Parts grasping method and device

Abstract

The present invention discloses a parts grasping method and device. This application uses a visual scanning device to identify the QR code of the part to be grasped, obtains the part size information and the part image; transmits the part image to a server, and receives the part center of gravity position calculated by the server based on the part image; determines a plurality of manipulator tools and the grasping position of each manipulator tool based on the part size information and the part center of gravity position; controls the determined plurality of manipulator tools to the corresponding grasping positions, and completes the grasping operation of the part to be grasped. Through this application, the stability of the part during the grasping process can be improved to ensure the safety level of the part processing process, while improving the degree of automation of the part grasping project.

Description

Technical Field

[0001] The present invention relates to the field of ship hull workpiece processing, and in particular to a parts grabbing method and device. Background Art

[0002] With the rapid development of vision, sensor, and control technologies, robots are increasingly being used in polishing systems. Because robots have multiple degrees of freedom, they enable end-of-line tools to achieve extended, adjustable positions, enabling them to handle large, complex, and heavy workpieces. Furthermore, polishing robots can be equipped with various sensors, such as vision sensors and force control sensors, to achieve adaptive and automated control of the polishing process. Compared to manual polishing, robots can perform repetitive operations with higher polishing accuracy and greater removal capacity, effectively reducing costs while ensuring product consistency and precision.

[0003] However, due to the large variety of hull parts and the heavy weight of each part, safety accidents can easily occur when the grasping force is insufficient due to the incorrect selection of the grasping tool. At the same time, when the grasping force is too strong, multiple parts will be grasped at the same time, which will affect the subsequent part processing process, requiring further human processing and reducing the degree of automation of the entire process. In addition, inaccurate judgment of the part grasping point can also lead to uneven distribution of grasping force during the part grasping process, causing the part to fall during the grasping and moving process, resulting in safety accidents.

[0004] Therefore, how to ensure that parts can be grasped firmly and effectively when grasping parts and improve the degree of automation of the entire part grasping process is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The present invention provides a parts grasping method and device to solve the technical problems that when using a robot to grasp parts, insufficient force or excessive force may occur, resulting in grasping multiple parts, and incorrect grasping position may lead to uneven distribution of part grasping force, thereby resulting in low safety and low degree of automation in the parts handling process.

[0006] In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a method comprising:

[0007] Identify the QR code of the part to be grasped through the visual scanning device to obtain the part size information and part image;

[0008] Transmitting the part image to a server, and receiving a center of gravity position of the part calculated by the server based on the part image;

[0009] Determining a plurality of manipulator tools and a gripping position of each manipulator tool according to the part size information and the center of gravity position of the part;

[0010] Control the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped.

[0011] Compared with the existing technology, the embodiments of the present invention have the following beneficial effects: by marking QR code information on the parts, the accurate part size is obtained, and the part weight is calculated according to the part size, and the appropriate manipulator tool is selected; at the same time, based on the image recognition technology, the center of gravity position of the part is obtained, and the reasonable grasping point position is calculated according to the center of gravity position, thereby ensuring that the grasping force is evenly distributed when grasping the parts, and effectively improving the stability of subsequent parts during the movement after being grasped; in addition, combined with the visual scanning device, the grasping points of each part and the center of gravity position of the part can be accurately and automatically judged and calculated, and the manipulator automatically moves according to the precise point data, thereby improving the degree of automation in the part grasping process.

[0012] In an embodiment of the first aspect, determining a plurality of manipulator tools and a grasping position of each manipulator tool according to the part size information and the center of gravity position of the part includes:

[0013] Calculating the weight of the part based on the part size information, and determining a number of manipulator tools for grasping the part based on the part weight; the manipulator tools include: a first manipulator and a second manipulator;

[0014] According to the determined plurality of manipulator tools and the center of gravity position of the part, the grasping position of each manipulator tool is obtained.

[0015] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: through dimensional information, combined with the physical properties of the part's material, the gravity of the part can be accurately estimated, thereby selecting a suitable grasping tool; then, based on the number of grasping tools and the position of the part's center of gravity, the distribution of the grasping points of each grasping tool can be accurately obtained, ensuring that the force distribution of the part during the grasping process is uniform, thereby improving the safety of the part during processing.

[0016] In an embodiment of the first aspect, calculating the weight of the part based on the part size information, and determining a number of manipulator tools for the grasping operation based on the part weight, includes:

[0017] Determining whether the weight of the part is greater than a first preset value;

[0018] If it is greater, the first manipulator and the second manipulator are determined to be used for the grasping operation; otherwise, the second manipulator is determined to be used for the grasping operation.

[0019] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: when the weight of a part is too heavy, two manipulators can collaboratively grasp the part, thereby improving the gripping strength during the grasping process of the large part.

[0020] In an embodiment of the first aspect, obtaining a grasping position of each of the manipulator tools according to the determined plurality of manipulator tools and the center of gravity position of the part includes:

[0021] Determining whether the number of the determined manipulator tool is a single one;

[0022] If so, the center of gravity position of the part is used as the grasping position of the manipulator tool;

[0023] Otherwise, according to the shape of the part to be grasped, the two sides of the center of gravity position of the part are determined as the grasping positions of the first manipulator and the second manipulator respectively; the symmetry lines of the grasping positions of the first manipulator and the second manipulator intersect with the center of gravity position of the part.

[0024] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: when two manipulators are used to grasp parts, the grasping points on both sides of the center of gravity of the part are obtained according to the position of the center of gravity of the part and the shape of the part to be grasped, and the connecting lines of the points on both sides are ensured to intersect at the center of gravity of the part, thereby further ensuring that the strength points of the grasping force on both sides will not be skewed, thereby improving the stability of subsequent parts during movement.

[0025] In an embodiment of the first aspect, controlling the determined plurality of manipulator tools to corresponding grasping positions to complete the grasping operation of the part to be grasped includes:

[0026] At the same time, the center line of each manipulator tool is controlled to intersect with the corresponding grasping position, and the part to be grasped is grasped through the magnetic suction function.

[0027] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: through the center line of the manipulator tool, it is accurately judged whether the manipulator tool has fallen into the specified grasping position, and this judgment method can be easily implemented through visual image processing technology, thereby improving the degree of automation of the part grasping process.

[0028] In an embodiment of the first aspect, transmitting the part image to a server, and receiving the center of gravity position of the part calculated by the server based on the part image, comprises:

[0029] The center of gravity position of the part is obtained by the server processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box.

[0030] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: through the visual scanning device, the size information and center of gravity point information of the parts can be accurately obtained, thereby improving the accuracy and automation of subsequent robot operations.

[0031] In a second aspect, an embodiment of the present invention further provides a part grasping device, comprising: a visual scanning module, a part gravity center calculation module, a part grasping operation determination module, and a manipulator control module;

[0032] The visual scanning module is used to identify the QR code of the part to be grasped through a visual scanning device to obtain the part size information and part image;

[0033] The part gravity center calculation module is used to transmit the part image to the server and receive the part gravity center position calculated by the server based on the part image;

[0034] The part grabbing operation determination module is used to determine a plurality of manipulator tools and a grabbing position of each manipulator tool according to the part size information and the center of gravity position of the part;

[0035] The manipulator control module is used to control the determined manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped.

[0036] In one embodiment of the second aspect, the part grasping operation determination module includes: a manipulator tool selection unit and a grasping position calculation unit;

[0037] The manipulator tool selection unit is used to calculate the part gravity according to the part size information, and determine a number of manipulator tools for grasping operations according to the part gravity; the manipulator tools include: a first manipulator and a second manipulator;

[0038] The gripping position calculation unit is used to obtain the gripping position of each of the manipulator tools according to the determined manipulator tools and the center of gravity position of the part.

[0039] In an embodiment of the second aspect, the manipulator tool selection unit includes: a first judgment subunit and a first execution subunit;

[0040] Wherein, the first judging subunit is used to judge whether the gravity of the part is greater than a first preset value;

[0041] The first execution subunit is configured to determine that the first manipulator and the second manipulator are used for the grasping operation if is greater than ; otherwise, determine that the second manipulator is used for the grasping operation.

[0042] In an embodiment of the second aspect, the grasping position calculation unit includes: a second judgment subunit, a second execution subunit, and a third execution subunit;

[0043] Wherein, the second judgment subunit is used to determine whether the number of the manipulator tool is single;

[0044] The second execution subunit is configured to use the center of gravity position of the part as the grasping position of the manipulator tool if yes;

[0045] The third execution subunit is used to determine the two sides of the center of gravity position of the part as the grasping positions of the first manipulator and the second manipulator respectively according to the shape of the part to be grasped; the symmetry lines of the grasping positions of the first manipulator and the second manipulator intersect with the center of gravity position of the part.

[0046] In an embodiment of the second aspect, the manipulator control module is configured to control the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the part to be grasped, including:

[0047] At the same time, the center line of each manipulator tool is controlled to intersect with the corresponding grasping position, and the part to be grasped is grasped through the magnetic suction function.

[0048] In an embodiment of the second aspect, the part center of gravity calculation module is configured to transmit the part image to a server and receive a part center of gravity position calculated by the server based on the part image, comprising:

[0049] The center of gravity position of the part is obtained by the server processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic flow chart of an embodiment of a parts grasping method provided by the present invention;

[0051] Figure 2 A schematic diagram of a visual scanning hopper parts device according to an embodiment of a parts grabbing method provided by the present invention;

[0052] Figure 3 A schematic diagram of a minimum bounding box of a part obtained by an embodiment of a part grasping method provided by the present invention;

[0053] Figure 4 A schematic diagram of the distribution of 28 part types and corresponding robot gripping points in an embodiment of a part gripping method provided by the present invention;

[0054] Figure 5 A schematic structural diagram of a manipulator tool used in an embodiment of a parts grasping method provided by the present invention;

[0055] Figure 6 A schematic structural diagram of an embodiment of a parts grasping device provided by the present invention;

[0056] Figure 7 This is a structural diagram of a part grasping operation determination module in an embodiment of a part grasping device provided by the present invention. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] Example 1

[0059] Please refer to Figure 1 , a parts grasping method provided by an embodiment of the present invention includes S101 to S104, specifically:

[0060] S101: Identify the QR code of the part to be grasped through a visual scanning device to obtain part size information and part image.

[0061] Preferably, reference Figure 2 , which is a schematic diagram of the visual scanning hopper parts device. When the incoming parts are mixed and placed in the parts hopper in a disordered manner, the robot scans and identifies the QR code of the top workpiece through the visual scanning device 1, and obtains the workpiece size information (length × width × thickness). Based on the size information, the weight information of the steel workpiece can be quickly calculated. Assuming that the part thickness obtained from the part QR code is 10mm, the minimum bounding box size is calculated to be 150mm×300mm. Based on the carbon steel material density of 7.85g / cm 3 , we can get the grasping force F = 10mm × 150mm × 300mm × 10 -3 cm 3 / mm 3 ×7.85g / cm 3 ×10 -3 kg / g×9.8N / kg=34.6N.

[0062] S102: Transmitting the part image to a server, and receiving the center of gravity position of the part calculated by the server based on the part image.

[0063] Furthermore, the transmitting the part image to the server and receiving the part center of gravity position calculated by the server based on the part image includes:

[0064] The center of gravity position of the part is obtained by the server processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box.

[0065] Through the visual scanning device, the size information and center of gravity point information of the parts can be accurately obtained, which improves the accuracy and automation level of subsequent robot operations.

[0066] Preferably, reference Figure 3 , is the minimum bounding box of the part obtained by visual scanning. The visual scanning device 1 transmits the workpiece image to the background computer through the workshop wireless network, and obtains the minimum bounding box of the workpiece (such as Figure 3 As shown in Figure 3), the center of gravity position information of the workpiece can be calculated based on the minimum bounding box of the workpiece.

[0067] Preferably, after the server obtains the workpiece image, the minimum bounding box size can be calculated by the following steps:

[0068] The key to determining the minimum bounding box is to first determine the main axis direction of the minimum bounding box by obtaining the x and y components of a series of point coordinates of the graphic object.

[0069] First, the covariance matrix is ​​obtained according to the following formula:

[0070] C i,j = Cov(x i ,y j )=E[(x i -u i )(y j -u j )]i,j=1,2,…,n

[0071]

[0072] Among them, C is a symmetric matrix; C i,j is the element in row i and column j of C; Cov() is the covariance calculation function; E() is the expected value calculation function; u i and u j are the mean values ​​of x and y respectively.

[0073] After that, project the coordinate point onto the direction vector and find the maximum and minimum values ​​of the x and y components in each direction, which are recorded as k=0,1, the center of the minimum bounding box and the half length of the minimum bounding box are obtained by the following distribution:

[0074]

[0075] Among them, O is the center of the minimum bounding box; is the half length of the minimum bounding box; [P 0 ,P 1 ] is the assumed determined direction vector.

[0076] S103: Determine a plurality of manipulator tools and a gripping position of each manipulator tool according to the part size information and the center of gravity position of the part.

[0077] Furthermore, the determining of a plurality of manipulator tools and a gripping position of each manipulator tool according to the part size information and the center of gravity position of the part includes:

[0078] Calculating the weight of the part based on the part size information, and determining a number of manipulator tools for grasping the part based on the part weight; the manipulator tools include: a first manipulator and a second manipulator;

[0079] According to the determined plurality of manipulator tools and the center of gravity position of the part, the grasping position of each manipulator tool is obtained.

[0080] By using dimensional information combined with the physical properties of the part's material, the gravity of the part can be accurately estimated, allowing the appropriate gripping tool to be selected. Then, based on the number of gripping tools and the position of the part's center of gravity, the distribution of the gripping points of each gripping tool can be accurately determined, ensuring uniform force distribution on the part during gripping, thereby improving safety during part handling.

[0081] Preferably, reference Figure 4 , are the robot's first manipulator TOOL1 and the second manipulator TOOL2.

[0082] Furthermore, the determining of a plurality of manipulator tools and a gripping position of each manipulator tool according to the part size information and the center of gravity position of the part includes:

[0083] Calculating the weight of the part based on the part size information, and determining a number of manipulator tools for grasping the part based on the part weight; the manipulator tools include: a first manipulator and a second manipulator;

[0084] According to the determined plurality of manipulator tools and the center of gravity position of the part, the grasping position of each manipulator tool is obtained.

[0085] When the weight of the parts is too large, two manipulators can work together to grasp them, thereby improving the grip strength during the grasping process of large parts.

[0086] Preferably, the appropriate robot tool can be selected based on the part length calculated by the minimum bounding box. For example, when the part length is greater than 500 mm, the first robot TOOL1 and the second robot TOOL2 are selected; when the part length is less than 500 mm, the second robot TOOL2 is selected.

[0087] Furthermore, the obtaining of the grasping position of each manipulator tool according to the determined plurality of manipulator tools and the center of gravity position of the part includes:

[0088] Determining whether the number of the determined manipulator tool is a single one;

[0089] If so, the center of gravity position of the part is used as the grasping position of the manipulator tool;

[0090] Otherwise, according to the shape of the part to be grasped, the two sides of the center of gravity position of the part are determined as the grasping positions of the first manipulator and the second manipulator respectively; the symmetry lines of the grasping positions of the first manipulator and the second manipulator intersect with the center of gravity position of the part.

[0091] When two manipulators are used to grasp parts, the grasping points on both sides of the part's center of gravity are obtained according to the position of the part's center of gravity and the shape of the part to be grasped, and the lines connecting the points on both sides are ensured to intersect at the part's center of gravity, thereby further ensuring that the gripping points on both sides will not be skewed, thereby improving the stability of subsequent parts during movement.

[0092] Preferably, reference Figure 5 , which shows the gripping points of the robot tool for parts of different shapes. When two robot tools are used for gripping, the two robot tools are distributed along the length of the workpiece on both sides of the center of gravity. At the same time, because there are workpieces with a center of gravity outside the workpiece contour, when gripping such workpieces, the robot tool's gripping position must be within the workpiece contour, and the robot tool's center line (or the symmetry line of the two robots when two robots are used) must intersect the workpiece's center of gravity.

[0093] S104: Control the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped.

[0094] Furthermore, the controlling of the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped includes:

[0095] At the same time, the center line of each manipulator tool is controlled to intersect with the corresponding grasping position, and the part to be grasped is grasped through the magnetic suction function.

[0096] Through the center line of the manipulator tool, it is accurately judged whether the manipulator tool has fallen into the specified grasping position, and this judgment method can be easily implemented through visual image processing technology, thereby improving the degree of automation of the part grasping process.

[0097] In summary, the parts grasping method provided by the embodiment of the present invention has the following beneficial effects compared with the existing technology: by marking QR code information on the part, the accurate part size is obtained, and the part weight is calculated according to the part size, and the appropriate manipulator tool is selected; at the same time, according to the image recognition technology, the center of gravity position of the part is obtained, and the reasonable grasping point position is calculated according to the center of gravity position, so as to ensure that the grasping force is evenly distributed when grasping the part, and effectively improve the stability of the subsequent parts during the movement after being grasped; in addition, combined with the visual scanning device, the grasping points of each part and the center of gravity position of the part can be accurately and automatically judged and calculated, and the manipulator moves automatically according to the precise point data, thereby improving the degree of automation in the part grasping process.

[0098] Example 2

[0099] refer to Figure 6 , which is a structural schematic diagram of an embodiment of a part grasping device provided by an embodiment of the present invention, including: a visual scanning module 11, a part center of gravity calculation module 12, a part grasping operation determination module 13 and a manipulator control module 14.

[0100] Furthermore, the visual scanning module 11 is used to identify the QR code of the part to be grasped through a visual scanning device to obtain the part size information and the part image; the part center of gravity calculation module 12 is used to transmit the part image to the server and receive the part center of gravity position calculated by the server based on the part image; the part grasping operation determination module 13 is used to determine a number of manipulator tools and the grasping position of each manipulator tool based on the part size information and the part center of gravity position; the manipulator control module 14 is used to control the determined number of manipulator tools to the corresponding grasping position to complete the grasping operation of the part to be grasped.

[0101] Furthermore, the part center of gravity calculation module 12 is used to transmit the part image to the server and receive the part center of gravity position calculated by the server based on the part image, including: the part center of gravity position is obtained by the server after processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box.

[0102] Furthermore, the manipulator control module 14 is used to control the determined several manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped, including: simultaneously controlling the center line of each manipulator tool to intersect with the corresponding grasping position, and grasping the parts to be grasped through the magnetic suction function.

[0103] refer to Figure 7 , which is a structural diagram of a part grasping operation determination module 13 in a part grasping device provided in an embodiment of the present invention, including: a manipulator tool selection unit 131 and a grasping position calculation unit 132; wherein, the manipulator tool selection unit 131 includes: a first judgment subunit 1311 and a first execution subunit 1312; the grasping position calculation unit 132 includes: a second judgment subunit 1321, a second execution subunit 1322 and a third execution subunit 1323.

[0104] Furthermore, the manipulator tool selection unit 131 is used to calculate the part gravity based on the part size information, and determine several manipulator tools for grasping operations based on the part gravity; the manipulator tools include: a first manipulator and a second manipulator; the grasping position calculation unit 132 is used to obtain the grasping position of each manipulator tool based on the determined several manipulator tools and the center of gravity position of the part.

[0105] Furthermore, the first judging subunit 1311 is used to judge whether the gravity of the part is greater than a first preset value; the first executing subunit 1312 is used to determine whether the first manipulator and the second manipulator are used for the grasping operation if it is greater; otherwise, determine that the second manipulator is used for the grasping operation.

[0106] Furthermore, the second judgment subunit 1321 is used to determine whether the number of the manipulator tool is single; the second execution subunit 1322 is used to, if so, use the center of gravity position of the part as the grasping position of the manipulator tool; the third execution subunit 1323 is used to, otherwise, determine the two sides of the center of gravity position of the part as the grasping positions of the first manipulator and the second manipulator respectively according to the shape of the part to be grasped; the symmetry line of the grasping positions of the first manipulator and the second manipulator intersects with the center of gravity position of the part.

[0107] In summary, the parts grasping device provided by the embodiment of the present invention has the following beneficial effects compared with the existing technology: by marking QR code information on the parts, the accurate part size is obtained, and the part weight is calculated according to the part size, and the appropriate manipulator tool is selected; at the same time, according to the image recognition technology, the center of gravity position of the part is obtained, and the reasonable grasping point position is calculated according to the center of gravity position, so as to ensure that the grasping force is evenly distributed when grasping the parts, and effectively improve the stability of subsequent parts during the movement after being grasped; in addition, combined with the visual scanning device, it can accurately and automatically judge and calculate the grasping points of each part and the center of gravity position of the part, and the manipulator moves automatically according to the precise point data, thereby improving the degree of automation in the part grasping process.

[0108] Example 3

[0109] Based on the above-mentioned embodiment of the part grasping method, another embodiment of the present invention provides a part grasping terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the part grasping method of any embodiment of the present invention.

[0110] For example, in this embodiment, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the parts grasping device.

[0111] The parts grabbing device may be a computing device such as a desktop computer, a notebook computer, a palmtop computer, a cloud server, etc. The parts grabbing terminal device may include, but is not limited to, a processor and a memory.

[0112] The processor can be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor serves as the control center of the part gripping device, connecting the various components of the entire part gripping device using various interfaces and circuits. The memory can be used to store the computer programs and / or modules. The processor implements the various functions of the part gripping device by running or executing the computer programs and / or modules stored in the memory and accessing data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function, etc.; the data storage area can store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0113] Example 4

[0114] Based on the above-mentioned embodiment of the part grasping method, another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the part grasping method of any embodiment of the present invention.

[0115] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0116] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A parts grasping method, characterized in that: include: Identify the QR code of the part to be grasped through the visual scanning device to obtain the part size information and part image; Transmitting the part image to a server, and receiving a center of gravity position of the part calculated by the server based on the part image; Determining a plurality of manipulator tools and a gripping position of each manipulator tool according to the part size information and the center of gravity position of the part; Controlling the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped; The determining of a plurality of manipulator tools and a grasping position of each manipulator tool according to the part size information and the center of gravity position of the part includes: Calculating the weight of the part based on the part size information, and determining a number of manipulator tools for grasping the part based on the part weight; the manipulator tools include: a first manipulator and a second manipulator; According to the determined plurality of manipulator tools and the center of gravity position of the part, a grasping position of each manipulator tool is obtained; The step of obtaining the grasping position of each of the manipulator tools according to the determined plurality of manipulator tools and the center of gravity position of the part comprises: Determining whether the number of the determined manipulator tool is a single one; If so, the center of gravity position of the part is used as the grasping position of the manipulator tool; Otherwise, according to the shape of the part to be grasped, the two sides of the center of gravity position of the part are determined as the grasping positions of the first manipulator and the second manipulator respectively; the symmetry lines of the grasping positions of the first manipulator and the second manipulator intersect with the center of gravity position of the part.

2. A parts grasping method according to claim 1, characterized in that: The calculating the weight of the part according to the part size information and determining a number of manipulator tools for the grasping operation according to the part weight include: Determining whether the weight of the part is greater than a first preset value; If it is greater, the first manipulator and the second manipulator are determined to be used for the grasping operation; otherwise, the second manipulator is determined to be used for the grasping operation.

3. A parts grasping method according to claim 1, characterized in that: The controlling of the determined plurality of manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped includes: At the same time, the center line of each manipulator tool is controlled to intersect with the corresponding grasping position, and the part to be grasped is grasped through the magnetic suction function.

4. A parts grasping method according to claim 1, characterized in that: The transmitting the part image to the server and receiving the center of gravity position of the part calculated by the server based on the part image includes: The center of gravity position of the part is obtained by the server processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box.

5. A parts grasping device, characterized in that: include: Visual scanning module, part gravity center calculation module, part grabbing operation determination module and manipulator control module; The visual scanning module is used to identify the QR code of the part to be grasped through a visual scanning device to obtain the part size information and part image; The part gravity center calculation module is used to transmit the part image to the server and receive the part gravity center position calculated by the server based on the part image; The part grabbing operation determination module is used to determine a plurality of manipulator tools and a grabbing position of each manipulator tool according to the part size information and the center of gravity position of the part; The manipulator control module is used to control the determined manipulator tools to the corresponding grasping positions to complete the grasping operation of the part to be grasped; The said grasping part operation determination module comprises: a manipulator tool selection unit and a grasping position calculation unit; The manipulator tool selection unit is used to calculate the part gravity according to the part size information, and determine a number of manipulator tools for grasping operations according to the part gravity; the manipulator tools include: a first manipulator and a second manipulator; The gripping position calculation unit is used to obtain the gripping position of each of the manipulator tools according to the determined manipulator tools and the center of gravity position of the part; The grasping position calculation unit includes: a second judgment subunit, a second execution subunit and a third execution subunit; Wherein, the second judgment subunit is used to determine whether the number of the manipulator tool is single; The second execution subunit is configured to use the center of gravity position of the part as the grasping position of the manipulator tool if yes; The third execution subunit is used to determine the two sides of the center of gravity position of the part as the grasping positions of the first manipulator and the second manipulator respectively according to the shape of the part to be grasped; the symmetry lines of the grasping positions of the first manipulator and the second manipulator intersect with the center of gravity position of the part.

6. A parts grasping device according to claim 5, characterized in that: The manipulator tool selection unit includes: a first judgment subunit and a first execution subunit; Wherein, the first judging subunit is used to judge whether the gravity of the part is greater than a first preset value; The first execution subunit is configured to determine that the first manipulator and the second manipulator are used for the grasping operation if is greater than ; otherwise, determine that the second manipulator is used for the grasping operation.

7. A parts grasping device according to claim 5, characterized in that: The manipulator control module is used to control the determined manipulator tools to the corresponding grasping positions to complete the grasping operation of the parts to be grasped, including: At the same time, the center line of each manipulator tool is controlled to intersect with the corresponding grasping position, and the part to be grasped is grasped through the magnetic suction function.

8. A parts grasping device according to claim 5, characterized in that: The part gravity center calculation module is used to transmit the part image to the server and receive the part gravity center position calculated by the server based on the part image, including: The center of gravity position of the part is obtained by the server processing the part image to obtain the minimum bounding box of the part to be grasped and calculating the center of the minimum bounding box.

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