Method and apparatus for robot to grasp a grasped object, a system

Abstract

The application provides a method and device for a robot to grasp a to-be-grasped object, and a system. The target time taken by the robot gripper to move to the farthest grasping point in the target range is determined, wherein the target range is the area range corresponding to the assembly line. The running distance of the robot gripper moving to the farthest grasping point is determined according to the target time. The target abscissa of the to-be-grasped object in the preset coordinate system is determined according to the running distance, wherein the preset coordinate system is a coordinate system constructed with the image acquisition device as the coordinate origin, and the image acquisition device is arranged at a preset position above the assembly line. The robot gripper is controlled to move to grasp the to-be-grasped object according to the target abscissa. The technical problem that in some special stacking projects in the related art, the camera needs to be arranged on the support, and it is difficult to determine the pose of the to-be-grasped object on the assembly line in the project in which the camera is arranged on the support is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline stacking, in particular, to a method and device for robot grabbing a to-be-grabbed object, and a system. BACKGROUND

[0002] In the prior art, dynamic pipeline stacking projects basically adopt the mode of installing a camera on a robot flange, but for some special stacking projects, it is difficult to install the camera on a support for sorting, and the pose of the to-be-grabbed object is difficult to determine, so that the robot is not easy to grab the to-be-grabbed object.

[0003] No effective solution has been proposed for the above problems in the related art. SUMMARY

[0004] The main purpose of the present application is to provide a method and device for robot grabbing a to-be-grabbed object, and a system, to solve the technical problem that some special stacking projects in the related art need to set a camera on a support, and it is difficult to determine the pose of the to-be-grabbed object on the pipeline in the project in which the camera is set on the support.

[0005] According to an aspect of an embodiment of the present application, a method for robot grabbing a to-be-grabbed object is provided, comprising: determining a target time consumed by a robot gripper moving to a farthest grabbing point in a target range, wherein the target range is a range of a region corresponding to a pipeline; determining a running distance of the robot gripper moving to the farthest grabbing point according to the target time; determining a target abscissa of the to-be-grabbed object in a preset coordinate system according to the running distance, wherein the preset coordinate system is a coordinate system constructed with an image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the pipeline; and controlling the robot gripper to move to grab the to-be-grabbed object according to the target abscissa.

[0006] Further, the target time consumed by the robot gripper moving to the farthest grabbing point in the target range is determined, comprising: acquiring a plurality of images corresponding to the target range in the process of the pipeline moving; determining a plurality of to-be-grabbed objects contained in each image, wherein the plurality of to-be-grabbed objects on the pipeline are arranged at equal intervals; determining a farthest to-be-grabbed object in each image farthest from the coordinate origin of the preset coordinate system to determine a plurality of farthest to-be-grabbed objects; and determining the target time according to the plurality of farthest to-be-grabbed objects.

[0007] Further, the target time is determined according to the plurality of farthest to-be-grabbed objects, comprising: obtaining the distance of each farthest to-be-grabbed object from the coordinate origin; obtaining the moving speed of the robot gripper; calculating the time consumed by the robot gripper moving to the farthest grabbing point according to the distance and the moving speed, and obtaining a plurality of consumed times corresponding to the plurality of images; calculating the average of the plurality of consumed times, and determining the average as the target time.

[0008] Further, the target distance corresponding to the movement of the robot gripper to the farthest grabbing point is determined according to the target time, including: determining the running speed of the assembly line; obtaining the target distance calculated according to the running speed and the target time; and determining the target distance as the running distance corresponding to the movement of the robot gripper to the farthest grabbing point.

[0009] Further, the target horizontal coordinate of the to-be-grabbed object in the preset coordinate system is determined according to the running distance, including: determining the movement direction of the assembly line, wherein the movement direction is any one of the following: a first direction and a second direction, the first direction is consistent with the positive direction of the X-axis of the preset coordinate system, and the second direction is consistent with the negative direction of the X-axis of the preset coordinate system; obtaining the robot horizontal coordinate of the robot in the preset coordinate system; and determining the target horizontal coordinate according to the movement direction and the robot horizontal coordinate.

[0010] Further, the target horizontal coordinate is determined according to the movement direction and the robot horizontal coordinate, including: in the case where the movement direction is the first direction, determining the sum of the robot horizontal coordinate and the value corresponding to the running distance as the target horizontal coordinate; and in the case where the movement direction is the second direction, determining the difference between the robot horizontal coordinate and the value corresponding to the running distance as the target horizontal coordinate.

[0011] Further, before determining the target time consumed by the movement of the robot gripper to the farthest grabbing point in the target range, the method further includes: obtaining a current image corresponding to the target range of the assembly line; determining whether the current image contains a non-to-be-grabbed object image; if there is a non-to-be-grabbed object image, determining that there is an obstacle in the target range of the assembly line, and controlling the assembly line to stop moving and / or controlling the robot to remain stationary.

[0012] According to another aspect of the embodiment of the present application, a device for a robot to grab a to-be-grabbed object is also provided, including: a first determination unit configured to determine a target time consumed by the movement of a robot gripper to a farthest grabbing point in a target range, wherein the target range is a range of a region corresponding to an assembly line; a second determination unit configured to determine a running distance corresponding to the movement of the robot gripper to the farthest grabbing point according to the target time; a third determination unit configured to determine a target horizontal coordinate of the to-be-grabbed object in a preset coordinate system according to the running distance, wherein the preset coordinate system is a coordinate system constructed with an image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the assembly line; and a first control unit configured to control the movement of the robot gripper to grab the to-be-grabbed object according to the target horizontal coordinate.

[0013] According to another aspect of the embodiments of the present application, a system is also provided, comprising: a pipeline, a robot, and a device for the robot to grab a to-be-grabbed object, an image acquisition device is arranged at a preset position above the pipeline, and the device for the robot to grab the to-be-grabbed object is configured to execute the method for the robot to grab the to-be-grabbed object.

[0014] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which comprises a stored program, wherein the program executes the method for the robot to grab the to-be-grabbed object.

[0015] According to another aspect of the embodiments of the present application, a processor is also provided, which is configured to execute a program, wherein the program executes the method for the robot to grab the to-be-grabbed object.

[0016] According to another aspect of the embodiments of the present application, an electronic device is also provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for executing the method for the robot to grab the to-be-grabbed object.

[0017] In the embodiments of the present application, the target time taken by the robot gripper to move to the farthest grabbing point in the target range is determined, wherein the target range is the range of the area corresponding to the pipeline; the running distance of the robot gripper moving to the farthest grabbing point is determined according to the target time; the target abscissa of the to-be-grabbed object in the preset coordinate system is determined according to the running distance, wherein the preset coordinate system is a coordinate system constructed with the image acquisition device as the coordinate origin, and the image acquisition device is arranged at a preset position above the pipeline; and the robot gripper is controlled to move to grab the to-be-grabbed object according to the target abscissa, thereby solving the technical problem that in some special stacking projects in the related art, the camera needs to be arranged on the support, and in the project in which the camera is arranged on the support, it is difficult to determine the pose of the to-be-grabbed object on the pipeline, and the technical effect of improving the diversity of robot sorting is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 is a flowchart of a method for a robot to grab a to-be-grabbed object according to an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a device for a robot to grab a to-be-grabbed object according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0022] In order for those skilled in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] It should be understood that when an element (such as a layer, film, region, or substrate) is described as "on" another element, it can be directly on the other element, or there can be an intermediate element. Also, in the specification and claims, when it is described that an element is "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

[0025] As mentioned in the background, some special palletizing projects in the related art need to set the camera on the support, and in the project of setting the camera on the support, it is difficult to determine the pose of the to-be-grabbed object on the pipeline. In order to solve the above problems, in a typical embodiment of the present application, a method and device for robot grabbing a to-be-grabbed object, and a system are provided.

[0026] According to the embodiments of the present application, a method for robot grabbing a to-be-grabbed object is provided.

[0027] Figure 1 is a flowchart of a method for robot grabbing a to-be-grabbed object provided according to the embodiments of the present application. As shown in Figure 1 the method comprises the following steps:

[0028] In step S101, a target time for the robot gripper to move to a farthest grabbing point in a target range of the flow line is determined, where the target range is a range of a region corresponding to the flow line.

[0029] In step S102, a running distance of the robot gripper moving to the farthest grabbing point is determined according to the target time.

[0030] In step S103, a target horizontal coordinate of the to-be-grabbed object in a preset coordinate system is determined according to the running distance, where the preset coordinate system is a coordinate system constructed with the image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the flow line.

[0031] In step S104, the robot gripper is controlled to move to grab the to-be-grabbed object according to the target horizontal coordinate.

[0032] The method for the robot to grab the to-be-grabbed object provided in the present application is for a complex sorting project of building a camera support on a flow line by an ETH method. The horizontal coordinate of the farthest grabbing point of the robot gripper corresponding to the target range of the flow line in a preset coordinate system is determined, and the robot gripper is controlled to move to grab the to-be-grabbed object.

[0033] The ETH method is to use a gantry support on the flow line, and install the camera on the fixed support.

[0034] By the above method provided in the present application, the pose of the to-be-grabbed object in the target range corresponding to the flow line is accurately determined, and the robot gripper is accurately controlled to grab, thereby solving the technical problem of position change of objects caused by the dynamic flow line, and achieving the technical effect of improving the diversity of robot sorting.

[0035] In an optional embodiment, the target time for the robot gripper to move to the farthest grabbing point in the target range includes: acquiring a plurality of images corresponding to the target range during the movement of the flow line; determining a plurality of to-be-grabbed objects contained in each image, where the plurality of to-be-grabbed objects on the flow line are arranged at equal intervals; determining a farthest to-be-grabbed object in each image farthest from a coordinate origin of the preset coordinate system to determine a plurality of farthest to-be-grabbed objects; and determining the target time according to the plurality of farthest to-be-grabbed objects. Determining the target time according to the plurality of farthest to-be-grabbed objects includes: obtaining a distance between each farthest to-be-grabbed object and the coordinate origin; obtaining a movement speed of the robot gripper; calculating a time for the robot gripper to move to the farthest grabbing point according to the distance and the movement speed, and obtaining a plurality of time consumption corresponding to the plurality of images; calculating an average value of the plurality of time consumption, and determining the average value as the target time.

[0036] Therefore, the camera is arranged at a preset position above the assembly line, and the collected image is an image of a target range corresponding to the assembly line. A plurality of images corresponding to the target range are collected by the camera, a position of a to-be-grabbed object farthest from the camera in each image is determined as a farthest grabbing point in the target range when each image is collected, a time taken by the robot gripper corresponding to each image to move to the farthest grabbing point is determined according to a position of the farthest grabbing point on the image and a movement speed of the robot gripper, a plurality of times corresponding to the plurality of images are obtained, an average reaching time corresponding to the plurality of times is calculated, and the average reaching time is determined as the target time.

[0037] In an optional embodiment, the running distance of the robot gripper corresponding to the farthest grabbing point is determined according to the target time, including: determining a running speed of the assembly line; obtaining a target distance calculated by the running speed and the target time; and determining the target distance as the running distance of the robot gripper corresponding to the farthest grabbing point.

[0038] In a specific embodiment, the distance of the object moving on the assembly line without stopping is measured within 30 seconds, the average value is obtained by multiple measurements, and the running speed v of the assembly line is calculated. In the case of calculating the running speed of the assembly line, the running distance L of the robot gripper moving to the farthest grabbing point is calculated by the speed and the target time, that is, L = v * t.

[0039] In an optional embodiment, the target horizontal coordinate of the to-be-grabbed object in the preset coordinate system is determined according to the running distance, including: determining a movement direction of the assembly line, wherein the movement direction is any one of the following: a first direction and a second direction. The first direction is consistent with the positive direction of the X-axis of the preset coordinate system, and the second direction is consistent with the negative direction of the X-axis of the preset coordinate system; obtaining a robot horizontal coordinate of the robot in the preset coordinate system; and determining the target horizontal coordinate according to the movement direction and the robot horizontal coordinate. In the case of the movement direction being the first direction, the sum of the robot horizontal coordinate and a value corresponding to the running distance is determined as the target horizontal coordinate. In the case of the movement direction being the second direction, the difference between the robot horizontal coordinate and a value corresponding to the running distance is determined as the target horizontal coordinate.

[0040] In the above, the movement direction of the assembly line is determined to be the positive direction of the X-axis or the negative direction of the X-axis. If it is the positive direction of the X-axis, the X-coordinate of the final to-be-grabbed object is obtained by adding the length L to the corresponding robot horizontal coordinate. If it is the negative direction of the X-axis, the X-coordinate of the final to-be-grabbed object is obtained by subtracting the length L from the corresponding robot horizontal coordinate.

[0041] In an optional embodiment, before determining the target time taken by the robot gripper to move to the farthest grabbing point in the target range, the method further comprises: acquiring a current image corresponding to the target range of the pipeline; determining whether the current image contains a non-grabbed object image; if there is a non-grabbed object image, determining that there is an obstacle in the target range of the pipeline, and controlling the pipeline to stop moving and / or controlling the robot to remain stationary.

[0042] The above, by analyzing whether the image contains a non-grabbed object in the present application, it can be determined whether the target range also includes a non-target object, in the case of containing a non-target object, it is determined that there is an obstacle in the target range, by the image analysis result, control the pipeline to stop, and then control the robot to stop moving or directly control the robot to remain stationary, achieve the technical effect of robot obstacle avoidance. It should be noted that the pipeline stops moving at the same time, and the robot stops moving, and the stacking action also stops.

[0043] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown.

[0044] The embodiment of the present application also provides a device for a robot to grab a grabbed object. It should be noted that the device for a robot to grab a grabbed object according to the embodiment of the present application can be used to execute the method for a robot to grab a grabbed object provided by the embodiment of the present application. The device for a robot to grab a grabbed object provided by the embodiment of the present application is introduced as follows.

[0045] Figure 2 is a schematic diagram of a device for a robot to grab a grabbed object according to the embodiment of the present application. As shown in Figure 2 the device comprises: a first determination unit 201 configured to determine a target time taken by a robot gripper to move to a farthest grabbing point in a target range, wherein the target range is a range of a region corresponding to a pipeline; a second determination unit 202 configured to determine a running distance of the robot gripper moving to the farthest grabbing point according to the target time; a third determination unit 203 configured to determine a target abscissa of a grabbed object in a preset coordinate system according to the running distance, wherein the preset coordinate system is a coordinate system constructed with an image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the pipeline; and a first control unit 204 configured to control the robot gripper to move to grab the grabbed object according to the target abscissa.

[0046] In an optional embodiment, the first determining unit 201 comprises: an acquisition subunit, configured to acquire a plurality of images corresponding to the target range in the process of the pipeline movement; a first determining subunit, configured to determine a plurality of to-be-grabbed objects contained in each image, wherein the plurality of to-be-grabbed objects on the pipeline are arranged at equal intervals; a second determining subunit, configured to determine a farthest to-be-grabbed object in each image from a coordinate origin of a preset coordinate system, so as to determine a plurality of farthest to-be-grabbed objects; and a third determining subunit, configured to determine the target time according to the plurality of farthest to-be-grabbed objects.

[0047] In an optional embodiment, the third determining subunit comprises: a first obtaining module, configured to obtain a distance between each farthest to-be-grabbed object and the coordinate origin; a second obtaining module, configured to obtain a movement speed of the robot gripper; a first calculating module, configured to calculate a time cost for the robot gripper to move to a farthest grabbing point according to the distance and the movement speed, and obtain a plurality of time costs corresponding to the plurality of images; and a second calculating module, configured to calculate an average value of the plurality of time costs, and determine the average value as the target time.

[0048] In an optional embodiment, the second determining unit 202 comprises: a fourth determining subunit, configured to determine a running speed of the pipeline; a first obtaining subunit, configured to obtain the target distance calculated according to the running speed and the target time; and a fifth determining subunit, configured to determine that the target distance is a running distance corresponding to the movement of the robot gripper to the farthest grabbing point.

[0049] In an optional embodiment, the third determining unit 203 comprises: a sixth determining subunit, configured to determine a movement direction of the pipeline, wherein the movement direction is any one of a first direction and a second direction, the first direction is a direction consistent with a positive direction of an X axis of a preset coordinate system, and the second direction is a direction consistent with a negative direction of the X axis of the preset coordinate system; a second obtaining subunit, configured to obtain a robot transverse coordinate of the robot in the preset coordinate system; and a seventh determining subunit, configured to determine a target transverse coordinate according to the movement direction and the robot transverse coordinate.

[0050] In an optional embodiment, the seventh determining subunit comprises: a first determining module, configured to, in a case where the movement direction is the first direction, determine a sum of the robot transverse coordinate and a value corresponding to the running distance as the target transverse coordinate; and a second determining module, configured to, in a case where the movement direction is the second direction, determine a difference between the robot transverse coordinate and a value corresponding to the running distance as the target transverse coordinate.

[0051] In an optional embodiment, the device further comprises: a obtaining unit configured to obtain a current image corresponding to the target range of the pipeline before determining the target time taken by the robot gripper to move to the farthest grabbing point in the target range; a fourth determining unit configured to determine whether the current image contains a non-grabbed object image; and a fifth determining unit configured to determine that there is an obstacle in the target range of the pipeline and control the pipeline to stop moving and / or control the robot to remain stationary in the presence of a non-grabbed object image.

[0052] The device for robot to grab a grabbed object comprises a processor and a memory, and the first determining unit 201 and the like are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory.

[0053] The processor comprises a core, and the core retrieves the corresponding program units from the memory. The core can be one or more, and the technical problems that the camera needs to be arranged on the support in some special stacking projects in the related art can be solved by adjusting the core parameters. In the project in which the camera is arranged on the support, it is difficult to determine the pose of the grabbed object on the pipeline.

[0054] The memory can comprise a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0055] The embodiment of the present application provides a system, which is characterized by comprising a pipeline, a robot and a device for robot to grab a grabbed object, an image acquisition device is arranged at a preset position above the pipeline, and the device for robot to grab a grabbed object is used to execute a method for robot to grab a grabbed object.

[0056] The embodiment of the present application provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize a method for robot to grab a grabbed object.

[0057] The embodiment of the present application provides a processor, which is used to run a program, and the program is executed to realize a method for robot to grab a grabbed object.

[0058] The embodiment of the present application provides a device, the device comprises a processor, a memory and a program stored on the memory and executable on the processor, and at least the following steps are realized when the processor executes the program: determining a target time consumed by a robot clamp to move to a farthest grabbing point in a target range, wherein the target range is a range of an area corresponding to a pipeline; determining a running distance corresponding to the farthest grabbing point of the robot clamp according to the target time; determining a target horizontal coordinate of a to-be-grabbed object in a preset coordinate system according to the running distance, wherein the preset coordinate system is a coordinate system constructed with an image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the pipeline; and controlling the robot clamp to move to grab the to-be-grabbed object according to the target horizontal coordinate.

[0059] Optionally, the target time consumed by the robot clamp to move to the farthest grabbing point in the target range comprises: acquiring a plurality of images corresponding to the target range in the process of pipeline movement; determining a plurality of to-be-grabbed objects contained in each image, wherein the plurality of to-be-grabbed objects on the pipeline are arranged at equal intervals; determining a farthest to-be-grabbed object farthest from the coordinate origin of the preset coordinate system in each image to determine a plurality of farthest to-be-grabbed objects; and determining the target time according to the plurality of farthest to-be-grabbed objects.

[0060] Optionally, the target time is determined according to the plurality of farthest to-be-grabbed objects, comprising: obtaining the distance of each farthest to-be-grabbed object from the coordinate origin; obtaining the movement speed of the robot clamp; calculating the time consumed by the robot clamp to move to the farthest grabbing point according to the distance and the movement speed, and obtaining a plurality of time consumed corresponding to the plurality of images; calculating the average value of the plurality of time consumed, and determining the average value as the target time.

[0061] Optionally, the running distance corresponding to the farthest grabbing point of the robot clamp is determined according to the target time, comprising: determining the running speed of the pipeline; obtaining the target distance calculated by the running speed and the target time; and determining the target distance as the running distance corresponding to the farthest grabbing point of the robot clamp.

[0062] Optionally, the target horizontal coordinate of the to-be-grabbed object in the preset coordinate system is determined according to the running distance, comprising: determining the movement direction of the pipeline, wherein the movement direction is any one of the following: a first direction and a second direction, the first direction is consistent with the positive direction of the X axis of the preset coordinate system, and the second direction is consistent with the negative direction of the X axis of the preset coordinate system; obtaining the robot horizontal coordinate of the robot in the preset coordinate system; and determining the target horizontal coordinate according to the movement direction and the robot horizontal coordinate.

[0063] Optionally, the target transverse coordinate is determined according to the moving direction and the robot transverse coordinate, including: in the case that the moving direction is a first direction, determining the sum of the robot transverse coordinate and a value corresponding to the running distance as the target transverse coordinate; in the case that the moving direction is a second direction, determining the difference between the robot transverse coordinate and a value corresponding to the running distance as the target transverse coordinate.

[0064] Optionally, before determining the target time consumed by the robot gripper moving to the farthest grabbing point in the target range, the method further includes: acquiring a current image corresponding to the target range of the flow line; determining whether the current image contains a non-grabbed object image; if the non-grabbed object image exists, determining that there is an obstacle in the target range of the flow line, and controlling the flow line to stop moving and / or controlling the robot to remain stationary. The device herein can be a server, a PC, a PAD, a mobile phone, etc.

[0065] The application also provides a computer program product adapted to execute the program of at least the following method steps when executed on a data processing device: determining a target time consumed by a robot gripper moving to a farthest grabbing point in a target range, wherein the target range is a range of a region corresponding to a flow line; determining a running distance of the robot gripper moving to the farthest grabbing point according to the target time; determining a target transverse coordinate of a grabbed object in a preset coordinate system according to the running distance, wherein the preset coordinate system is a coordinate system constructed with an image acquisition device as a coordinate origin, and the image acquisition device is arranged at a preset position above the flow line; and controlling the robot gripper to move to grab the grabbed object according to the target transverse coordinate.

[0066] Optionally, the target time consumed by the robot gripper moving to the farthest grabbing point in the target range is determined, including: acquiring a plurality of images corresponding to the target range in the process of the flow line moving; determining a plurality of grabbed objects contained in each image, wherein the plurality of grabbed objects on the flow line are arranged at equal intervals; determining a farthest grabbed object in each image farthest from a coordinate origin of the preset coordinate system to determine a plurality of farthest grabbed objects; and determining the target time according to the plurality of farthest grabbed objects.

[0067] Optionally, the target time is determined according to the plurality of farthest grabbed objects, including: acquiring a distance of each farthest grabbed object from the coordinate origin; acquiring a moving speed of the robot gripper; calculating a time consumed by the robot gripper moving to the farthest grabbing point according to the distance and the moving speed, and obtaining a plurality of times consumed corresponding to the plurality of images; calculating an average value of the plurality of times consumed, and determining the average value as the target time.

[0068] Optionally, based on the target time, the running distance corresponding to the robot gripper moving to the farthest gripping point is determined, including: determining the running speed of the production line; obtaining the running speed and the target distance calculated from the target time; and determining the target distance as the running distance corresponding to the robot gripper moving to the farthest gripping point.

[0069] Optionally, based on the running distance, the target abscissa of the object to be grasped in the preset coordinate system is determined, including: determining the movement direction of the assembly line, wherein the movement direction is any one of the following: a first direction, a second direction, wherein the first direction is the direction consistent with the positive direction of the X-axis of the preset coordinate system, and the second direction is the direction consistent with the negative direction of the X-axis of the preset coordinate system; obtaining the robot's abscissa in the preset coordinate system; and determining the target abscissa based on the movement direction and the robot's abscissa.

[0070] Optionally, the target abscissa is determined based on the direction of motion and the robot's abscissa, including: when the direction of motion is a first direction, the sum of the values ​​corresponding to the robot's abscissa and the running distance is determined as the target abscissa; when the direction of motion is a second direction, the difference between the values ​​corresponding to the robot's abscissa and the running distance is determined as the target abscissa.

[0071] Optionally, before determining the target time taken for the robot gripper to move to the farthest grasping point within the target range, the method further includes: acquiring a current image corresponding to the target range of the pipeline; determining whether the current image contains an image of a non-grasping object; if an image of a non-grasping object exists, determining that there is an obstacle within the target range of the pipeline, and controlling the pipeline to stop moving and / or controlling the robot to remain stationary.

[0072] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0073] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0074] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0075] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0076] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0077] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0078] 1) The method provided in this application enables accurate obstacle avoidance in the ETH mode, and also enables precise grasping of dynamic objects on the production line while they are in motion.

[0079] 2) Improved the technical effectiveness of the grasping diversity of the pipeline system.

[0080] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for a robot to grasp an object, characterized in that, include: Determine the target time taken for the robot gripper to move to the farthest gripping point within the target range, wherein the target range is the area range corresponding to the pipeline; Based on the target time, determine the running distance of the robot gripper to the farthest grasping point; Based on the running distance, the target abscissa of the object to be grabbed in a preset coordinate system is determined, wherein the preset coordinate system is a coordinate system constructed with the image acquisition device as the coordinate origin, and the image acquisition device is set at a preset position above the assembly line. Based on the target x-coordinate, the robot gripper is controlled to move in order to grasp the object to be grasped. Determining the target abscissa of the object to be grasped in a preset coordinate system based on the running distance includes: determining the movement direction of the assembly line, wherein the movement direction is any one of the following: a first direction, a second direction, wherein the first direction is a direction consistent with the positive direction of the X-axis of the preset coordinate system, and the second direction is a direction consistent with the negative direction of the X-axis of the preset coordinate system; obtaining the robot's abscissa in the preset coordinate system; and determining the target abscissa based on the movement direction and the robot's abscissa.

2. The method according to claim 1, characterized in that, Determine the target time for the robot gripper to move to the farthest grasping point within the target range, including: During the movement of the assembly line, multiple images corresponding to the target area are acquired; Each image contains multiple objects to be grasped, wherein the multiple objects to be grasped on the pipeline are set at equal intervals; Determine the farthest object to be grabbed within each image that is farthest from the origin of the preset coordinate system, thereby determining multiple farthest objects to be grabbed; The target time is determined based on the multiple furthest objects to be grabbed.

3. The method according to claim 2, characterized in that, The target time is determined based on multiple farthest objects to be grabbed, including: Obtain the distance between each of the farthest objects to be grabbed and the origin of the coordinate system; Obtain the movement speed of the robot gripper; Based on the distance and the movement speed, calculate the time it takes for the robot gripper to move to the farthest grasping point, and obtain multiple time periods corresponding to multiple images; Calculate the average of the multiple times spent, and determine the average as the target time.

4. The method according to claim 1, characterized in that, Based on the target time, determining the running distance of the robot gripper to the farthest grasping point includes: Determine the operating speed of the assembly line; The target distance is calculated from the running speed and the target time. The target distance is determined to be the running distance corresponding to the robot gripper moving to the farthest grasping point.

5. The method according to claim 1, characterized in that, Determining the target's horizontal coordinate based on the direction of motion and the robot's horizontal coordinate includes: When the direction of movement is the first direction, the sum of the values ​​corresponding to the robot's horizontal coordinate and the running distance is determined as the target horizontal coordinate; When the direction of movement is the second direction, the difference between the robot's horizontal coordinate and the value corresponding to the running distance is determined as the target horizontal coordinate.

6. The method according to claim 1, characterized in that, Before determining the target time taken for the robot gripper to move to the farthest gripping point within the target range, the method further includes: Obtain the current image corresponding to the target range of the pipeline; Determine whether the current image contains an image that is not the object to be captured; If the image contains an object that is not to be grasped, it is determined that there is an obstacle within the target range of the assembly line, and the assembly line is controlled to stop moving and / or the robot is controlled to remain stationary.

7. A device for a robot to grasp an object, characterized in that, include: The first determining unit is used to determine the target time taken for the robot gripper to move to the farthest grasping point within the target range, wherein the target range is the area range corresponding to the pipeline. The second determining unit is used to determine the running distance of the robot gripper to the farthest grasping point based on the target time. The third determining unit is used to determine the target abscissa of the object to be grabbed in a preset coordinate system based on the running distance. The preset coordinate system is a coordinate system constructed with the image acquisition device as the coordinate origin. The image acquisition device is set at a preset position above the assembly line. The first control unit is used to control the movement of the robot gripper to grasp the object to be grasped based on the target horizontal coordinate. The third determining unit includes: a sixth determining subunit, used to determine the movement direction of the assembly line, wherein the movement direction is any one of the following: a first direction, a second direction, wherein the first direction is a direction consistent with the positive direction of the X-axis of the preset coordinate system, and the second direction is a direction consistent with the negative direction of the X-axis of the preset coordinate system; a second obtaining subunit, used to obtain the robot's abscissa in the preset coordinate system; and a seventh determining subunit, used to determine the target abscissa based on the movement direction and the robot's abscissa.

8. A system, characterized in that, include: An assembly line, a robot, and a device for the robot to grasp an object to be grasped, wherein an image acquisition device is provided at a preset position above the assembly line, and the device for the robot to grasp an object to be grasped is used to perform a method for grasping an object by a robot as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program executes a method for a robot to grasp an object as described in any one of claims 1 to 6.

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