Intelligent grasping system and method of use

Abstract

This invention relates to an intelligent grasping system and its usage method, relating to the field of robotic arm manipulation. It includes a grasping module, a detection module, a drive module, and a main control module. The grasping module grasps a first object to be detected. The detection module detects the presence of the first object and sends re-inspection information to the main control module. The main control module further controls the detection module to perform a second detection based on the re-inspection information. The detection module also detects the presence of a second object on the first object and sends feedback information to the main control module. The main control module generates control information based on the feedback information and sends it to the drive module. The drive module controls the grasping module based on the control information. This solution solves the technical problem of how to achieve intelligent grasping effects and is applicable to scenarios such as automated medical instruments, production line systems, and dynamic inspection of test tubes and tube caps in industrial automation.

Description

Technical Field

[0001] This invention relates to the field of robotic arm manipulation, and particularly to an intelligent grasping system and its usage method. Background Technology

[0002] In automated medical instruments or production line systems, it is necessary to dynamically detect test tubes, tube caps, or other similar objects. Existing test tube detection devices cannot achieve intelligent detection and intelligent grasping capabilities. Therefore, a grasping device capable of intelligent detection is needed. Summary of the Invention

[0003] The technical problem to be solved by this invention is how to achieve the technical effect of intelligent grasping.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: An intelligent grasping system and its usage method, comprising: a grasping module, a detection module, a driving module, and a main control module, wherein the grasping module is used to grasp a first detection object, the detection module is used to detect whether the first detection object exists and send re-inspection information to the main control module, the main control module is also used to control the detection module to re-inspect according to the re-inspection information, the detection module is also used to detect whether a second detection object exists on the first detection object and send feedback information to the main control module, the main control module is also used to generate control information according to the feedback information and send it to the driving module, and the driving module is used to control the grasping module according to the control information.

[0005] The beneficial effects of this invention are as follows: When using the intelligent grasping device in this solution, the main control module controls the grasping module to move. At this time, the detection module checks one by one whether there is a first detection object at the position passed by the grasping module. After the first detection object is detected, the main control module receives the re-inspection information. At this time, the main control module controls the detection module to detect whether there is a second detection object on the first detection object. With this setting, the user can use the grasping module to grasp the first detection object with a second detection object or the first detection object without a second detection object according to their own needs. This solution achieves the technical effect of intelligent detection through the main control module and the detection module, and also achieves the technical effect of intelligent grasping through the combination with the grasping module and the driving module.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, the main control module is also used to input parameter configuration information, including the length of the object to be detected, the detection coefficient of the object to be detected, the electronic gear ratio of the drive device, the drive frequency, and the lead of the transmission device. The main control module is also used to obtain the detection time of the second object to be detected based on the parameter configuration information, the feedback information, and the following formula:

[0008] ;

[0009] Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M Given the driving frequency and r as the transmission lead, the main control module is further configured to generate the control information based on the detection time. Specifically, in other embodiments, the value of the above formula can be:

[0010] <![CDATA[F M ]]> r R L <![CDATA[T D ]]> k 25000 24 1200 18 36 0.001 35000 24 1200 18 25.71428571 0.001

[0011] 0.001 represents the multiplier in meters and millimeters, and the trigger point is the end of the detected object.

[0012] 0.001 / 3 represents the multiplication factor in meters and millimeters, and the trigger point is located at 1 / 3 of the detected object.

[0013] The parameter configuration information can be adjusted according to the actual situation.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that the main control module first determines whether the first detection object exists based on the feedback information. If it does not exist, it directly generates control information. If the first detection object exists, the main control module calculates the detection time T of the second detection object using the above formula. D Thus in T D The detection is performed within a certain time frame, thus avoiding wasted detection time or misjudgment due to insufficient detection time. It enables accurate and rapid detection of the presence or absence of the first and second detection objects under different detection speeds, different object properties, and different drive configurations, and feeds the results back to the main control module. Therefore, this solution solves the technical problem of how to improve the efficiency of intelligent detection, thereby achieving the technical effect of how to improve the efficiency of intelligent grasping.

[0015] Furthermore, the grasping module includes a grasping device and a moving device, with the grasping device mounted on the moving device.

[0016] The beneficial effect of adopting the above-mentioned further solution is that after setting up the gripping device and the moving device, the gripping device changes its own position through the moving device to move the gripping device closer to the preset position, and then the gripping device is started to grip. Therefore, this solution achieves the technical effect of intelligent gripping on the basis of intelligent detection.

[0017] Furthermore, the drive module includes a gripping driver and a moving driver. The gripping driver is connected to the gripping device, and the gripping device includes a plurality of gripper pieces. The gripping device is connected to the gripping driver, and the moving driver is connected to the moving device. Specifically, the gripping device may include two gripper pieces.

[0018] The beneficial effect of adopting the above-mentioned further solution is that this solution achieves the grasping of the first detection object through the cooperation between the gripper pieces, thus realizing the technical effect of intelligent grasping.

[0019] Furthermore, the detection module is a detection sensor, and the mobile device is equipped with a signal amplifier. Specifically, in other embodiments, the signal amplifier on the mobile device is a multi-threshold signal amplifier.

[0020] The beneficial effect of adopting the above-mentioned further solution is that, since the first and second detection objects have different shapes or materials, setting a detection sensor can detect either the first or the second detection object. Setting a combination of detection sensor and signal amplifier can improve the detection effect of detection sensor, thereby achieving the technical effect of detecting whether there is a test tube cap on the test tube.

[0021] Furthermore, the detection module is mounted on the gripping device.

[0022] The advantage of adopting the above-mentioned further solution is that, with this setting, the detection module only needs to detect whether there is a first detection object in a small nearby area, which reduces the technical requirements of the detection module.

[0023] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0024] A method for using an intelligent grasping system includes the following steps:

[0025] S1: The main control module controls the movement of the grasping module through the drive module and controls the detection module to detect whether there is a first detection object;

[0026] S2: The detection module detects the first detection object and sends re-inspection information to the main control module;

[0027] S3: The main control module controls the detection module according to the re-inspection information;

[0028] S4: The detection module sends feedback information to the main control module based on the detection result of the second detection object;

[0029] S5: The main control module controls the drive module according to the feedback information;

[0030] Specifically, in other embodiments, in step S1, the user controls the drive module through the main control module to control the grasping module, and in step S2, the user can also control the detection module through the main control module.

[0031] The beneficial effect of adopting the above-mentioned further solution is that the user first controls the drive module through the main control module, thereby indirectly controlling the grasping module. Then, the detection module is started through the main control module. The detection module detects whether there is a first detection object near the grasping module. If the first detection object is detected, the detection module starts to detect a second detection object. Finally, the user decides whether to grasp the object based on the feedback information.

[0032] Furthermore, step S4 includes:

[0033] S41: The main control module calculates the detection time of the first detectable object according to the following formula;

[0034] ;

[0035] Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M Where r is the drive frequency and r is the lead of the transmission device;

[0036] S42: The main control module extends the detection time of the detection module to the duration of the detection time of the second detection object;

[0037] S43: The detection module generates feedback information to the main control module based on whether the second detection object is detected.

[0038] The beneficial effect of adopting the above-mentioned further solution is that, by calculating the detection time for the second detection object, this solution avoids wasting detection time or misjudgment due to insufficient detection time. It achieves accurate and rapid detection of the presence or absence of the first and second detection objects under different detection speeds, different detection object properties, and different drive configurations. Therefore, this solution solves the technical effect of how to improve the efficiency of intelligent detection, thereby achieving the technical effect of how to improve the efficiency of intelligent grasping.

[0039] Further, in step S1: the grasping module includes a grasping device and a moving device, and the main control module controls the drive module to make the moving device drive the grasping module to move.

[0040] Further, in step S5: the gripping device includes a plurality of gripper pieces, the driving module includes a gripping driver and a moving driver, and after the main control module detects the presence of the second object, it controls all gripper pieces to close together after approaching the second object through the gripping driver.

[0041] Further, in step S2: the detection module is set on the gripping device, and the detection module begins to detect the first object to be detected. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the system structure of an embodiment of the intelligent grasping system of the present invention;

[0043] Figure 2 This is a schematic diagram of another embodiment of the intelligent grasping system of the present invention;

[0044] Figure 3 for Figure 2 Enlarged view of section A;

[0045] Figure 4 This is a flowchart illustrating an embodiment of the intelligent capture method of the present invention. Detailed Implementation

[0046] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0047] The basic implementation examples are as follows: Figure 1 As shown:

[0048] The intelligent grasping system and its usage method in this embodiment include: a grasping module 1, a detection module 2, a driving module 3, and a main control module 4. The grasping module 1 is used to grasp a first detection object. The detection module 2 is used to detect whether the first detection object exists and send re-inspection information to the main control module 4. The main control module 4 is also used to control the detection module 2 to detect again according to the re-inspection information. The detection module 2 is also used to detect whether a second detection object exists on the first detection object and send feedback information to the main control module 4. The main control module 4 is also used to generate control information according to the feedback information and send it to the driving module. The driving module 3 is used to control the grasping module 1 according to the control information.

[0049] The beneficial effects of this invention are as follows: When using the intelligent gripping device 5 in this solution, the main control module 4 controls the gripping module 1 to move. At this time, the detection module 2 checks one by one whether there is a first detection object at the position passed by the gripping module 1. After detecting the first detection object, the main control module 4 receives the re-inspection information. At this time, the main control module 4 controls the detection module 2 to detect whether there is a second detection object on the first detection object. With this setting, the user can use the gripping module 1 to grip the first detection object with a second detection object or the first detection object without a second detection object according to their own needs. This solution achieves the technical effect of intelligent detection through the main control module 4 and the detection module 2. It also achieves the technical effect of intelligent gripping through the combination with the gripping module 1 and the drive module 3.

[0050] Based on the above technical solution, the present invention can be further improved as follows.

[0051] Optionally, in some other embodiments, the main control module 4 is also used to input parameter configuration information, including the length of the object to be detected, the detection coefficient of the object to be detected, the electronic gear ratio of the drive device, the drive frequency, and the lead of the transmission device. The main control module 4 is also used to obtain the detection time of the first object to be detected based on the parameter configuration information, feedback information, and the following formula:

[0052] ;

[0053] Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M Given the driving frequency and r as the transmission lead, the main control module 4 is further configured to generate the control information based on the detection time. Specifically, in other embodiments, the values ​​of the above formula can be:

[0054] <![CDATA[F M ]]> r R L <![CDATA[T D ]]> k 25000 24 1200 18 36 0.001 35000 24 1200 18 25.71428571 0.001

[0055] 0.001 represents the multiplier in meters and millimeters, and the trigger point is the end of the detected object.

[0056] 0.001 / 3 represents the multiplication factor in meters and millimeters, and the trigger point is located at 1 / 3 of the detected object.

[0057] The parameter configuration information can be adjusted according to the actual situation.

[0058] The main control module 4 first determines whether the first detection object exists based on the feedback information. If it does not exist, it directly generates control information. If the first detection object exists, the main control module 4 calculates the detection time T of the second detection object for the first detection object using the above formula. D Thus in T D The detection is performed within a certain time frame, thus avoiding wasted detection time or misjudgment due to insufficient detection time. It can accurately and quickly detect the presence or absence of the first and second detection objects under different detection speeds, different detection object properties, and different drive configurations, and feed the results back to the main control module 4. Therefore, this solution solves the technical effect of how to improve the efficiency of intelligent detection, thereby achieving the technical effect of how to improve the efficiency of intelligent grasping.

[0059] Optional, as shown in the appendix Figure 2 As shown, in some other embodiments, the grasping module 1 includes a grasping device 5 and a moving device 6, with the grasping device 5 disposed on the moving device 6.

[0060] After setting up the gripping device 5 and the moving device 6, the gripping device 5 changes its own position through the moving device 6 to move closer to the preset position, and then the gripping device 5 is started to grip. Therefore, this solution achieves the technical effect of intelligent gripping on the basis of intelligent detection.

[0061] Optional, as shown in the appendix Figure 3 As shown, in some other embodiments, the drive module 3 includes a gripping driver and a moving driver. The gripping driver is connected to the gripping device 5. The gripping device 5 includes a plurality of gripper pieces 7. The gripping device 5 is connected to the gripping driver. The moving driver is connected to the moving device 6. Specifically, the gripping device 5 may include two gripper pieces 7.

[0062] This solution achieves the grasping of the first object to be detected through the cooperation between the gripper pieces 7, thus realizing the technical effect of intelligent grasping.

[0063] Optionally, in some other embodiments, the detection module 2 is a detection sensor 9, and the mobile device 6 is provided with a signal amplifier 8. Specifically, in other embodiments, the signal amplifier 8 provided on the mobile device 6 can be a multi-threshold fiber optic amplifier, and the detection sensor 9 can be a fiber optic sensor.

[0064] Because the test tube and the test tube cap are made of different materials, they reflect light differently. Therefore, by combining the detection sensor 9 with the signal amplifier 8, the technical effect of detecting whether there is a test tube cap on the test tube can be achieved.

[0065] Optionally, in some other embodiments, the detection module 2 is disposed on the gripping device 5.

[0066] With this configuration, detection module 2 only needs to detect whether there is a first detection object in a small nearby area, which reduces the technical requirements for detection module 2.

[0067] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0068] A method for using an intelligent grasping system, as shown in the attached figure. Figure 4 As shown, it includes the following steps:

[0069] S1: The main control module 4 controls the movement of the grasping module 1 through the drive module 3 and controls the detection module 2 to detect whether there is a first detection object;

[0070] S2: Detection module 2 detects the first object and sends re-inspection information to main control module 4;

[0071] S3: The main control module 4 controls the detection module 2 according to the re-inspection information;

[0072] S4: The detection module 2 sends feedback information to the main control module 4 based on the detection result of the second detection object;

[0073] S5: The main control module 4 controls the drive module 3 based on the feedback information;

[0074] Specifically, in other embodiments, in step S1, the user controls the drive module 3 through the main control module 4 to control the grasping module 1, and in step S2, the user can also control the detection module 2 through the main control module 4.

[0075] The user first controls the drive module 3 through the main control module 4, thereby indirectly controlling the grasping module 1. Then, the main control module 4 starts the detection module 2. The detection module 2 detects whether there is a first detection object near the grasping module 1. If the first detection object is detected, the grasping module 1 stops moving and starts detecting the second detection object. Finally, the user decides whether to grasp the object based on the feedback information.

[0076] Optionally, in some other embodiments, step S4 includes:

[0077] S41: The main control module 4 calculates the detection time of the first detection object according to the following formula;

[0078] ;

[0079] Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M Where r is the drive frequency and r is the lead of the transmission device;

[0080] S42: The main control module 4 extends the detection time of the detection module 2 to the duration of the detection time of the second detection object;

[0081] S43: Detection module 2 generates feedback information to main control module 4 based on whether the second detection object is detected.

[0082] This solution avoids wasted detection time or misjudgment due to insufficient detection time by calculating the detection time for the second detection object. It enables accurate and rapid detection of the presence or absence of the first and second detection objects under different detection speeds, different detection object properties, and different drive configurations. Therefore, this solution solves the technical problem of how to improve the efficiency of intelligent detection, thereby achieving the technical effect of how to improve the efficiency of intelligent grasping.

[0083] Optionally, in some other embodiments, step S1: the grasping module 1 includes a grasping device 5 and a moving device 6, and the main control module 4 controls the drive module 3 to make the moving device 6 drive the grasping module 1 to move.

[0084] Optionally, in some other embodiments, step S5: the gripping device 5 includes a plurality of gripper pieces 7, the drive module 3 includes a gripping driver and a moving driver, and the main control module 4 controls all gripper pieces 7 to close together after detecting the presence of the second detection object through the gripping driver.

[0085] Optionally, in some other embodiments, step S2: the detection module 2 is placed on the gripping device 5, and the detection module 2 begins to detect the first object.

[0086] It should be noted that the above embodiments are product embodiments corresponding to the above method embodiments. For the description of each structural device and optional implementation method in this embodiment, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0087] Readers should understand that in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0089] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent grasping system, characterized in that, include: The system comprises a grasping module, a detection module, a driving module, and a main control module. The grasping module is used to grasp a first detection object. The detection module is used to detect the presence of the first detection object and send re-inspection information to the main control module. The main control module is also used to control the detection module to perform a second detection based on the re-inspection information. The detection module is also used to detect the presence of a second detection object on the first detection object and send feedback information to the main control module. The main control module is also used to generate control information based on the feedback information and send it to the driving module. The driving module is used to control the grasping module based on the control information. The main control module is also used to input parameter configuration information, including the length of the object to be detected, the detection coefficient of the object to be detected, the electronic gear ratio of the drive device, the drive frequency, and the lead of the transmission device. The main control module is also used to obtain the detection time of the second object to be detected based on the parameter configuration information, the feedback information, and the following formula: ； Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M The main control module is also used to generate the control information based on the detection time, where r is the driving frequency and r is the lead of the transmission device.

2. The intelligent grasping system according to claim 1, characterized in that: The grasping module includes a grasping device and a moving device, wherein the grasping device is mounted on the moving device.

3. The intelligent grasping system according to claim 2, characterized in that: The drive module includes a gripping driver and a moving driver. The gripping driver is connected to the gripping device, which includes a plurality of gripper pieces. The gripping device is connected to the gripping driver, and the moving driver is connected to the moving device.

4. The intelligent grasping system according to claim 2, characterized in that: The detection module is a detection sensor, and the mobile device is equipped with a signal amplifier.

5. The intelligent grasping system according to claim 2, characterized in that: The detection module is mounted on the gripping device.

6. A method of using an intelligent grasping system, characterized in that... Includes the following steps: S1: The main control module controls the movement of the grasping module and controls the detection module to detect whether there is a first detection object through the drive module; S2: The detection module detects the first detection object and sends re-inspection information to the main control module; S3: The main control module controls the detection module to start detecting the second detection item based on the re-inspection information; S4: The detection module sends feedback information to the main control module based on the detection result of the second detection object; including: S41: The main control module calculates the detection time of the second detectable object according to the following formula; ； Among them, T D The second detection time is L, the length of the detection object is k, the detection coefficient of the detection object is R, the electronic gear ratio of the drive device is F. M Where r is the drive frequency and r is the lead of the transmission device; S42: The main control module extends the detection time of the detection module to the duration of the detection time of the second detection object; S43: The detection module generates feedback information to the main control module based on whether a second detection object is detected; S5: The main control module controls the drive module based on the feedback information.

7. The method of using the intelligent grasping system according to claim 6, characterized in that: Step S1: The grasping module includes a grasping device and a moving device. The main control module controls the drive module to make the moving device drive the grasping module to move.

8. The method of using the intelligent grasping system according to claim 6, characterized in that: Step S5: The gripping device includes several gripper pieces. The drive module includes a gripping driver and a moving driver. After the main control module detects the presence of the second object, it controls all the gripper pieces to close up when they approach the second object through the gripping driver.

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