabbed belongs to to the area outside the area to which the group of items to be grabbed belongs;

[0060] When the first determining module determines the center item from the group of items to be grasped based on the preset transfer direction after the multi-grab array has grasped an item, it is specifically used for:

[0061] Identify the end item in the group of items to be grabbed, located at the end along the preset transfer direction; and designate the end item as the center item.

[0062] In one possible implementation, the second determining module is specifically used for:

[0063] Based on the position of the central item and the distance between the other clamps and one of the clamps, a graspable trajectory is determined; wherein, the graspable trajectory is a plurality of concentric circle trajectories with the central item as the center and the distance between the other clamps and one of the clamps as the radius; based on the graspable trajectory, a preliminary graspable item is determined from the graspable items included in the graspable range; the preliminary graspable item is the central item and the graspable items adjacent to each of the concentric circle trajectories; the graspable items adjacent to each of the concentric circle trajectories are items within the graspable range whose distance from any concentric circle trajectories is less than a first preset distance threshold; based on the preliminary graspable item and preset grasping conditions, a target item to be grasped is determined.

[0064] In one possible implementation, when the second determining module determines the target item to be grasped based on the initially selected grasped items and preset grasping conditions, it is specifically used for:

[0065] Determine whether there exists a reselected grasping item group among the initially selected grasping items that meets preset grasping conditions; the reselected grasping item group includes at least the center item; the preset grasping conditions are that the items in the reselected grasping item group are located on the same radius trajectory in the concentric circle trajectory with the largest radius, the number of items in the reselected grasping item group is equal to the total number of clamps, and the spacing between adjacent items corresponds to the spacing between adjacent clamps in the multi-grip array; if it is determined that there is a reselected grasping item group that meets the preset grasping conditions, then the reselected grasping item group that meets the preset grasping conditions is determined as the grasping scheme; the grasping scheme includes the target item to be grasped; if it is determined that there is no reselected grasping item group that meets the preset grasping conditions, then the difference between the total number of clamps and one is determined as the new total number of clamps, and the step of determining whether there is a reselected grasping item group among the initially selected grasping items that meets the preset grasping conditions is executed until the total number of clamps equals one.

[0066] In one possible implementation, when the second determining module determines whether there is a group of reselected items that meets the preset grasping conditions among the initially selected grasped items, it is specifically used for:

[0067] Determine whether the number of initially selected gripped items is greater than or equal to the total number of grippers; if the number of initially selected gripped items is greater than or equal to the total number of grippers, then divide all initially selected gripped items into at least one reselected gripped item group according to the total number of grippers; determine the spacing between adjacent items within the reselected gripped item group and the corresponding radius trajectory in the concentric circle trajectory with the largest radius; determine whether the reselected gripped item group meets the preset gripping conditions based on the reselected gripped item group, the spacing between adjacent items within the reselected gripped item group, and the corresponding radius trajectory.

[0068] In one possible implementation, when the second determining module determines whether the reselected grab item group meets the preset grabbing conditions based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory, it is specifically used for:

[0069] Based on the selected item group and the corresponding radius trajectory, determine whether each item in the selected item group is located on the same radius trajectory; determine whether the spacing between adjacent items in the selected item group corresponds to the spacing between adjacent grippers of the multi-grip array; if it is determined that each item in the selected item group is located on the same radius trajectory and the spacing between adjacent items in the selected item group corresponds to the spacing between adjacent grippers of the multi-grip array, then determine that the selected item group meets the preset gripping conditions.

[0070] In one possible implementation, the number of items in the reselected grab item group is greater than 2;

[0071] When the second determining module determines whether each item in the reselected grab item group is located on the same radius trajectory based on the reselected grab item group and the corresponding radius trajectory, it is specifically used for:

[0072] Determine the deviation distance between each item in the reselected grab item group and its corresponding radius trajectory; determine whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance.

[0073] In one possible implementation, when the second determining module determines whether each item in the reselected grab item group is located on the same radius trajectory based on the respective deviation distances, it is specifically used for:

[0074] Identify the items corresponding to the largest and second largest deviation distances; determine whether the distance between the items corresponding to the largest and second largest deviation distances is less than a second preset distance threshold; if it is determined to be less than the second preset distance threshold, then determine that all items in the reselected grab item group are located on the same radius trajectory.

[0075] In one possible implementation, when the second determining module determines whether each item in the reselected grab item group is located on the same radius trajectory based on the respective deviation distances, it is specifically used for:

[0076] Determine the first line connecting the item with the largest deviation distance to the center item; determine the second line connecting other items in the reselected grab item group to the center item; the other items are the items in the reselected grab item group excluding the item with the largest deviation distance; determine whether the angle between the first line and the second line is an acute angle; if the angle between the first line and the second line is determined to be an acute angle, then determine that all items in the reselected grab item group are located on the same radius trajectory.

[0077] In one possible implementation, when the second determining module determines whether the spacing between adjacent items in the reselected grasping item group corresponds to the spacing between adjacent grippers in the multi-grip array, it is specifically used for:

[0078] Arrange the items in the reselectable grabb group according to the direction from the center to the boundary of the grabbable range to generate a corresponding grabb queue; compare the spacing between adjacent items in the grabb queue with the spacing between adjacent clamps of the corresponding multi-grip array to generate a comparison result; if it is determined that the values ​​of all comparison results are within a preset value range threshold, then it is determined that the spacing between adjacent items in the reselectable grabb group corresponds to the spacing between adjacent clamps of the multi-grip array.

[0079] In one possible implementation, the device further includes:

[0080] The detection module is used to perform collision detection on at least one grabbing scheme one by one, and determine the grabbing scheme that passes the collision detection as the final scheme; the final scheme includes the object that is finally grabbed.

[0081] In one possible implementation, the number of the crawling schemes is multiple;

[0082] When the detection module performs collision detection on at least one target object one by one, it is specifically used for:

[0083] Collision detection is performed one by one according to the order of the number of items to be grabbed in each grabbing scheme from most to least.

[0084] Thirdly, this disclosure provides a multi-grip array, including: a memory, a processor, and multiple grippers;

[0085] The processor, the memory, and the fixture circuit are interconnected;

[0086] The memory stores computer-executed instructions; the fixture is used to grasp or stack items under the control of the processor.

[0087] The processor executes computer execution instructions stored in the memory to implement the method for determining the object to be grasped as provided in the first aspect or any possible implementation of the first aspect.

[0088] Fourthly, this disclosure provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method for determining an item to be grasped provided in the first aspect or any possible implementation thereof.

[0089] Fifthly, this disclosure provides a chip, comprising:

[0090] Processor and memory;

[0091] The memory stores computer programs;

[0092] When the processor executes the computer program stored in the memory, it implements the method for determining the object to be grasped provided in the first aspect or any possible implementation of the first aspect.

[0093] In a sixth aspect, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the method for determining an item to be grasped provided in the first aspect or any possible implementation thereof.

[0094] This disclosure provides a method, apparatus, multi-grip array, and storage medium for determining an object to be grasped. The method includes: determining a central object from a group of objects to be grasped; the central object is an object to be grasped by a clamp at one end of the multi-grip array; determining a target object to be grasped, including the central object, from the objects to be grasped within a graspable range; the graspable range is a circular area with the central object as its center and the size of the multi-grip array as its radius; the size of the multi-grip array is the distance between two clamps located at both ends of the multi-grip array. This method for determining an object to be grasped reduces the object selection range and the number of objects to be selected by determining the central object to be grasped by a clamp at one end of the multi-grip array from a group of objects to be grasped, and determines the graspable range with the central object as its center and the size of the multi-grip array as its radius. This reduces the time required to determine the target object to be grasped and improves the efficiency of determining the target object to be grasped. Attached Figure Description

[0095] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0096] Figure 1 This is an example diagram illustrating an application scenario provided in the embodiments of this disclosure;

[0097] Figure 2 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 1 ;

[0098] Figure 3 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 2 ;

[0099] Figure 4 This is a schematic diagram of the preset transfer direction and end item provided in this disclosure;

[0100] Figure 5 This is a schematic diagram of the grabbable area and concentric circle trajectory provided in this public disclosure;

[0101] Figure 6 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 3 ;

[0102] Figure 7 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 4 ;

[0103] Figure 8 This is a schematic diagram of the deviation distance provided in this disclosure;

[0104] Figure 9 This is a schematic diagram of the included angle of the connecting lines provided in this disclosure;

[0105] Figure 10 This is a schematic diagram of the structure of the object-to-be-grabbed determination device provided in this disclosure;

[0106] Figure 11 This is a schematic diagram of the internal structure of the multi-snatch array provided in this publication.

[0107] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0108] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present disclosure.

[0109] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or smart device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or smart devices.

[0110] To clearly understand the technical solution of this disclosure, the existing technical solutions will first be described in detail. A multi-grip array is a gripper tool that integrates multiple clamps. Currently, commonly used multi-grip arrays typically have three clamps, allowing for the simultaneous gripping of three or fewer items. The most direct way to improve the gripping efficiency of a multi-grip array is to increase the number of clamps. However, increasing the number of clamps leads to a longer determination time for the items to be gripped. Since the positions of the clamps are relatively fixed, an algorithm is needed to achieve efficient gripping before gripping. "Efficient gripping" refers to gripping as many items as possible at once, and increasing the number of clamps increases the search space of the algorithm. For example, if there are 50 items to be gripped and 5 clamps, then A... 5 50 With approximately 250 million results, the time to determine the item to be grabbed is only a few seconds, which differs significantly from the milliseconds required in practical applications. Therefore, the current multi-grab array method is inefficient when determining multiple items to be grabbed.

[0111] Therefore, in response to the problem that the multi-grip array grabbing method is inefficient when identifying multiple items to be grabbed, the inventors discovered in their research that, in order to solve this problem, one end of the multi-grip array can be clamped to determine the item to be grabbed, and the grabbing range can be determined with the item as the center and the size of the multi-grip array as the radius, thereby narrowing the item selection range and reducing the number of items to be selected, thus improving the efficiency of identifying the target item to be grabbed.

[0112] Specifically, the center item is determined from the group of items to be grasped. The center item is the object to be grasped by one of the grippers at one end of the multi-grip array. From the items to be grasped within the graspable range, the target item to be grasped, including the center item, is determined. The graspable range is a circular area with the center item as its center and the size of the multi-grip array as its radius. The size of the multi-grip array is the distance between the two grippers at both ends of the multi-grip array. This reduces the number of items to be sorted and improves the efficiency of determining the target item to be grasped.

[0113] Based on the above-mentioned inventive discovery, the inventor has proposed the technical solution of this disclosure.

[0114] Figure 1 The diagram illustrates an application scenario provided by an embodiment of this disclosure. For example... Figure 1 As shown, the application scenario includes a multi-grab array 1 and a group of items to be grabbed 2.

[0115] The multi-grip array 1 is a gripper tool capable of simultaneously gripping multiple items. In this embodiment, the multi-grip array 1 is illustrated using a robotic arm 11 and a clamp 12, with the robotic arm 11 used to control the movement of the clamp 12. Figure 1 Six clamps are shown as an example in section 12. Multiple items are placed in the group 2 of items to be grabbed, displayed in small circles. Figure 1 The example shows 16 items. Meanwhile, the large circle 23 within the group of items to be grabbed 2 represents the grabbable range generated with the center item 21 as the center and the size of the multi-grab array as the radius.

[0116] The multi-grab array 1 can identify the current state of the group of items 2 to be grasped, such as by using a camera or webcam for image recognition, to obtain the current state of the group of items 2. Simultaneously, based on the current state of the group of items 2, the multi-grab array 1 determines the center item 21 within the group of items 2, and generates a large circle 23 with the center item 21 as the center and the multi-grab array size as the radius, corresponding to the graspable area. For example... Figure 1 As shown, the graspable range includes 9 items. The multi-grab array 1 can identify the target items to be grasped from these 9 items, including the center item 21, and perform the grasping action.

[0117] In some implementations, the number of items in the group 2 to be grabbed can be 50 or more, and the multi-grab array 1 can also be equipped with more clamps, such as more than 6 clamps. In scenarios where the number of clamps and items is large, the efficiency of determining the target items to be grabbed using the method of this embodiment is still higher than that of the prior art.

[0118] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0119] Figure 2 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 1 .like Figure 2 As shown, in this embodiment, the executing entity of the present invention is a device for determining the object to be grasped. This device can be integrated into a multi-grab array or disposed in other electronic devices, and is used by the multi-grab array to determine the target object to be grasped from a group of objects to be grasped. The method includes:

[0120] S101. Determine the center item from the group of items to be grabbed. The center item is the object to be grabbed by one end of the multi-grab array.

[0121] Multi-grip arrays include grippers, which are generally arranged in a straight line at intervals. The number of grippers can be set according to actual needs, such as the commonly used 3 grippers or 5 grippers. If the number of items in the group to be gripped is small, the number of grippers can be reduced; similarly, if the number of items in the group to be gripped is large, the number of grippers can be increased appropriately.

[0122] S102. From the items to be grasped contained within the graspable range, determine the target items to be grasped, including the central item. The graspable range is a circular area with the central item as the center and the multi-grip array size as the radius. The multi-grip array size is the distance between the two grippers located at both ends of the multi-grip array.

[0123] In this embodiment, the multi-grip array size refers to the distance between the grippers at one end of the multi-grip array and the grippers at the other end, and the gripping range is as follows: Figure 1 As shown in the large circle 23, the radius of the large circle 23 is the distance between the clamps at both ends in the multi-grip array 1.

[0124] Since the center item has been determined in S101, it is only necessary to filter the remaining number of target items from the grabbable range. Compared with the existing technology of filtering all the target items, the filtering efficiency is higher. Furthermore, since the number of items in the grabbable range is less than the number of items in the group of items to be grabbed, the filtering efficiency can be further improved.

[0125] In this embodiment, by determining the center item to be grabbed by one end of the multi-grip array from the group of items to be grabbed, and using the center item as the center and the size of the multi-grip array as the radius to determine the grabbable range, the item selection range is narrowed, and the number of items to be selected is reduced, thereby reducing the time to determine the target item to be grabbed and improving the efficiency of determining the target item to be grabbed.

[0126] Furthermore, based on the method for determining the object to be grasped provided in the previous embodiment of this invention, the solution of this invention can be further refined. For example... Figure 3 As shown, Figure 3This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 2 The specific process of this embodiment is as follows:

[0127] S201. Determine the center item from the group of items to be grabbed based on the preset transfer direction after the multi-grab array grabs the item.

[0128] In this embodiment, multi-grab arrays are often used to transfer items from a group of items to be grabbed to a destination. After grabbing an item, the multi-grab array will transfer the item according to a preset transfer direction.

[0129] The preset transfer direction can be set according to the actual environment and actual needs. For example, if there are obstacles between the group of items to be grabbed and the transfer destination, and the items cannot be transferred to the transfer destination by directly passing through the obstacles, then the preset transfer direction can be the direction of bypassing the obstacles.

[0130] The center item is determined from the group of items to be grabbed. This can be done by randomly selecting an item as the center item, or by determining it based on the angle that makes it easy to grab and will not collide with other objects after being grabbed. For example, the item closest to the multi-grab array can be selected, or the item at the end of the preset transfer direction can be selected as the center item according to the preset transfer direction.

[0131] If the method of selecting the end item at the end of the preset transfer direction as the center item is adopted, then as follows: Figure 4 As shown, the arrow indicates a preset transfer direction, which is the direction from the area where the group of items to be grabbed belongs to the area outside the area where the group of items to be grabbed belongs. Items are represented by small circles in the diagram, so S201 can be further defined as follows:

[0132] Identify the last item in the group of items to be grabbed, located at the end along the preset transfer direction.

[0133] The end item is defined as the center item.

[0134] Figure 4 In the diagram, the end item is displayed using text. By using the end item as the center item, the multi-grab array can move a shorter distance along the preset transfer direction after grabbing the item, thereby reducing the movement time and improving the transfer efficiency after grabbing the item.

[0135] S202. Determine the graspable trajectory based on the position of the central object and the distance between the other clamps and one of the clamps. The graspable trajectory consists of multiple concentric circles with the central object as the center and the distance between the other clamps and one of the clamps as the radius.

[0136] Capturing trajectories such as Figure 5As shown in the image, each item in the group of items to be grabbed is represented by a small circle. There are four concentric circles in the image, each representing a trajectory obtained by rotating around one of the clamps fixed at one end. This represents the number of clamps (5 in total). The item at the center corresponds to one of the clamps. The four circles from the inside out correspond to the second, third, fourth, and the other clamp, respectively. The small circle enclosed by the circle with the largest radius represents the item that can be grabbed from the group of items.

[0137] S203. Determine the initial selection of grabbable items from the grabbable items included within the grabbable range based on the grabbable trajectory. The initial selection of grabbable items consists of the center item and the grabbable items adjacent to each concentric circle trajectory. The grabbable items adjacent to each concentric circle trajectory are items within the grabbable range whose distance from any concentric circle trajectory is less than a first preset distance threshold.

[0138] In this embodiment, the initial selected item to be grasped is Figure 5 Within the concentric circles, items whose distance from the trajectories of each concentric circle is less than a first preset distance threshold. The first preset threshold can be set according to actual needs, such as based on the size of the clamp.

[0139] S204. Determine the target item to be grabbed based on the initial selection of grabb items and the preset grabb conditions.

[0140] By initially screening items within the grabbable range, the range of subsequent item screening is narrowed. Based on the initially selected items and the preset grabbable conditions, the target items to be grabbed can be determined more efficiently.

[0141] like Figure 6 As shown, Figure 6 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 3 The method for determining the item to be grasped provided in this embodiment is a further refinement of S204. The method in this embodiment includes the following steps:

[0142] S301. Determine if there is a group of items to be selected for grabbing that meets the preset grabbing conditions among the initially selected items. If yes, proceed to S302; otherwise, proceed to S304.

[0143] The reselected grab item group must include at least the center item. The default grab conditions are that the items in the reselected grab item group are located on the same radius trajectory of the concentric circle trajectory with the largest radius, the number of items in the reselected grab item group is the total number of clamps, and the spacing between adjacent items corresponds to the spacing between adjacent clamps of the multi-grip array.

[0144] In multi-grip scenarios, the goal is to grab the largest number of items at once. However, due to factors such as the placement of items, it's not always possible to have all grippers grab items simultaneously. When filtering items, the search first aims for simultaneous grabbing by all grippers. If the search results don't satisfy the requirement of grabbing all items at once, the number of items is reduced by one, and the search continues until the target grabbing solution is found, thereby improving the grabbing efficiency of the multi-grip array. Therefore, in the preset grabbing conditions of this embodiment, the number of items in the selected grabbing item group is the same as the total number of grippers.

[0145] Meanwhile, because the positions of the grippers in a multi-grip array are relatively fixed, the array can only grasp items corresponding to the grippers of the array at a time. That is, the spacing between adjacent items within a selected item group must correspond to the spacing between adjacent grippers in the multi-grip array. Furthermore, the items in the selected item group must be located on the same radius trajectory within the concentric circle trajectory with the largest radius.

[0146] S302. The group of items that meet the preset grabbing conditions is determined as the grabbing scheme. The grabbing scheme includes the target items to be grabbed.

[0147] S303. Perform collision detection on at least one grabb solution, and determine the grabb solution that passes the collision detection as the final solution. The final solution includes the object that is finally grabbed.

[0148] Since multi-grab arrays may collide with other items when grabbing and selecting items in a grabbing group, collision detection can be performed on the grabbing scheme to avoid this situation and make the grabbing more feasible. The grabbing scheme that passes the collision detection can be selected as the final scheme.

[0149] Optionally, in this embodiment, there are multiple schemes to be crawled.

[0150] If collision detection can be performed on each grasping scheme according to a preset strategy, then S303 can be further refined as follows:

[0151] Collision detection is performed one by one according to the order of the number of items to be grabbed in each grabbing scheme from most to least.

[0152] Based on the goal of grabbing the maximum number of items at once in a multi-grab scenario, collision detection is performed first on the grabbing scheme with the largest number of items, and then collision detection is performed on each scheme in descending order of the number of items to be grabbed. When a grabbing scheme passes the collision detection, it is directly determined as the final scheme, and no further collision detection is performed, thus reducing collision detection time and improving the efficiency of determining the final scheme. The multi-grab array can then grab items according to this final scheme and transfer them to their destination.

[0153] S304. Determine the difference between the total number of fixtures and one as the new total number of fixtures, and execute S301 at the same time.

[0154] In this embodiment, since there are no selected grab items that meet the preset grab conditions in the initial grab items, the number of grabs is reduced by one and the items are filtered again until the final grab plan is obtained.

[0155] like Figure 7 As shown, Figure 7 This is a flowchart illustrating the method for determining the item to be grabbed provided in this public disclosure. Figure 4 This embodiment further refines step S301 based on the previous embodiment, and the method of this embodiment includes the following steps:

[0156] S3011. Determine whether the number of items initially selected for grabbing is greater than or equal to the total number of clamps. If yes, proceed to S3012; otherwise, proceed to S3015.

[0157] S3012. Divide all initially selected grab items into at least one re-selected grab item group according to the total number of clamps.

[0158] S3013. Determine the spacing between adjacent items within the reselected grab item group and the corresponding radius trajectory in the concentric circle trajectory with the largest radius.

[0159] In this embodiment, selecting adjacent items within the grabbing item group refers to items adjacent to each other along the radial direction from the center item to the concentric circle trajectory with the largest radius. For example... Figure 8 As shown, items in the image are displayed in squares. Items B and D are adjacent, as are item B and C. Items A and C are not adjacent. The dashed lines in the image represent the radius of the selected item group within the concentric circle trajectory with the largest radius.

[0160] S3014. Determine whether the selected grab item group meets the preset grab conditions based on the selected grab item group, the distance between adjacent items in the selected grab item group, and the corresponding radius trajectory.

[0161] The preset gripping conditions are that the items in the reselected gripping item group are located on the same radius trajectory in the concentric circle trajectory with the largest radius, the number of items in the reselected gripping item group is the total number of clamps, and the spacing between adjacent items corresponds to the spacing between adjacent clamps in the multi-grip array.

[0162] Optionally, in this embodiment, S3014 can be further refined as follows:

[0163] Based on the selected item group and the corresponding radius trajectory, determine whether each item in the selected item group is located on the same radius trajectory.

[0164] Determine whether the spacing between adjacent items in the selected grab group corresponds to the spacing between adjacent grippers in the multi-grip array.

[0165] If it is determined that all items in the reselected grab item group are located on the same radius trajectory and the spacing between adjacent items in the reselected grab item group corresponds to the spacing between adjacent grippers in the multi-grip array, then the reselected grab item group is determined to meet the preset grab conditions.

[0166] When the number of items in the reselected grab item group is greater than 2, it can be determined whether each item in the reselected grab item group is located on the same radius trajectory. If the number of items in the reselected grab item group is equal to 2, it can be directly determined that each item in the reselected grab item group is located on the same radius trajectory.

[0167] The method to determine whether items within a reselected grab item group are located on the same radius trajectory can be based on the deviation distance between each item in the reselected grab item group and its corresponding radius trajectory. It is not necessary for the items to be exactly on the same radius trajectory; a certain amount of redundancy is acceptable, as detailed below:

[0168] Determine the deviation distance between each item in the selected grab item group and its corresponding radius trajectory.

[0169] Based on the deviation distance, determine whether each item in the selected grab item group is located on the same radius trajectory.

[0170] There are several ways to determine the specific deviation distance; two examples are described below:

[0171] The first type is as follows Figure 8 As shown, the determination of whether each item lies on the same radius trajectory is based on the deviation distance between each item in the reselected grab item group and its corresponding radius trajectory, as detailed below:

[0172] Identify the items corresponding to the largest and second largest deviation distances.

[0173] Determine whether the distance between the item with the largest deviation distance and the item with the second largest deviation distance is less than a second preset distance threshold.

[0174] If the distance is determined to be less than the second preset distance threshold, then it is determined that all items in the selected grab item group are located on the same radius trajectory.

[0175] like Figure 8 As shown in the diagram, the lines connecting the items to the dashed lines represent the deviation distances. In the diagram, item D has the largest deviation distance, and item C has the second largest. Based on the actual set value of the second preset distance threshold, it can be determined that... Figure 8 Are the 6 items in the equation located on the same radius trajectory?

[0176] The second type is as follows Figure 9 As shown, the method determines whether each item lies on the same radius trajectory by connecting each item in the reselected grab item group to its corresponding radius trajectory, as detailed below:

[0177] Determine the first line connecting the item with the largest deviation distance to the central item.

[0178] Determine the second line connecting other items in the reselected grab item group to the center item. Other items are those in the reselected grab item group excluding the item with the largest deviation distance.

[0179] Determine whether the angle between the first and second lines is an acute angle.

[0180] If the angle between the first and second lines is determined to be an acute angle, then all items in the selected grab item group are located on the same radius trajectory.

[0181] Figure 9 In the diagram, items are displayed as squares. The dashed lines between other items and the central item A represent connecting lines. Among these, D has the largest deviation distance, making the DA line the first connecting line, while others such as BA and CA are the second connecting lines. As can be seen from the diagram, the angle between DAC is obtuse, which does not satisfy the condition that the angle between the first and second connecting lines is acute. Therefore, it can be determined that the items within the selected grab group are not located on the same radius trajectory.

[0182] If removed Figure 9 If item D is in the list, and the remaining 5 items form a reselection grab item group, then the maximum angle between the first and second connecting lines among the remaining 5 items is angle BAC, which is an acute angle. This satisfies the above judgment condition, and the reselection grab item group composed of these 5 items is located on the same radius trajectory.

[0183] Optionally, in this embodiment, determining whether the spacing between adjacent items in the reselected grasping item group corresponds to the spacing between adjacent grippers in the multi-grip array can be specifically as follows:

[0184] Arrange the items in the grabb group according to the direction from the center of the circle to the boundary of the grabbable area, and then select the items to generate the corresponding grabb queue.

[0185] The distance between adjacent items in the grabbing queue is compared with the distance between adjacent grippers in the corresponding multi-grab array to generate a comparison result.

[0186] If it is determined that the values ​​of all comparison results are within the preset value range threshold, then it is determined that the spacing between adjacent items in the selected grab item group corresponds to the spacing between adjacent clamps in the multi-grab array.

[0187] like Figure 8 As shown, if the items in the grabb group are arranged from the center of the circle to the boundary of the grabbable area, the grabb queue is ordered as item A, the second item, item C, item B, item D, and the last item, with the spacing determined according to this arrangement. The arrangement order of adjacent grippers in the corresponding multi-grip array is one end gripper, the second gripper, the third gripper, the fourth gripper, the fifth gripper, and the other end gripper.

[0188] The spacing between adjacent items in the grabbing queue is compared sequentially with the spacing between adjacent grippers in the corresponding multi-grip array. For example, the spacing between item C and item B is compared with the spacing between the third and fourth grippers. The spacing between item B and item D is compared with the spacing between the fourth and fifth grippers.

[0189] If all comparison results are within the preset value range threshold, then the spacing between adjacent items in the reselection grab group corresponds to the spacing between adjacent grippers in the multi-grip array, and the grippers of the multi-grip array can grab all items in the reselection grab group at once.

[0190] S3015. All initially selected grab items are grouped into a reselected grab item group, and S3013 is executed.

[0191] If the number of items initially selected for grabbing is less than the total number of fixtures, it means that the number of items within the grabbable range is small. In this case, the re-selection of item groups cannot be determined based on the total number of fixtures; instead, the re-selection of item groups can be determined directly based on the number of items initially selected for grabbing. At the same time, execute S3013 to determine whether the re-selection of item groups meets the preset grabbing conditions.

[0192] The disclosed method for determining the object to be grasped first determines the graspable range by using the center object and the size of the multi-grip array, thus narrowing down the object selection range. Then, multiple concentric circle trajectories are generated using one end of the gripper corresponding to the center object and other grippers. These concentric circle trajectories are used to further filter and obtain a preliminary selection of graspable objects, further narrowing the selection range. Simultaneously, the preliminary selection of graspable objects is further filtered based on preset grasping conditions, resulting in a second selection group of graspable objects that meet the preset grasping conditions, further narrowing the selection range. By narrowing the selection range through these three conditions, the efficiency of determining the object to be grasped is improved. Finally, based on collision detection, a feasible final solution is obtained, enabling object grasping.

[0193] For example, considering the search space, a multi-grip array with 50 objects and 5 grippers would have A using existing methods. 5 50The previous method involved searching approximately 250 million results, taking over ten seconds to determine the item to be grabbed, which is significantly different from the milliseconds required in practical applications. In contrast, the item-to-grab determination method in this embodiment only requires searching 13,000 results, with an actual execution time of just over ten milliseconds, substantially improving the efficiency of item determination.

[0194] Figure 10 This is a schematic diagram of the device for determining the object to be grasped, as disclosed in this publication. Figure 10 As shown, the object-to-be-grabbed determining device 400 can be located in a multi-grabber array or in other electronic devices. The object-to-be-grabbed determining device 400 includes:

[0195] The first determining module 401 is used to determine the center item from the group of items to be grasped. The center item is the object to be grasped by the clamp at one end of the multi-grip array.

[0196] The second determining module 402 is used to determine, from the objects to be grasped within the graspable range, the target objects to be grasped, including the central object. The graspable range is a circular area with the central object as the center and the size of the multi-grip array as the radius. The size of the multi-grip array is the distance between the two grippers located at both ends of the multi-grip array.

[0197] Figure 10 The provided device for determining the object to be grasped can execute the aforementioned corresponding method embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0198] Meanwhile, the object-to-be-grabbed determination device provided in this disclosure is further refined based on the object-to-be-grabbed determination device provided in the previous embodiment, as follows:

[0199] In one possible implementation, the first determining module 401 is specifically used for:

[0200] Based on the preset transfer direction after the multi-grab array grabs an item, the center item is determined from the group of items to be grabbed.

[0201] In one possible implementation, the preset transfer direction is from the area where the group of items to be grabbed belongs to the direction outside the area where the group of items to be grabbed belongs.

[0202] When the first determining module 401 determines the center item from the group of items to be grasped based on the preset transfer direction after the multi-grab array has grasped an item, it is specifically used for:

[0203] Identify the last item in the group of items to be grabbed, located at the end along the preset transfer direction. Designate this last item as the center item.

[0204] In one possible implementation, the second determining module 402 is specifically used for:

[0205] Based on the position of the central item and the distances between other grippers and one of the end grippers, a graspable trajectory is determined. This graspable trajectory consists of multiple concentric circles centered on the central item and with radii equal to the distances between other grippers and one of the end grippers. Based on the graspable trajectory, initial graspable items are selected from the items within the graspable area. These initial graspable items include the central item and the items adjacent to each concentric circle trajectory. Items adjacent to each concentric circle trajectory are those within the graspable area whose distance to any concentric circle trajectory is less than a first preset distance threshold. Based on the initial graspable items and preset grasping conditions, the target item to be grasped is determined.

[0206] In one possible implementation, when the second determining module 402 determines the target item to be grasped based on the initially selected grasped items and preset grasping conditions, it is specifically used for:

[0207] Determine if a group of items to be selected for grabbing exists among the initially selected items, satisfying preset grabbing conditions. A group of items to be selected must include at least the item at the center of the circle. The preset grabbing conditions are that the items in the group of items to be selected are located on the same radius trajectory within the concentric circle trajectory with the largest radius, the number of items in the group of items is equal to the total number of grippers, and the spacing between adjacent items corresponds to the spacing between adjacent grippers in the multi-grip array. If a group of items to be selected that satisfies the preset grabbing conditions is found, it is designated as the grabbing scheme. The grabbing scheme includes the target item to be grabbed. If no group of items to be selected that satisfies the preset grabbing conditions is found, the difference between the total number of grippers and one is determined as the new total number of grippers, and the step of determining if a group of items to be selected exists among the initially selected items that satisfies the preset grabbing conditions is executed until the total number of grippers equals one.

[0208] In one possible implementation, when determining whether there is a group of reselected items that meets the preset grasping conditions among the initially selected grasped items, the second determining module 402 is specifically used for:

[0209] Determine if the number of initially selected items is greater than or equal to the total number of grippers. If it is determined that the number of initially selected items is greater than or equal to the total number of grippers, then divide all initially selected items into at least one reselected item group according to the total number of grippers. Determine the spacing between adjacent items within the reselected item group and the corresponding radius trajectory in the concentric circle trajectory with the largest radius. Based on the reselected item group, the spacing between adjacent items within the reselected item group, and the corresponding radius trajectory, determine if the reselected item group meets the preset gripping conditions.

[0210] In one possible implementation, when the second determining module 402 determines whether the reselected grab item group meets the preset grabbing conditions based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory, it is specifically used for:

[0211] Based on the selected item group and its corresponding radius trajectory, determine whether each item in the selected item group lies on the same radius trajectory. Then, determine whether the spacing between adjacent items in the selected item group corresponds to the spacing between adjacent grippers in the multi-grip array. If it is determined that each item in the selected item group lies on the same radius trajectory and the spacing between adjacent items in the selected item group corresponds to the spacing between adjacent grippers in the multi-grip array, then the selected item group meets the preset gripping conditions.

[0212] In one possible implementation, the number of items in the selected item group is greater than 2.

[0213] The second determining module 402, when determining whether each item in the reselected grab item group is located on the same radius trajectory based on the reselected grab item group and the corresponding radius trajectory, is specifically used for:

[0214] Determine the deviation distance between each item in the reselected item group and its corresponding radius trajectory. Based on each deviation distance, determine whether each item in the reselected item group is located on the same radius trajectory.

[0215] In one possible implementation, when the second determining module 402 determines whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance, it is specifically used for:

[0216] Identify the items with the largest and second-largest deviation distances. Determine if the distance between the items with the largest and second-largest deviation distances is less than a second preset distance threshold. If it is determined that the distance is less than the second preset distance threshold, then determine that all items in the next selected item group are located on the same radius trajectory.

[0217] In one possible implementation, when the second determining module 402 determines whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance, it is specifically used for:

[0218] Determine the first line connecting the item with the largest deviation distance to the center item. Determine the second line connecting the other items in the reselected grab item group to the center item. Other items are those in the reselected grab item group excluding the item with the largest deviation distance. Determine if the angle between the first and second lines is acute. If the angle is acute, then all items in the reselected grab item group are located on a trajectory with the same radius.

[0219] In one possible implementation, when the second determining module 402 determines whether the spacing between adjacent items in the reselected grasping item group corresponds to the spacing between adjacent grippers in the multi-grip array, it is specifically used for:

[0220] Arrange the selected items in the grabb group according to the direction from the center to the boundary of the grabbable area, generating a corresponding grabb queue. Compare the spacing between adjacent items in the grabb queue with the spacing between adjacent grippers in the corresponding multi-grip array, generating comparison results. If all comparison results are within a preset value range threshold, then the spacing between adjacent items in the selected grabb group corresponds to the spacing between adjacent grippers in the multi-grip array.

[0221] In one possible implementation, the object-to-be-grabbed determining device 400 further includes:

[0222] The detection module performs collision detection on at least one candidate object for grasping, and determines the candidate object that passes the collision detection as the final candidate object. The final candidate object includes the object that is ultimately grasped.

[0223] In one possible implementation, there are multiple crawling schemes.

[0224] When the detection module performs collision detection on at least one target to be captured, it is specifically used for:

[0225] Collision detection is performed one by one according to the order of the number of items to be grabbed in each grabbing scheme from most to least.

[0226] The object-to-be-grabbed determination device in this embodiment can execute the aforementioned corresponding method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0227] Figure 11 This is a schematic diagram of the internal structure of the multi-grab array provided in this disclosure. Figure 11 As shown, the multi-grip array includes a processor 501, a memory 502, and a gripper 503. The memory 502 stores a computer program. The processor 501 executes the computer program stored in the memory to implement the steps of the method for determining the item to be gripped in the above-described method embodiment. The gripper 503 is used to grip or stack items under the control of the processor 501.

[0228] In the aforementioned multi-grip array, the processor 501, memory 502, and fixture 503 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as bus connections. The memory 502 stores computer-executable instructions that implement data access control methods, including at least one software functional module that can be stored in the memory 502 in the form of software or firmware. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502.

[0229] The memory 502 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), etc. Furthermore, the software programs and modules within the aforementioned memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and can communicate with various hardware or software components to provide an operating environment for other software components.

[0230] Processor 501 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 501 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor.

[0231] One embodiment of this disclosure also provides a chip, including a processor and a memory. The memory stores a computer program, and when the processor executes the computer program stored in the memory, it implements the steps of the method for determining the item to be grasped in the above-described method embodiments.

[0232] An embodiment of this disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the steps of the method for determining the object to be grasped in the above-described method embodiments.

[0233] An embodiment of this disclosure also provides a computer program product, including a computer program that, when executed by a processor, is used to implement the steps of the method for determining the item to be grasped in the above method embodiments.

[0234] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0235] The technical solutions of this disclosure have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this disclosure is obviously not limited to these specific embodiments. Without departing from the principles of this disclosure, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this disclosure.

[0236] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0237] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for determining an item to be grasped, the method being applied to a multi-grip array, the multi-grip array comprising multiple grippers, characterized in that, The method includes: The center item is determined from the group of items to be grasped; the center item is the object to be grasped by one end of the multi-grip array. From the items to be grasped contained within the graspable range, the target items to be grasped, including the central item, are determined; the graspable range is a circular area with the central item as the center and the size of the multi-grip array as the radius; the size of the multi-grip array is the distance between the two grippers located at both ends of the multi-grip array.

2. The method according to claim 1, characterized in that, The step of determining the center item from the group of items to be grabbed includes: The center item is determined from the group of items to be grabbed based on the preset transfer direction after the multi-grab array grabs the item.

3. The method according to claim 2, characterized in that, The preset transfer direction is a direction from the area to which the group of items to be grabbed belongs to to the area outside the area to which the group of items to be grabbed belongs; The step of determining the center item from the group of items to be grabbed based on the preset transfer direction after the multi-grab array has grabbed an item includes: Identify the last item in the group of items to be grabbed, located at the end along the preset transfer direction; The end item is defined as the center item.

4. The method according to claim 2 or 3, characterized in that, The step of determining the target item to be grabbed, including the center item, from the items to be grabbed within the grabbable range includes: Based on the position of the central object and the distance between the other clamps and one of the clamps, a graspable trajectory is determined; wherein, the graspable trajectory is a plurality of concentric circle trajectories with the central object as the center and the distance between the other clamps and one of the clamps as the radius; The initial selection of grabbable items is determined from the grabbable items contained within the grabbable range based on the grabbable trajectory; the initial selection of grabbable items consists of the center item and the grabbable items adjacent to each of the concentric circle trajectories; the grabbable items adjacent to each of the concentric circle trajectories are items within the grabbable range whose distance from any concentric circle trajectory is less than a first preset distance threshold. The target item to be grabbed is determined based on the initial selection of grabb items and the preset grabb conditions. The preset grabb conditions are that the items in the reselection grabb item group are located on the same radius trajectory, the number of items in the reselection grabb item group is the total number of clamps, and the spacing between adjacent items corresponds to the spacing between adjacent clamps in the multi-grip array. The radius trajectory is the radius trajectory of the concentric circle trajectory with the largest radius.

5. The method according to claim 4, characterized in that, The step of determining the target item to be grabbed based on the initially selected grab items and preset grab conditions includes: Determine whether there is a group of reselected items among the initially selected items that meets the preset selection conditions; the group of reselected items includes at least the central item; If it is determined that there is a group of selectable items that meets the preset grabbing conditions, then the group of selectable items that meets the preset grabbing conditions is determined as the grabbing scheme; the grabbing scheme includes the target items to be grabbed; If it is determined that there is no reselected grab item group that meets the preset grab conditions, the difference between the total number of clamps and one is determined as the new total number of clamps, and the step of determining whether there is a reselected grab item group that meets the preset grab conditions is executed until the total number of clamps equals one.

6. The method according to claim 5, characterized in that, The step of determining whether there is a group of reselected items that meets the preset grabbing conditions among the initially selected grabbing items includes: Determine whether the number of the initially selected grab items is greater than or equal to the total number of the clamps; If it is determined that the number of items to be initially selected for grabbing is greater than or equal to the total number of fixtures, then all the items to be initially selected for grabbing are divided into at least one group of items to be reselected for grabbing according to the total number of fixtures. Determine the spacing between adjacent items within the reselected grab item group and the corresponding radius trajectory in the concentric circle trajectory with the largest radius; Based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory, it is determined whether the reselected grab item group meets the preset grab conditions.

7. The method according to claim 6, characterized in that, The step of determining whether the reselected grab item group meets the preset grabbing conditions based on the reselected grab item group, the spacing between adjacent items within the reselected grab item group, and the corresponding radius trajectory includes: Based on the reselected grab item group and the corresponding radius trajectory, determine whether each item in the reselected grab item group is located on the same radius trajectory; Determine whether the spacing between adjacent items in the selected grab group corresponds to the spacing between adjacent grippers in the multi-grip array; If it is determined that all items in the reselected grasping item group are located on the same radius trajectory and the spacing between adjacent items in the reselected grasping item group corresponds to the spacing between adjacent grippers of the multi-grip array, then the reselected grasping item group is determined to meet the preset grasping conditions.

8. The method according to claim 7, characterized in that, The number of items in the reselected grab item group is greater than 2; The step of determining whether each item in the reselected grab item group is located on the same radius trajectory based on the reselected grab item group and the corresponding radius trajectory includes: Determine the deviation distance between each item in the reselected grab item group and its corresponding radius trajectory; Based on the deviation distances described above, it is determined whether each item in the reselected grab item group is located on the same radius trajectory.

9. The method according to claim 8, characterized in that, The step of determining whether each item in the reselected grab item group is located on the same radius trajectory based on the deviation distance includes: Determine the first line connecting the item with the largest deviation distance to the item at the center of the circle; Determine the second line connecting other items in the reselected grab item group and the center item; the other items are items in the reselected grab item group excluding the item corresponding to the largest deviation distance; Determine whether the angle between the first connecting line and the second connecting line is an acute angle; If it is determined that the angle between the first line and the second line is an acute angle, then it is determined that each item in the reselected grab item group is located on a trajectory with the same radius.

10. The method according to claim 7, characterized in that, The determination of whether the spacing between adjacent items in the reselected grab item group corresponds to the spacing between adjacent grippers in the multi-grip array includes: Arrange the items in the reselected grabb group according to the direction from the center of the circle to the boundary of the grabbable area to generate a corresponding grabb queue; The distance between adjacent items in the grabbing queue is compared with the distance between adjacent grippers in the corresponding multi-grab array to generate a comparison result; If it is determined that the values ​​of all comparison results are within the preset value range threshold, then it is determined that the spacing between adjacent items in the selected grab item group corresponds to the spacing between adjacent clamps in the multi-grab array.

11. The method according to claim 5, characterized in that, After determining the selected group of items that meet the preset grasping conditions as the grasping scheme, the method further includes: Collision detection is performed on at least one grabbing scheme one by one, and the grabbing scheme that passes the collision detection is determined as the final scheme; the final scheme includes the object that is finally grabbed.

12. The method according to claim 11, characterized in that, The number of schemes to be crawled is multiple; The step of performing collision detection on at least one target to be captured includes: Collision detection is performed one by one according to the order of the number of items to be grabbed in each grabbing scheme from most to least.

13. A device for determining an object to be grasped, the device being located in a multi-grip array, the multi-grip array comprising a plurality of grippers, characterized in that, The device includes: The first determining module is used to determine the center item from the group of items to be grasped; the center item is the object to be grasped by one end of the multi-grab array. The second determining module is used to determine the target items to be grasped, including the center item, from the items to be grasped within the graspable range; the graspable range is a circular range with the center item as the center and the size of the multi-grip array as the radius; the size of the multi-grip array is the distance between the two clamps located at both ends of the multi-grip array.

14. A multi-claw array, characterized in that, include: Memory, processor, and multiple fixtures; The processor, the memory, and the fixture circuit are interconnected; The memory stores computer-executed instructions; The clamp is used to grasp or stack items under the control of the processor; The processor executes computer execution instructions stored in the memory to implement the method for determining the object to be grasped as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for determining an item to be grasped as described in any one of claims 1 to 12.

16. A computer program product, characterized in that, The computer program product stores a computer program, which, when executed by a processor, is used to implement the method for determining the object to be grasped as described in any one of claims 1 to 12.

Images