Steel plate workpiece grabbing method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a method, device, electronic device and storage medium for grasping a steel plate workpiece, the method comprising the following steps: determining a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption position of a preset magnetic pole in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece; repeating the following steps until a preset condition is met: determining the first candidate position information and the first quantity of the suction cup based on the i-th grasping point, the size information of the workpiece to be grasped and the arrangement information of the magnetic poles contained in the suction cup; adding 1 to the value of i; selecting the largest first quantity and its corresponding first candidate position information, and determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information, and determining the magnetic poles that need to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity. The method provided by the present disclosure can effectively avoid the phenomenon that the workpiece is easily dropped during the grasping process.

Description

Technical Field

[0001] The present disclosure relates to the field of electronics, and in particular to a method, device, electronic equipment and storage medium for grasping a steel plate workpiece. Background Art

[0002] In the process of transporting and processing steel plate workpieces, in order to improve work efficiency, magnetic suction devices such as suction cups are often used to grab and move steel plate workpieces. For example, multiple magnetic poles can be set in the suction cup, and when the magnetic poles are in an open state, they can be used to suck the workpiece, that is, to grab the workpiece.

[0003] However, when using a magnetic suction device such as a suction cup to grab a steel plate workpiece, how to determine the opening state of the magnetic poles in the suction cup and the position of the suction cup to ensure that the workpiece does not fall off during the grabbing process is an urgent problem that needs to be solved. Summary of the invention

[0004] The present invention provides a method, device, electronic equipment and storage medium for grasping a steel plate workpiece, so as to solve the problem that the workpiece is easy to fall during the grasping process in the related art.

[0005] In a first aspect, the present disclosure provides a method for grasping a steel plate workpiece, comprising:

[0006] Determine a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption position of the preset magnetic poles in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece;

[0007] Repeat the following steps until a preset condition is met: determine the first candidate position information and the first number of the suction cups based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cups; add 1 to the value of i; wherein the first number represents the number of magnetic poles of the workpiece to be grasped that the suction cups can adsorb to the first candidate position information; i is a positive integer, and the initial value of i is 1;

[0008] Select the largest first quantity and its corresponding first alternative position information, and determine the grasping position of the suction cup on the workpiece to be grasped according to the selected first alternative position information, and determine the magnetic pole that needs to be turned on when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

[0009] In a possible implementation, based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cup, determining the first candidate position information and the first number of the suction cups includes:

[0010] Based on the position information of the i-th grasping point, determining the position information of the rotation point of the suction cup;

[0011] Based on multiple preset rotation angles, repeat the following steps until a preset stop condition is reached: based on the rotation point and the jth preset rotation angle, rotate the suction cup; wherein j is a positive integer, and the initial value of j is 1; determine the position information corresponding to the jth preset rotation angle of the suction cup at the rotation point as the second candidate position information of the suction cup; and determine a second number based on the second candidate position information, the arrangement information and the size information, wherein the second number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the second candidate position information; add 1 to the value of j;

[0012] Determine the second candidate position information corresponding to the second number with the largest value as the first candidate position information of the suction cup at the i-th grasping point;

[0013] Determine that the second number with the largest value is the first number corresponding to the current first candidate position information.

[0014] In a possible implementation manner, the rotation point of the suction cup is the center point of the suction cup.

[0015] In a possible implementation manner, determining the second quantity based on the second candidate position information, the arrangement information, and the size information includes:

[0016] Based on the arrangement information, determining the position information of each magnetic pole of the suction cup relative to the workpiece to be grasped when the suction cup is adsorbed on the workpiece to be grasped according to the second candidate position information;

[0017] Based on the position information of each magnetic pole relative to the workpiece to be grasped and the size information, determining the overlapping area between each magnetic pole and the adsorbable surface of the workpiece to be grasped when the suction cup is adsorbed onto the workpiece to be grasped according to the second alternative position information;

[0018] The total number of magnetic poles whose overlapping area is greater than a preset threshold is determined as the second number.

[0019] In a possible implementation, multiple grasping points are determined on the workpiece to be grasped, including:

[0020] Establishing an initial grasping point on the adsorbable surface of the workpiece to be grasped;

[0021] Based on the initial grasping point, a new derivative grasping point is created at every preset step length along the preset direction on the adsorbable surface until the number of the derivative grasping points reaches a preset number, or the establishment position of the derivative grasping point reaches a set range;

[0022] The initial grasping point and all derived grasping points are determined as all grasping points on the adsorbable surface of the workpiece to be grasped.

[0023] In a possible implementation, the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point.

[0024] In a possible implementation, the preset condition is: when the suction cup is adsorbed onto the workpiece to be grasped according to the first candidate position information, the total overlapping area between each magnetic pole of the suction cup and the adsorbable surface of the workpiece to be grasped reaches a first preset value, or the grasping points have been fully executed;

[0025] The step of adding 1 to the value of i includes:

[0026] If it is determined that the total overlapping area of ​​the magnetic poles of the suction cup and the adsorbable surface of the workpiece to be grasped is less than or equal to the first preset value, or there are unexecuted grasping points, the value of i is increased by 1.

[0027] In a possible implementation, before determining a plurality of grasping points in the workpiece to be grasped, the method further includes:

[0028] Obtain the weight of the workpiece to be grasped;

[0029] If it is determined that the weight of the workpiece to be grasped is greater than a second preset value, the workpiece to be grasped is divided into at least two parts to be grasped, wherein each part to be grasped corresponds to a suction cup for adsorbing the part to be grasped;

[0030] For each part to be grasped, the part to be grasped is taken as a workpiece to be grasped, and a step of determining a plurality of grasping points in the workpiece to be grasped is performed.

[0031] In a possible implementation, if it is determined that the weight of the workpiece to be grasped is greater than a preset threshold, the workpiece to be grasped is divided into at least two parts to be grasped, including:

[0032] If it is determined that the weight of the workpiece to be grasped is greater than a second preset value, determining a circumscribed rectangular frame of the workpiece to be grasped;

[0033] Based on the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame, the workpiece to be grasped is divided in the short side direction of the workpiece to be grasped to obtain at least two parts to be grasped.

[0034] In a possible implementation, the value of the order i corresponding to the grasping point of the part to be grasped is negatively correlated with the division distance, wherein the division distance is the distance between the grasping point of the part to be grasped and the division line when the workpiece to be grasped is divided.

[0035] In a possible implementation, determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information includes:

[0036] If it is determined that the suction cup corresponding to the currently processed part to be grasped is located at the selected first alternative position information, and will not collide with the suction cups corresponding to the remaining processed parts to be grasped that are located at the determined grasping positions, then the grasping position of the suction cup corresponding to the currently processed part to be grasped on the workpiece to be grasped is determined according to the selected first alternative position information.

[0037] In a second aspect, the present disclosure provides a gripping device for a steel plate workpiece, comprising:

[0038] A first determination unit is used to determine a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption positions of the preset magnetic poles in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece;

[0039] Repeat the following second determination unit and summing unit until a preset condition is met:

[0040] a second determining unit, configured to determine first candidate position information and a first number of the suction cups based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cups; wherein the first number represents the number of magnetic poles of the workpiece to be grasped that the suction cups can adsorb to the workpiece to be grasped at the first candidate position information;

[0041] A summing unit is used to add 1 to the value of i; i is a positive integer, and the initial value of i is 1;

[0042] A selection unit, configured to select the largest first quantity and its corresponding first candidate position information;

[0043] a fourth determining unit, configured to determine a grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information;

[0044] The fifth determining unit is used to determine the magnetic poles that need to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

[0045] In a possible implementation manner, the second determining unit includes:

[0046] A first determining module, configured to determine the position information of the rotation point of the suction cup based on the position information of the i-th grasping point;

[0047] Based on multiple preset rotation angles, the following rotation module, second determination module, third determination module and summation module are repeated until a preset stop condition is reached:

[0048] A rotation module, used for rotating the suction cup based on the rotation point and the jth preset rotation angle; wherein j is a positive integer, and the initial value of j is 1;

[0049] A second determining module is used to determine the position information of the suction cup corresponding to the j-th preset rotation angle of the rotation point as the second candidate position information of the suction cup;

[0050] a third determining module, configured to determine a second number based on the second candidate position information, the arrangement information and the size information, wherein the second number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the second candidate position information;

[0051] The summation module is used to add 1 to the value of j;

[0052] A fourth determination module is used to determine the second candidate position information corresponding to the second number with the largest value as the first candidate position information of the suction cup at the i-th grasping point;

[0053] The fifth determination module is used to determine that the second number with the largest value is the first number corresponding to the current first candidate position information.

[0054] In a possible implementation manner, the rotation point of the suction cup is the center point of the suction cup.

[0055] In one possible implementation, the third determination module is specifically used to: determine, based on the arrangement information, the position information of each magnetic pole relative to the workpiece to be grasped when the suction cup is adsorbed on the workpiece to be grasped according to the second alternative position information; determine, based on the position information of each magnetic pole relative to the workpiece to be grasped and the size information, the overlapping area between each magnetic pole and the adsorbable surface of the workpiece to be grasped when the suction cup is adsorbed onto the workpiece to be grasped according to the second alternative position information; and determine the total number of magnetic poles whose overlapping area is greater than a preset threshold as the second number.

[0056] In a possible implementation manner, the first determining unit includes:

[0057] A first establishing module is used to establish an initial grasping point on the adsorbable surface of the workpiece to be grasped;

[0058] A second establishment module is used to create a derivative grasping point at every preset step length along a preset direction on the adsorbable surface based on the initial grasping point, until the number of the derivative grasping points reaches a preset number, or the establishment position of the derivative grasping point reaches a set range;

[0059] The sixth determination module is used to determine the initial grasping point and all derived grasping points as all grasping points on the adsorbable surface of the workpiece to be grasped.

[0060] In a possible implementation, the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point.

[0061] In a possible implementation, the preset condition is: when the suction cup is adsorbed onto the workpiece to be grasped according to the first candidate position information, the total overlapping area between each magnetic pole of the suction cup and the adsorbable surface of the workpiece to be grasped reaches a first preset value, or the grasping points have been fully executed;

[0062] The summing unit is specifically used for:

[0063] If it is determined that the total overlapping area of ​​the magnetic poles of the suction cup and the adsorbable surface of the workpiece to be grasped is less than or equal to the first preset value, or there are unexecuted grasping points, the value of i is increased by 1.

[0064] In a possible implementation manner, the device further includes:

[0065] an acquiring unit, configured to acquire the weight of the workpiece to be grasped before the first determining unit determines a plurality of grasping points in the workpiece to be grasped;

[0066] a dividing unit, for dividing the workpiece to be grasped into at least two to-be-grasped parts if it is determined that the weight of the workpiece to be grasped is greater than a second preset value, wherein each to-be-grasped part corresponds to a suction cup for adsorbing the to-be-grasped part;

[0067] The sixth determining unit is used for determining a plurality of grasping points in the workpiece to be grasped, with respect to each part to be grasped, taking the part to be grasped as a workpiece to be grasped.

[0068] In a possible implementation, dividing the units includes:

[0069] a sixth determining module, configured to determine a circumscribed rectangular frame of the workpiece to be grasped if it is determined that the weight of the workpiece to be grasped is greater than a second preset value;

[0070] The division module is used to divide the workpiece to be grasped in the short side direction of the workpiece to be grasped based on the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame to obtain at least two parts to be grasped.

[0071] In a possible implementation, the value of the order i corresponding to the grasping point of the part to be grasped is negatively correlated with the division distance, wherein the division distance is the distance between the grasping point of the part to be grasped and the division line when the workpiece to be grasped is divided.

[0072] In a possible implementation, the fourth determination unit is specifically used to: if it is determined that the suction cup corresponding to the currently processed part to be grasped is located at the selected first alternative position information, it will not collide with the suction cups corresponding to the remaining processed parts to be grasped that are located at the determined grasping position, then determine the grasping position of the suction cup corresponding to the currently processed part to be grasped on the workpiece to be grasped according to the selected first alternative position information.

[0073] In a third aspect, the present disclosure provides an electronic device, including: a memory, a processor;

[0074] Memory; Memory for storing instructions executable by the processor;

[0075] Wherein, the processor is used to execute the method as described in any one of the first aspects according to the executable instructions.

[0076] In a fourth aspect, the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0077] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program, which implements any one of the methods in the first aspect when executed by a processor.

[0078] The present disclosure provides a method, device, electronic device and storage medium for grasping a steel plate workpiece, the method comprising the following steps: determining a plurality of grasping points on a workpiece to be grasped; the grasping points are used to indicate the adsorption position of a preset magnetic pole in a suction cup; the suction cup comprises a plurality of magnetic poles that can be used to adsorb the workpiece; repeatedly performing the following steps until a preset condition is met: determining a first alternative position information and a first quantity of the suction cup based on the i-th grasping point, the size information of the workpiece to be grasped and the arrangement information of the magnetic poles contained in the suction cup; adding 1 to the value of i; wherein the first quantity represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the first alternative position information; i is a positive integer, and the initial value of i is 1; selecting the largest first quantity and its corresponding first alternative position information, and determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first alternative position information, and determining the magnetic poles that need to be opened when the suction cup grasps the workpiece to be grasped according to the selected first alternative position information. In this embodiment, by pre-selecting multiple grasping points, and using the first alternative position information and the first quantity corresponding to the multiple grasping points, the magnetic pole indicated by the first quantity with the largest value is selected as the magnetic pole that needs to be turned on when grasping the workpiece to be grasped, and the grasping position on the workpiece to be grasped can be determined based on the first alternative position information corresponding to the first quantity with the largest value, so that when the workpiece to be grasped is subsequently grasped by the suction cup, as many magnetic poles as possible can be used to adsorb the workpiece to be grasped, thereby effectively avoiding the phenomenon of workpiece falling during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0080] Figure 1 A schematic diagram of a process of grabbing a steel plate workpiece provided in an embodiment of the present disclosure;

[0081] Figure 2 A schematic flow chart of a second method for grabbing a steel plate workpiece provided in an embodiment of the present disclosure;

[0082] Figure 3 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0083] Figure 4 A schematic diagram of establishing a derivative point provided in an embodiment of the present disclosure;

[0084] Figure 5 A schematic flow chart of a third method for grabbing a steel plate workpiece provided in an embodiment of the present disclosure;

[0085] Figure 6A schematic structural diagram of a steel plate workpiece grabbing device provided in an embodiment of the present disclosure;

[0086] Figure 7 A schematic structural diagram of another steel plate workpiece grabbing device provided in an embodiment of the present disclosure;

[0087] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure.

[0088] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0089] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure.

[0090] At present, in order to improve the transportation efficiency or processing efficiency of steel plates, magnetic suction devices such as suction cups are usually used to grab and transport steel plates.

[0091] In the related art, a plurality of magnetic poles are usually provided in the magnetic suction device. When the magnetic poles are turned on, the magnetic poles can be used to adsorb the steel plate. In the actual grasping process, the same steel plate usually includes workpieces of multiple sizes. When the magnetic suction device adsorbs and transports the workpieces on the steel plate, it is necessary to ensure that a sufficient number of magnetic poles are opened, and it is also necessary to ensure that the opened magnetic poles will not adsorb the remaining workpieces that do not need to be grasped at present. Therefore, how to ensure that the workpiece can be grasped accurately and the workpiece will not fall during the grasping process is an urgent problem to be solved.

[0092] The present invention provides a method, device, electronic equipment and storage medium for grabbing a steel plate workpiece, which are used to solve the above-mentioned technical problems.

[0093] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0094] Figure 1 A schematic diagram of a process for grasping a steel plate workpiece provided in an embodiment of the present disclosure is shown in FIG. Figure 1 As shown,

[0095] The method comprises the following steps:

[0096] S101. Determine a plurality of grasping points on a workpiece to be grasped; the grasping points are used to indicate the adsorption positions of preset magnetic poles in a suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece.

[0097] Exemplarily, the suction cup mentioned in this embodiment is a device for sucking the workpiece to be grasped, and the suction cup also includes a plurality of magnetic poles that can be used to suck the workpiece.

[0098] When a suction cup is required to absorb a workpiece to be grasped, firstly, a plurality of grasping points may be pre-selected on the workpiece to be grasped.

[0099] Among them, the grasping point can be understood as the adsorption position of a pre-specified magnetic pole in the suction cup in the workpiece to be grasped when the suction cup is adsorbed to the workpiece to be grasped. For example, when the multiple magnetic poles contained in the suction cup are arranged in an array, it is assumed to be an M*N array, where M and N are both positive integers. Among them, the preset magnetic pole can be located at the first row and first column of the magnetic pole. In addition, determining multiple grasping points can be regarded as pre-assumed, multiple possible adsorption positions corresponding to the preset magnetic poles in the workpiece to be grasped.

[0100] Repeat step S102 and step S103 until the preset condition is met:

[0101] S102, based on the i-th grasping point, the size information of the workpiece to be grasped and the arrangement information of the magnetic poles contained in the suction cup,

[0102] Determine the first candidate position information and the first number of the suction cup, wherein the first number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the first candidate position information;

[0103] For example, in this embodiment, for the i-th grasping point among the multiple grasping points, the size information of the workpiece to be grasped and the arrangement information of the magnetic poles contained in the suction cup can be obtained first,

[0104] Afterwards, the position information of the suction cup when the 0 preset magnetic pole is adsorbed to the i-th grasping point can be determined based on the above information, that is, the first candidate position information.

[0105] In addition, the number of magnetic poles in the suction cup that can be adsorbed to the workpiece to be grasped when the suction cup is located at the first alternative position information can be determined based on the arrangement information of the magnetic poles included in the suction cup and the size information of the workpiece to be grasped.

[0106] S103, adding 1 to the value of i; i is a positive integer, and the initial value of i is 1.

[0107] For example, in this embodiment, after executing step S103 to add 1 to the value of i, it can be determined whether 5 meets the preset condition. If the preset condition is met, step S104 can be directly executed. If the preset condition is not met,

[0108] Then continue to execute step S102.

[0109] In one example, the preset condition may be that the value of i is greater than the total number of grasping points.

[0110] In one example, the preset condition may be that the repetition duration has reached a preset duration. In this embodiment, no specific limitation is made to the preset condition.

[0111] S104, selecting the largest first quantity and its corresponding first candidate position information, and determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information, and determining the magnetic pole that needs to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

[0112] Exemplarily, after determining a plurality of first quantities and the first position information corresponding to each first quantity, the first position information corresponding to the first quantity with the largest value (i.e., the first quantity with the largest number of magnetic poles that can be adsorbed to the workpiece to be grasped) can be selected from the plurality of first quantities as the position of the suction cup when grasping the workpiece to be grasped. Furthermore, after selecting the first candidate position information, the corresponding grasping position on the workpiece to be grasped when the suction cup adsorbs the workpiece to be grasped at the selected first candidate position information can be further determined.

[0113] It is understandable that after selecting the first number with the largest value, since each first number corresponds to its own magnetic pole that can be adsorbed to the workpiece to be grasped when determining the first number, the magnetic pole that needs to be opened in the suction cup during the actual grasping process can be directly determined based on the selected first number, so that the workpiece to be grasped can be adsorbed through the opened magnetic pole. That is, in actual grasping application, each magnetic pole that needs to be opened corresponds to a grasping position on the workpiece to be grasped, and during grasping, each magnetic pole is adsorbed to the grasping position corresponding to it in the workpiece to be grasped.

[0114] In this embodiment, by pre-selecting multiple grasping points, and using the first alternative position information and the first quantity corresponding to the multiple grasping points, the magnetic pole indicated by the first quantity with the largest value is selected as the magnetic pole that needs to be turned on when grasping the workpiece to be grasped, and the grasping position on the workpiece to be grasped can be determined based on the first alternative position information corresponding to the first quantity with the largest value, so that when the workpiece to be grasped is subsequently grasped by the suction cup, as many magnetic poles as possible can be used to adsorb the workpiece to be grasped, thereby effectively avoiding the phenomenon of workpiece falling during the grasping process.

[0115] Figure 2 A schematic diagram of a process flow of a second method for grabbing a steel plate workpiece provided in an embodiment of the present disclosure is shown in FIG. Figure 2 As shown, the method comprises the following steps:

[0116] S201. Determine a plurality of grasping points on a workpiece to be grasped; the grasping points are used to indicate the adsorption positions of preset magnetic poles in a suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece.

[0117] In one example, step S201 includes the following steps:

[0118] The first step of step S201 is to establish an initial grasping point on the adsorbable surface of the workpiece to be grasped.

[0119] The second step of step S201: based on the initial grasping point, a new derivative grasping point is created at every preset step length along the preset direction on the adsorbable surface until the number of derived grasping points reaches the preset number, or the establishment position of the derived grasping point reaches the set range.

[0120] The third step of step S201: determine the initial grasping point and all derived grasping points as all grasping points on the adsorbable surface of the workpiece to be grasped.

[0121] For example, in this embodiment, when determining the gripping point of the workpiece to be gripped, an initial gripping point can be first determined on the adsorbable surface of the workpiece to be gripped. The initial gripping point can be any point on the adsorbable surface of the workpiece to be gripped, and is not specifically limited in this embodiment.

[0122] Afterwards, after the initial grasping point is determined, in order to obtain more grasping points, in the adsorbable surface of the workpiece to be grasped, with the initial grasping point as the starting point, a derivative grasping point is selected at each preset step along the preset direction until the number of selected derivative grasping points reaches the preset number, or when the position corresponding to the current derivative grasping point reaches the set range, then stop establishing the derivative grasping point. It should be noted that there can be multiple preset directions in this embodiment, and the preset step lengths corresponding to each preset direction can be the same or different. In this embodiment, there is no specific restriction on the preset direction and the preset step length. In addition, the set range in this embodiment can be determined based on the size information of the workpiece to be grasped to ensure that the newly established derivative grasping point is located in the workpiece to be grasped; or, the set range can be near the center area of ​​the workpiece to be grasped, and there is no specific restriction on the set range in this embodiment.

[0123] After the derived grasping points are established, the derived grasping points and the initial grasping points can be used as grasping points on the workpiece to be grasped.

[0124] It can be understood that by taking the initial grasping point as the starting point on the adsorbable surface, a derivative grasping point is established at a preset step length along the preset direction, and then more grasping points can be obtained through the above method to ensure the accuracy of the subsequently determined grasping position and the magnetic pole that needs to be opened, and further ensure that the workpiece to be grasped will not fall during the grasping process.

[0125] Repeat the following steps S202-S209 until the preset conditions are met:

[0126] S202: Determine the position information of the rotation point of the suction cup based on the i-th grasping point.

[0127] For example, in this embodiment, the suction cup is a suction cup that can rotate at an angle. When determining the first quantity and the first candidate position information corresponding to the i-th gripping point, the position information of the i-th gripping point can first be determined as the position information of the corresponding rotation point of the suction cup, and the suction cup can rotate with the rotation point as the rotation center. The rotation point of the suction cup can be any point in the suction cup, and no specific limitation is made here.

[0128] In one example, the rotation point of the suction cup is the center point of the suction cup.

[0129] Illustratively, in this embodiment, in order to ensure that more magnetic poles can be adsorbed to the workpiece to be grasped when the suction cup absorbs the workpiece to be grasped, the center point of the suction cup can be selected as the rotation point of the suction cup.

[0130] In one example, the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point.

[0131] For example, in this embodiment, after determining multiple grasping points, when sorting the multiple grasping points, the distance between the grasping point and the geometric center point of the workpiece to be grasped can be determined first. Then, the grasping points can be sorted in order from small to large distances, that is, the smaller the distance, the smaller the value of i corresponding to the grasping point corresponding to the distance.

[0132] It can be understood that sorting the multiple grasping points by sorting the grasping points according to the distance described above is conducive to more quickly determining which grasping point can correspond to a larger number of adsorbable magnetic poles, thereby improving the grasping efficiency.

[0133] In an example, when the rotation point of the suction cup is the center point of the suction cup, and the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, wherein the distance is positively correlated with the value of the order i corresponding to the grasping point, then at this time, the center point of the suction cup in the determined result can be made closer to the center point of the workpiece to be grasped, so as to ensure the stability of the grasping during the grasping process and avoid the phenomenon of the grasped workpiece falling.

[0134] Based on multiple preset rotation angles, the following steps S203-S206 are repeated until a preset stop condition is reached:

[0135] S203, rotating the suction cup based on the rotation point and the jth preset rotation angle; wherein j is a positive integer, and the initial value of j is 1.

[0136] For example, when the suction cup is rotatable, multiple preset rotation angles can be preset, for example, the preset rotation angles can be 0 degrees, 45 degrees, 90 degrees, and 135 degrees, which are not specifically limited in this embodiment. In practical applications, the preset rotation angle can be determined according to the size information of the workpiece to be grasped and the size information of the suction cup.

[0137] For the jth preset rotation angle, during the processing, the suction cup at the initial position can first be rotated by the jth preset rotation angle according to the rotation point set in the suction cup. That is, the rotation in this embodiment is not a rotation of the actual suction cup, but only a rotation simulation of the suction cup.

[0138] S204: Determine the position information corresponding to the j-th preset rotation angle of the suction cup at the rotation point as the second candidate position information of the suction cup.

[0139] Exemplarily, after the suction cup is rotated, position information of the suction cup rotated at the j-th preset rotation angle at the rotation point is used as the second candidate position information of the suction cup.

[0140] S205. Determine a second number based on the second candidate position information, the arrangement information, and the size information, wherein the second number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the second candidate position information.

[0141] Exemplarily, after determining the second alternative position information of the suction cup, the arrangement information of the magnetic poles in the suction cup and the size information of the workpiece to be grasped can be combined to determine the number of magnetic poles that can be adsorbed to the workpiece to be grasped when the suction cup is at the second alternative position information, and the number is recorded as the second number corresponding to the second alternative position information.

[0142] In one example, step S205 includes the following steps:

[0143] The first step of step S205: based on the arrangement information, determining the position information of each magnetic pole of the suction cup relative to the workpiece to be grasped when the suction cup is adsorbed on the workpiece to be grasped according to the second candidate position information;

[0144] The second step of step S205: based on the position information and size information of each magnetic pole relative to the workpiece to be grasped, determining the overlapping area between each magnetic pole and the adsorbable surface of the workpiece to be grasped when the suction cup is adsorbed onto the workpiece to be grasped according to the second alternative position information;

[0145] The third step of step S205 is to determine the total number of magnetic poles whose overlapping area is greater than a preset threshold as a second number.

[0146] Exemplarily, in this embodiment, when determining the second quantity corresponding to the second alternative position information based on the second alternative position information, the arrangement information and the size information, first, the position information of each magnetic pole in the suction cup that can be adsorbed to the workpiece to be grasped relative to the workpiece to be grasped can be determined based on the arrangement information of the magnetic poles in the suction cup when the suction cup is located at the second alternative position information; thereafter, based on the position information of each magnetic pole that can be adsorbed to the workpiece to be grasped relative to the workpiece to be grasped, and the size information of the workpiece to be grasped, the overlapping area between each magnetic pole that can be adsorbed to the workpiece to be grasped and the adsorbable surface of the workpiece to be grasped can be determined, and a magnetic pole whose overlapping area is greater than a preset threshold can be selected from multiple magnetic poles that can be adsorbed to the workpiece to be grasped, and the number of the selected magnetic poles is used as the second quantity.

[0147] It is understandable that, in this embodiment, when determining the second number corresponding to the suction cup at the second alternative position information, the total number of magnetic poles in the suction cup whose overlapping area with the adsorbable surface of the workpiece to be grasped is greater than the preset threshold value will be taken as the second number. Since the larger the overlapping area between the magnetic pole and the suction cup, the greater the adsorption force at this time, the magnetic poles with greater adsorption force can be screened out by the above method, so that the magnetic poles indicated by the obtained second number can be well adsorbed to the workpiece to be grasped, thereby improving the accuracy of the obtained second number, and effectively avoiding the phenomenon of workpiece falling during the subsequent grasping process.

[0148] S206, adding 1 to the value of j;

[0149] Illustratively, in this embodiment, after executing step S206 to add 1 to the value of j, it is determined whether the preset stop condition is currently met. If so, step S207 is directly executed; if not, step S203 can be executed.

[0150] In one example, the preset stop condition may be that all preset rotation angles have been completed.

[0151] In one example, the preset stop condition may be that the determined second number has reached a preset value, wherein the preset value may be determined based on a ratio between an area of ​​the adsorbable surface of the workpiece to be grasped and a magnetic pole area of ​​a single magnetic pole.

[0152] It should be noted that in this embodiment, no specific limitation is imposed on the preset stop condition.

[0153] S207. Determine the second candidate position information corresponding to the second number with the largest value as the first candidate position information of the suction cup at the i-th grasping point.

[0154] Exemplarily, after determining the second alternative position information of the suction cup at each preset rotation angle at the i-th grasping point, and the second quantity corresponding one-to-one to the second alternative position information, the second alternative position information corresponding one-to-one to the second quantity with the largest value can be used as the first alternative position information of the suction cup at the i-th grasping point.

[0155] S208: Determine the second number with the largest value as the first number corresponding to the current first candidate position information, wherein the first number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped in the first candidate position information.

[0156] Exemplarily, similarly, the first number of suction cups corresponding to the i-th gripping point is the second number with the largest value determined above.

[0157] It can be understood that in this embodiment, when the suction cup can rotate an angle, at this time, in order to determine the first number and the first alternative position information corresponding to the suction cup at a certain grasping point, the suction cup can be rotated multiple times, and the number of magnetic poles (i.e., the second number) that can be adsorbed to the adsorbable surface of the workpiece to be grasped in the suction cup after each rotation can be determined, and the second number with the largest value is used as the first number corresponding to the suction cup at the grasping point. Furthermore, the above method is conducive to determining the maximum value of the adsorbable surface that can be adsorbed to the workpiece to be grasped in the suction cup, so as to reduce the possibility of the subsequent workpiece to be grasped falling.

[0158] S209, adding 1 to the value of i; i is a positive integer, and the initial value of i is 1;

[0159] In one example, the preset condition is: when the suction cup is adsorbed to the workpiece to be grasped according to the first candidate position information, the total overlapping area between each magnetic pole of the suction cup and the adsorbable surface of the workpiece to be grasped reaches a first preset value, or the grasping points have been fully executed;

[0160] Add 1 to the value of i, including:

[0161] If it is determined that the total overlapping area of ​​the magnetic poles of the suction cup and the adsorbable surface of the workpiece to be grasped is less than or equal to the first preset value, or there are unexecuted grasping points, the value of i is increased by 1.

[0162] Exemplarily, in this embodiment, the preset condition may be set in combination with the total number of grasping points and the overlapping area between the magnetic poles indicated by the first number corresponding to the determined first candidate position information and the workpiece to be grasped.

[0163] That is, the preset condition is: when the suction cup is located at the first candidate position information, the total area of ​​the overlapping area between the magnetic pole of the suction cup that can be adsorbed to the workpiece to be grasped and the adsorbable surface of the workpiece to be grasped reaches the first preset value, or the grasping points have been fully executed. In practical applications, the first preset value can be determined according to the area of ​​the adsorbable surface of the workpiece to be grasped.

[0164] When any one of the preset conditions is met, step S210 can be directly executed at this time. When both of the preset conditions are not met, step S209 is continued to be executed at this time.

[0165] It can be understood that the setting method of the preset conditions in this embodiment is conducive to reducing the number of repetitions of the above steps and improving the grasping efficiency.

[0166] S210, selecting the largest first quantity and its corresponding first candidate position information, and determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information, and determining the magnetic pole that needs to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

[0167] Exemplarily, the specific principle of step S210 can refer to step S104, which will not be repeated here.

[0168] In this embodiment, when the suction cup can rotate an angle, at this time, in order to determine the first number and the first alternative position information corresponding to the suction cup at a certain grasping point, the suction cup can be rotated multiple times, and the number of magnetic poles in the suction cup that can be adsorbed to the adsorbable surface of the workpiece to be grasped after each rotation (i.e., the second number) is determined, and the second number with the largest value is used as the first number corresponding to the suction cup at the grasping point. Furthermore, the above method is conducive to determining the maximum value of the adsorbable surface that can be adsorbed to the workpiece to be grasped in the suction cup, so as to reduce the possibility of the subsequent workpiece to be grasped falling. And when determining the second number corresponding to the suction cup at the second alternative position information, the total number of magnetic poles in the suction cup whose overlapping area with the adsorbable surface of the workpiece to be grasped is greater than the preset threshold at this time will be used as the second number. Since the larger the overlapping area between the magnetic pole and the suction cup, the greater the adsorption force at this time, therefore, the magnetic poles with greater adsorption force can be screened out by the above method, so that the magnetic poles indicated by the obtained second number can be well adsorbed to the workpiece to be grasped, improve the accuracy of the obtained second number, and effectively avoid the phenomenon of workpiece falling in the subsequent grasping process.

[0169] like Figure 3 As shown, Figure 3 A schematic diagram of an application scenario provided by an embodiment of the present disclosure. Figure 3 As shown, Figure 3 The workpiece to be grasped is a three-quarter circle surrounded by solid lines. The three dotted boxes in the figure indicate the positions of the suction cup at three different rotation angles. The black solid dot in the figure can be regarded as the currently selected grasping point. When there are only three rotation angles, at this time, for this grasping point, the number of magnetic poles in the corresponding suction cup that can be adsorbed to the workpiece to be grasped at different rotation angles can be determined respectively. In addition, Figure 3 The positions of the gripping points selected in Figure (a) and Figure (b) in the workpiece to be gripped are different. Furthermore, for each gripping point in the workpiece to be gripped, the number of magnetic poles that can be adsorbed to the workpiece to be gripped corresponding to three different rotation angles can be determined, so as to select the alternative position information of the suction cup and the magnetic poles that need to be opened when the number of magnetic poles is the largest.

[0170] like Figure 4 As shown, Figure 4 A schematic diagram of establishing a derivative point provided by an embodiment of the present disclosure. Figure 4 As shown in the figure, the workpiece to be grasped is a three-quarter circle surrounded by solid lines. Figure 4The solid point in Figure (a) can be regarded as the initial grasping point. Afterwards, four derivative grasping points can be established at the preset distances in the four directions of the initial grasping point, namely, the upper, lower, left, and right directions, and the following can be obtained: Figure 4 The four hollow dots in Figure (b) of . Figure 4 Based on the derived grasping points in Figure (b), each derived grasping point is selected to expand outward by a preset distance in the four directions of up, down, left, and right, so as to obtain a new derived grasping point. Figure 4 Figure (c) is based on Figure 4 Take the leftmost derived grasping point in Figure (b) as an example to expand the derived grasping point. It should be noted that the above expansion method is likely to cause the newly expanded points to overlap with the original points, so deduplication is also required. For example, Figure 4 The hollow circle on the far right of Figure (c) is Figure 4 The solid circles in Figure (a) overlap, so deduplication is required.

[0171] Figure 5 A schematic diagram of a process flow of a third method for grabbing a steel plate workpiece provided in an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, the method comprises the following steps:

[0172] S501, obtaining the weight of the workpiece to be grasped.

[0173] Exemplarily, in this embodiment, when it is necessary to grasp a workpiece, the weight of the workpiece to be grasped is first determined.

[0174] In one example, when obtaining the weight of the workpiece to be grasped, the area information, thickness information, and density information of the workpiece to be grasped can be determined according to the acquired image information of the workpiece to be grasped, and then the weight of the workpiece to be grasped can be determined based on the above information.

[0175] In one example, the weight of the workpiece to be grasped may be input in advance by the user.

[0176] S502: If it is determined that the weight of the workpiece to be grasped is greater than a second preset value, the workpiece to be grasped is divided into at least two parts to be grasped, wherein each part to be grasped corresponds to a suction cup for adsorbing the part to be grasped.

[0177] For example, in the actual grasping process, in order to ensure that the workpiece to be grasped does not fall during the grasping process, the greater the weight of the workpiece to be grasped, the greater the adsorption force of the suction cup required. Therefore, in this embodiment, when it is necessary to grasp the workpiece to be grasped, the weight of the workpiece to be grasped can be obtained first. When the weight of the workpiece to be grasped is greater than the second preset value, at this time, it can be considered to divide the workpiece to be grasped into at least two parts to be grasped. During the grasping process, one part to be grasped corresponds to one suction cup, and then the workpiece to be grasped is grasped by multiple suction cups.

[0178] It can be understood that in this embodiment, when it is determined that the weight of the workpiece to be grasped is greater than the second preset value, the workpiece to be grasped can be divided, and each part after the division corresponds to a suction cup, and then the workpiece to be grasped can be grasped by multiple suction cups, thereby avoiding the phenomenon that the workpiece is easy to fall due to its heavy weight during the subsequent grasping process.

[0179] In one example, step S502 includes the following steps:

[0180] The first step of step S502: if it is determined that the weight of the workpiece to be grasped is greater than the second preset value, then determine the circumscribed rectangular frame of the workpiece to be grasped.

[0181] The second step of step S502: based on the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame, the workpiece to be grasped is divided in the direction of the short side of the workpiece to be grasped to obtain at least two parts to be grasped.

[0182] For example, in this embodiment, when the weight of the workpiece to be grasped is greater than the second preset value, the circumscribed rectangular frame of the workpiece to be grasped can be determined first. Then, if the circumscribed rectangular frame has a long side and a short side, the dividing line used to divide the workpiece to be grasped can be parallel to the short side direction of the circumscribed rectangular frame, that is, the workpiece to be grasped is divided in the short side direction.

[0183] When determining the position of the dividing line, the position of the dividing line may be determined by combining the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame.

[0184] It can be understood that in this embodiment, when the workpiece to be grasped needs to be divided, the division process can be performed based on the length information of the long side and the length information of the short side of the circumscribed rectangular frame corresponding to the workpiece to be grasped, so that the suction cups corresponding to each subsequent part to be grasped can grasp the workpiece to be grasped at the same time.

[0185] S503 , for each part to be grasped, the part to be grasped is regarded as a workpiece to be grasped, and a step of determining a plurality of grasping points in the workpiece to be grasped is executed.

[0186] For example, in this embodiment, after determining each part to be grasped in the workpiece to be grasped, the grasping position corresponding to each part to be grasped on the part to be grasped and the magnetic pole to be opened in the corresponding suction cup can be realized by the following steps. That is, for each part to be grasped, the following steps S504 to S508 are executed to determine the grasping position corresponding to each grasping part and the magnetic pole to be opened in the suction cup.

[0187] S504, determining a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption position of the preset magnetic poles in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece;

[0188] In one example, the value of the order i corresponding to the grasping point of the part to be grasped is negatively correlated with the division distance, wherein the division distance is the distance between the grasping point of the part to be grasped and the division line when the workpiece to be grasped is divided.

[0189] Exemplarily, in this embodiment, when the workpiece to be grasped is divided into multiple grasping parts, at this time, when multiple grasping points corresponding to the grasping parts are determined, at this time, the arrangement order of the multiple grasping points can be determined based on the distance between the grasping point and the dividing line corresponding to the part to be grasped, wherein, the greater the distance between the grasping point and the dividing line, the smaller the value of i corresponding to the corresponding grasping point.

[0190] It is understandable that, based on the above arrangement, the first candidate position information and the first quantity corresponding to the grasping point that is farther away from the dividing line can be determined preferentially. Furthermore, the above method can avoid the phenomenon that the grasping of the workpiece to be grasped cannot be realized due to the collision between the suction cups corresponding to the parts to be grasped during grasping.

[0191] Repeat the following steps S505-S506 until the preset condition is met:

[0192] S505, based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cup, determine the first candidate position information and the first number of the suction cups; wherein the first number represents the number of magnetic poles that the suction cups can adsorb to the workpiece to be grasped when in the first candidate position information;

[0193] S506. Add 1 to the value of i; i is a positive integer, and the initial value of i is 1.

[0194] S507: Select the largest first quantity and its corresponding first candidate position information.

[0195] S508, determining a gripping position of the suction cup on the workpiece to be gripped according to the selected first candidate position information, and determining a magnetic pole that needs to be opened when the suction cup grips the workpiece to be gripped according to the selected first quantity.

[0196] Exemplarily, the specific principles of steps S505 to S508 can be found in steps S102 to S104, which will not be described in detail here.

[0197] In one example, when executing step S508 in the above embodiment, the following steps can be implemented: "If it is determined that the suction cup corresponding to the part to be grasped to be processed currently is located at the selected first candidate position information, it will not collide with the suction cups corresponding to the other processed parts to be grasped located at the determined grasping positions, then determine the grasping position of the suction cup corresponding to the part to be grasped to be processed currently on the workpiece to be grasped according to the selected first candidate position information."

[0198] For example, in this embodiment, when the workpiece to be grasped is divided into a plurality of parts to be grasped, the first candidate position information and the first quantity corresponding to each part to be grasped can be determined in sequence. For the part to be grasped currently being processed, when the maximum first quantity corresponding to the part to be grasped currently being processed and the first candidate position information corresponding thereto are selected based on step S507, in order to further determine the grasping position corresponding to the grasping part, it is also necessary to further determine whether the suction cup corresponding to the part to be grasped currently being processed will collide with the suction cups corresponding to the other grasping parts whose grasping positions have been determined when grasping if the suction cup is located at the selected first candidate position information. If no collision occurs, the grasping position of the suction cup corresponding to the part to be grasped currently being processed on the workpiece to be grasped can be determined based on the selected first candidate position information.

[0199] It can be understood that in the present embodiment, the grasping positions of the suction cups corresponding to the multiple parts to be grasped are determined in sequence, and after the part to be grasped whose grasping position is determined later selects its corresponding first alternative position information, it is also necessary to perform a collision detection with the suction cup corresponding to the part to be grasped whose grasping position is determined earlier, that is, when the suction cup of the part to be grasped determined later is located at its corresponding selected first alternative position information, whether it will collide with the suction cup corresponding to the part to be grasped determined earlier during the grasping process, so as to ensure that the workpiece can be successfully grasped.

[0200] In one example, after step S507, if it is determined that the suction cup corresponding to the currently processed part to be grasped is located at the selected first alternative position information, it will collide with the suction cups corresponding to the remaining processed grasping parts located at the determined grasping position, then the grasping position of the suction cup corresponding to the currently processed part to be grasped on the workpiece to be grasped is determined based on the remaining first alternative position information that has not been selected corresponding to the currently processed part to be grasped.

[0201] Exemplarily, in this embodiment, when the workpiece to be grasped is divided into multiple parts to be grasped, and the multiple parts to be grasped are for determining the first candidate position information and the first quantity corresponding to each part to be grasped in turn. For the part to be grasped currently being processed, when the maximum first quantity corresponding to the part to be grasped currently being processed and the first candidate position information corresponding thereto are selected based on step S507, in order to further determine the grasping position corresponding to the grasping part, it is also necessary to further determine whether the suction cup corresponding to the part to be grasped currently being processed will collide with the suction cups corresponding to the remaining grasping parts whose grasping positions have been determined when the suction cup is located at the selected first candidate position information. If a collision occurs, the grasping position of the suction cup corresponding to the part to be grasped currently being processed on the workpiece to be grasped is determined based on the remaining first candidate position information that has not been selected. For example, in the remaining first alternative position information, based on the first quantities corresponding to each first alternative position information, it can be determined in order from high to low whether the suction cup corresponding to the workpiece to be grasped currently being processed will collide with the suction cup of the part to be grasped in the determined grasping position during the grasping process when it is in the remaining first alternative position.

[0202] Figure 6 A schematic diagram of a structure of a steel plate workpiece grabbing device provided in an embodiment of the present disclosure, such as Figure 6 As shown, including:

[0203] The first determination unit 701 is used to determine a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption position of the preset magnetic poles in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece;

[0204] Repeat the following second determining unit 702 and summing unit 703 until a preset condition is met:

[0205] The second determining unit 702 is used to determine the first candidate position information and the first number of the suction cups based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cups; wherein the first number represents the number of magnetic poles that the suction cups can adsorb to the workpiece to be grasped when in the first candidate position information;

[0206] A summing unit 703 is used to add 1 to the value of i; i is a positive integer, and the initial value of i is 1;

[0207] A selection unit 704, configured to select the largest first quantity and its corresponding first candidate position information;

[0208] A fourth determining unit 705 is used to determine a gripping position of the suction cup on the workpiece to be gripped according to the selected first candidate position information;

[0209] The fifth determining unit 706 is used to determine the magnetic poles that need to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

[0210] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0211] Figure 7 A schematic diagram of the structure of another steel plate workpiece grabbing device provided in an embodiment of the present disclosure, Figure 6 Based on the device structure shown in FIG. 1 , in this embodiment, the second determining unit 702 includes:

[0212] A first determination module 7021 is used to determine the position information of the rotation point of the suction cup based on the position information of the i-th grasping point;

[0213] Based on multiple preset rotation angles, the following rotation module 7022, the second determination module 7023, the third determination module 7024 and the summing module 7025 are repeated until a preset stop condition is reached:

[0214] The rotation module 7022 is used to rotate the suction cup based on the rotation point and the jth preset rotation angle; wherein j is a positive integer and the initial value of j is 1;

[0215] The second determining module 7023 is used to determine the position information corresponding to the j-th preset rotation angle of the suction cup at the rotation point as the second candidate position information of the suction cup;

[0216] A third determination module 7024 is used to determine a second number based on the second candidate position information, the arrangement information and the size information, wherein the second number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the second candidate position information;

[0217] A summing module 7025 is used to add 1 to the value of j;

[0218] The fourth determining module 7026 is used to determine the second candidate position information corresponding to the second number with the largest value as the first candidate position information of the suction cup at the i-th grasping point;

[0219] The fifth determination module 7027 is used to determine that the second number with the largest value is the first number corresponding to the current first candidate position information.

[0220] In a possible implementation, the rotation point of the suction cup is the center point of the suction cup.

[0221] In one possible implementation, the third determination module 7024 is specifically used to: determine, based on the arrangement information, the position information of each magnetic pole relative to the workpiece to be grasped when the suction cup is adsorbed on the workpiece to be grasped according to the second alternative position information; determine, based on the position information and size information of each magnetic pole relative to the workpiece to be grasped, the overlapping area between each magnetic pole and the adsorbable surface of the workpiece to be grasped when the suction cup is adsorbed onto the workpiece to be grasped according to the second alternative position information; and determine the total number of magnetic poles whose overlapping area is greater than a preset threshold as the second number.

[0222] In a possible implementation, the first determining unit 701 includes:

[0223] The first establishing module 7011 is used to establish an initial grasping point on the adsorbable surface of the workpiece to be grasped;

[0224] The second establishing module 7012 is used to create a derived grasping point at every preset step length along a preset direction on the adsorbable surface based on the initial grasping point, until the number of derived grasping points reaches a preset number, or the establishment position of the derived grasping point reaches a set range;

[0225] The sixth determination module 7013 is used to determine the initial grasping point and all derived grasping points as all grasping points on the adsorbable surface of the workpiece to be grasped.

[0226] In a possible implementation, the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point.

[0227] In a possible implementation, the preset condition is: when the suction cup is adsorbed to the workpiece to be grasped according to the first candidate position information, the total overlapping area between each magnetic pole of the suction cup and the adsorbable surface of the workpiece to be grasped reaches a first preset value, or the grasping points have been fully executed;

[0228] The summing unit 703 is specifically used for:

[0229] If it is determined that the total overlapping area of ​​the magnetic poles of the suction cup and the adsorbable surface of the workpiece to be grasped is less than or equal to the first preset value, or there are unexecuted grasping points, the value of i is increased by 1.

[0230] In a possible implementation, the device further includes:

[0231] An acquiring unit 707, configured to acquire the weight of the workpiece to be grasped before the first determining unit determines a plurality of grasping points in the workpiece to be grasped;

[0232] A dividing unit 708 is used to divide the workpiece to be grasped into at least two to-be-grasped parts if it is determined that the weight of the workpiece to be grasped is greater than a second preset value, wherein each to-be-grasped part corresponds to a suction cup for adsorbing the to-be-grasped part;

[0233] The sixth determining unit 709 is configured to determine a plurality of grasping points in each to-be-grasped part by treating the to-be-grasped part as a to-be-grasped workpiece.

[0234] In a possible implementation, the dividing unit 708 includes:

[0235] The sixth determination module 7081 is used to determine a circumscribed rectangular frame of the workpiece to be grasped if it is determined that the weight of the workpiece to be grasped is greater than a second preset value;

[0236] The division module 7082 is used to divide the workpiece to be grasped in the short side direction of the workpiece to be grasped based on the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame to obtain at least two parts to be grasped.

[0237] In a possible implementation, the value of the order i corresponding to the grasping point of the part to be grasped is negatively correlated with the division distance, wherein the division distance is the distance between the grasping point of the part to be grasped and the division line when the workpiece to be grasped is divided.

[0238] In a possible implementation, the fourth determination unit 705 is specifically used to: if it is determined that the suction cup corresponding to the currently processed part to be grasped is located at the selected first alternative position information, it will not collide with the suction cups corresponding to the remaining processed parts to be grasped that are located at the determined grasping position, then determine the grasping position of the suction cup corresponding to the currently processed part to be grasped on the workpiece to be grasped according to the selected first alternative position information.

[0239] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0240] The present disclosure provides an electronic device, comprising: a memory, a processor;

[0241] Memory; Memory for storing processor executable instructions;

[0242] Wherein, the processor is used to execute the method according to the executable instructions.

[0243] Figure 8is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure, such as Figure 8 As shown, the electronic device includes:

[0244] The electronic device includes a processor 291 and a memory 292; it may also include a communication interface 293 and a bus 294. The processor 291, the memory 292, and the communication interface 293 may communicate with each other through the bus 294. The communication interface 293 may be used for information transmission. The processor 291 may call the logic instructions in the memory 292 to execute the method of the above embodiment.

[0245] In addition, the logic instructions in the above-mentioned memory 292 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0246] The memory 292 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present disclosure. The processor 291 executes the software programs, instructions, and modules stored in the memory 292 to perform functional applications and data processing, that is, to implement the methods in the above method embodiments.

[0247] The memory 292 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 292 may include a high-speed random access memory and may also include a non-volatile memory.

[0248] The present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any one of the methods.

[0249] The present disclosure provides a computer program product, where the computer program product includes a computer program, and when the computer program is executed by a processor, any one of the methods is implemented.

[0250] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0251] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for grabbing a steel plate workpiece, characterized in that: include: On the workpiece to be grasped, a plurality of grasping points are determined; the grasping points are used to indicate the adsorption position of the preset magnetic poles in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece, and the grasping points include initial grasping points and derived grasping points established on the adsorbable surface of the workpiece to be grasped, and based on the initial grasping points, a new derived grasping point is created on the adsorbable surface along a preset direction at every preset step length until the number of derived grasping points reaches a preset number, or the establishment position of the derived grasping points reaches a set range; Repeat the following steps until a preset condition is met: determine the first candidate position information and the first quantity of the suction cups based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cups; Add 1 to the value of i; wherein the first number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the first alternative position information is used; i is a positive integer, and the initial value of i is 1, wherein the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point; Select the largest first quantity and its corresponding first alternative position information, and determine the grasping position of the suction cup on the workpiece to be grasped according to the selected first alternative position information, and determine the magnetic pole that needs to be turned on when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

2. The method according to claim 1, characterized in that Based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cup, determining the first candidate position information and the first quantity of the suction cup, including: Based on the position information of the i-th grasping point, determining the position information of the rotation point of the suction cup; Based on multiple preset rotation angles, repeat the following steps until a preset stop condition is reached: based on the rotation point and the jth preset rotation angle, rotate the suction cup; wherein j is a positive integer, and the initial value of j is 1; determine the position information corresponding to the jth preset rotation angle of the suction cup at the rotation point as the second candidate position information of the suction cup; and determine a second number based on the second candidate position information, the arrangement information and the size information, wherein the second number represents the number of magnetic poles that the suction cup can adsorb to the workpiece to be grasped when the suction cup is in the second candidate position information; add 1 to the value of j; Determine the second candidate position information corresponding to the second number with the largest value as the first candidate position information of the suction cup at the i-th grasping point; Determine that the second number with the largest value is the first number corresponding to the current first candidate position information.

3. The method according to claim 2, characterized in that The rotation point of the suction cup is the center point of the suction cup.

4. The method according to claim 2, characterized in that: Determining a second quantity based on the second candidate position information, the arrangement information, and the size information includes: Based on the arrangement information, determining the position information of each magnetic pole of the suction cup relative to the workpiece to be grasped when the suction cup is adsorbed on the workpiece to be grasped according to the second candidate position information; Based on the position information of each magnetic pole relative to the workpiece to be grasped and the size information, determining the overlapping area between each magnetic pole and the adsorbable surface of the workpiece to be grasped when the suction cup is adsorbed onto the workpiece to be grasped according to the second alternative position information; The total number of magnetic poles whose overlapping area is greater than a preset threshold is determined as the second number.

5. The method according to claim 1, characterized in that The preset condition is that when the suction cup is adsorbed onto the workpiece to be grasped according to the first candidate position information, the total overlapping area between the magnetic poles and the adsorbable surface of the workpiece to be grasped reaches a first preset value, or the grasping points have been fully executed; The step of adding 1 to the value of i includes: If it is determined that the total overlapping area of ​​the magnetic poles of the suction cup and the adsorbable surface of the workpiece to be grasped is less than or equal to the first preset value, or there are unexecuted grasping points, the value of i is increased by 1.

6. The method according to any one of claims 1 to 5, characterized in that Before determining a plurality of gripping points in the workpiece to be gripped, the method further includes: Obtain the weight of the workpiece to be grasped; If it is determined that the weight of the workpiece to be grasped is greater than a second preset value, the workpiece to be grasped is divided into at least two parts to be grasped, wherein each part to be grasped corresponds to a suction cup for adsorbing the part to be grasped; For each part to be grasped, the part to be grasped is taken as a workpiece to be grasped, and a step of determining a plurality of grasping points in the workpiece to be grasped is performed.

7. The method according to claim 6, characterized in that If it is determined that the weight of the workpiece to be grasped is greater than a preset threshold, the workpiece to be grasped is divided into at least two parts to be grasped, including: If it is determined that the weight of the workpiece to be grasped is greater than a second preset value, determining a circumscribed rectangular frame of the workpiece to be grasped; Based on the length information of the short side of the circumscribed rectangular frame and the length information of the long side of the circumscribed rectangular frame, the workpiece to be grasped is divided in the short side direction of the workpiece to be grasped to obtain at least two parts to be grasped.

8. The method according to claim 7, characterized in that The value of the order i corresponding to the grasping point of the part to be grasped is negatively correlated with the division distance, wherein the division distance is the distance between the grasping point of the part to be grasped and the division line when the workpiece to be grasped is divided.

9. The method according to claim 6, characterized in that Determining the grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information includes: If it is determined that the suction cup corresponding to the currently processed part to be grasped is located at the selected first alternative position information, and will not collide with the suction cups corresponding to the remaining processed parts to be grasped that are located at the determined grasping positions, then the grasping position of the suction cup corresponding to the currently processed part to be grasped on the workpiece to be grasped is determined according to the selected first alternative position information.

10. A gripping device for a steel plate workpiece, characterized in that: include: A first determining unit is used to determine a plurality of grasping points on the workpiece to be grasped; the grasping points are used to indicate the adsorption position of a preset magnetic pole in the suction cup; the suction cup includes a plurality of magnetic poles that can be used to adsorb the workpiece, and the grasping points include an initial grasping point and a derivative grasping point established on the adsorbable surface of the workpiece to be grasped, and based on the initial grasping point, a new derivative grasping point is created on the adsorbable surface along a preset direction at every preset step length until the number of the derivative grasping points reaches a preset number, or the establishment position of the derivative grasping point reaches a set range; Repeat the following second determination unit and summing unit until a preset condition is met: a second determining unit, for determining first candidate position information and a first quantity of the suction cup based on the i-th grasping point, the size information of the workpiece to be grasped, and the arrangement information of the magnetic poles contained in the suction cup; wherein the first quantity represents the number of magnetic poles of the workpiece to be grasped that the suction cup can adsorb to the workpiece to be grasped at the first candidate position information, wherein the value of the order i corresponding to the grasping point is determined based on the distance between the grasping point and the geometric center point of the workpiece to be grasped, and the distance is positively correlated with the value of the order i corresponding to the grasping point; A summing unit is used to add 1 to the value of i; i is a positive integer, and the initial value of i is 1; A selection unit, configured to select the largest first quantity and its corresponding first candidate position information; a fourth determining unit, configured to determine a grasping position of the suction cup on the workpiece to be grasped according to the selected first candidate position information; The fifth determining unit is used to determine the magnetic poles that need to be opened when the suction cup grasps the workpiece to be grasped according to the selected first quantity.

11. An electronic device, comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

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