Workpiece grabbing method and device, computer device and readable storage medium

Abstract

The application relates to a workpiece grabbing method and device, computer equipment and a computer readable storage medium. The method comprises the following steps: selecting at least one workpiece as a target workpiece combination from a workpiece set to be grabbed according to workpiece information indicated in a workpiece nesting drawing and a grabbing constraint condition of a workpiece grabber; deleting the workpieces in the target workpiece combination from the workpiece set to be grabbed, and returning to the step of selecting the target workpiece combination until the workpiece set to be grabbed is empty; determining a first barycentric position of each workpiece in the target workpiece combination and a second barycentric position of the target workpiece combination according to the workpiece information, so as to calculate a target grabbing parameter of the workpiece grabber for the target workpiece combination; and controlling the workpiece grabber to grab the target workpiece combination according to the target grabbing parameter when sorting workpieces. The method can grab at least one workpiece at a time when sorting workpieces, thereby improving the workpiece sorting efficiency.

Description

Technical Field

[0001] This application relates to the field of automatic workpiece sorting technology, and in particular to a workpiece gripping method, apparatus, computer equipment, and computer-readable storage medium. Background Technology

[0002] In the operation scenarios of steel plate cutting, blanking and sorting, when sorting workpieces, they are usually sorted one by one in a preset order. For example, automated equipment such as end effectors pick up workpieces one by one. When there are a large number of workpieces obtained from steel plate cutting, this method of picking up workpieces one by one will result in a long workpiece sorting process and low workpiece sorting efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide a workpiece gripping method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can improve workpiece sorting efficiency in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a workpiece gripping method, including:

[0005] Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram;

[0006] Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and grasping constraints.

[0007] Remove the workpieces from the target workpiece set from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece set based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0008] For each target workpiece combination, based on the workpiece information, determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination, and based on the first center of gravity position and the second center of gravity position, determine the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0009] When sorting workpieces, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters.

[0010] In one embodiment, selecting at least one workpiece as a target workpiece combination from the set of workpieces to be grasped, based on workpiece information and grasping constraints, includes:

[0011] Based on the workpiece information, determine the weight and center of gravity of each workpiece in the set of workpieces to be gripped, as well as the starting workpiece at the gripping start position;

[0012] The starting workpiece is used as the first workpiece in the initial workpiece combination. If the weight of the starting workpiece meets the gripping constraint, the target workpiece is selected from the set of workpieces to be gripped and added to the initial workpiece combination according to the gripping constraint. This process continues until the initial workpiece combination no longer meets the gripping constraint. The latest initial workpiece combination is then used as the target workpiece combination.

[0013] In one embodiment, the gripping constraints include gripping size constraints and gripping weight constraints;

[0014] If the weight of the initial workpiece satisfies the gripping constraints, a target workpiece is selected from the set of workpieces to be gripped and added to the initial workpiece combination according to the gripping constraints, until the initial workpiece combination no longer satisfies the gripping constraints. The latest initial workpiece combination is then used as the target workpiece combination, including:

[0015] If the weight of the starting workpiece meets the gripping weight constraint, the center of gravity position of the starting workpiece is used as the reference position of the center of gravity, and the target workpiece whose center of gravity position is closest to the reference position of the center of gravity is selected from the set of workpieces to be gripped.

[0016] If the total weight of the initial workpiece assembly and the target workpiece meets the gripping weight constraint, and the distance between the center of gravity of the initial workpiece assembly and the target workpiece meets the gripping size constraint, then add the target workpiece into the initial workpiece assembly.

[0017] Based on the average center of gravity position of the workpieces in the initial workpiece combination, update the center of gravity reference position, and return to the step of selecting the target workpiece whose center of gravity position is closest to the center of gravity reference position from the set of workpieces to be grasped, until the initial workpiece combination no longer meets the grasping weight constraint or grasping size constraint, and the latest initial workpiece combination is used as the target workpiece combination.

[0018] In one embodiment, the target gripping parameters of the workpiece gripper for the target workpiece combination are determined based on the first center of gravity position and the second center of gravity position, including:

[0019] Obtain the gripping point parameters of the workpiece gripper;

[0020] When the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece combination as a whole based on the second center of gravity position and gripping point parameters, and the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece combination based on the first center of gravity position and gripping point parameters, the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0021] In one embodiment, the workpiece gripping method further includes:

[0022] If the initial gripping parameters do not meet the gripping conditions of the target workpiece combination as a whole, or do not meet the gripping conditions of any workpiece in the target workpiece combination, the initial gripping parameters are adjusted until the adjusted gripping parameters meet the gripping conditions of the target workpiece combination as a whole, and also meet the gripping conditions of each workpiece in the target workpiece combination, thus obtaining the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0023] In one embodiment, the workpiece gripping method further includes:

[0024] Determine the gripping point used to grip the target workpiece combination when the workpiece gripper grips the target workpiece combination according to the initial gripping parameters;

[0025] Based on the distribution of gripping points and gripping force used to grip the target workpiece assembly, as well as the position of the second center of gravity, the gripping force of the workpiece gripper applied to the second center of gravity is determined.

[0026] If the gripping force applied to the center of gravity of the target workpiece assembly satisfies the gripping conditions of the target workpiece assembly as a whole, then the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece assembly as a whole.

[0027] In one embodiment, the workpiece gripping method further includes:

[0028] For each workpiece in the target workpiece assembly, determine the gripping point used to grip the workpiece when the workpiece gripper grips the target workpiece assembly according to the initial gripping parameters;

[0029] Based on the distribution of gripping points and gripping force used to grip the workpiece, as well as the first center of gravity position of the workpiece, determine the gripping force of the workpiece gripper acting on the first center of gravity position of the workpiece.

[0030] If the gripping force applied to the first center of gravity position of each workpiece in the target workpiece assembly satisfies the gripping conditions of each workpiece, then the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece assembly.

[0031] Secondly, this application also provides a workpiece gripping device, comprising:

[0032] The grasping constraint acquisition module is used to acquire workpiece information and grasping constraint conditions of the workpiece gripper from the workpiece nesting diagram.

[0033] The workpiece combination selection module is used to determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece as the target workpiece combination based on the workpiece information and grasping constraints.

[0034] The workpiece combination cyclic selection module is used to remove workpieces from the target workpiece combination from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece combination based on workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0035] The grasping parameter determination module is used to determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination based on the workpiece information, and to determine the target grasping parameters of the workpiece gripper for the target workpiece combination based on the first center of gravity position and the second center of gravity position.

[0036] The workpiece combination gripping control module is used to control the workpiece gripper to grip the target workpiece combination according to the target gripping parameters when sorting workpieces.

[0037] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0038] Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram;

[0039] Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and grasping constraints.

[0040] Remove the workpieces from the target workpiece set from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece set based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0041] For each target workpiece combination, based on the workpiece information, determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination, and based on the first center of gravity position and the second center of gravity position, determine the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0042] When sorting workpieces, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters.

[0043] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0044] Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram;

[0045] Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and grasping constraints.

[0046] Remove the workpieces from the target workpiece set from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece set based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0047] For each target workpiece combination, based on the workpiece information, determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination, and based on the first center of gravity position and the second center of gravity position, determine the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0048] When sorting workpieces, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters.

[0049] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0050] Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram;

[0051] Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and grasping constraints.

[0052] Remove the workpieces from the target workpiece set from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece set based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0053] For each target workpiece combination, based on the workpiece information, determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination, and based on the first center of gravity position and the second center of gravity position, determine the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0054] When sorting workpieces, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters.

[0055] The aforementioned workpiece gripping method, apparatus, computer equipment, computer-readable storage medium, and computer program product first acquire workpiece information from the workpiece nesting diagram and the gripping constraints of the workpiece gripper, and determine the set of workpieces to be gripped indicated by the workpiece information. Then, based on the workpiece information and gripping constraints, at least one workpiece is selected from the set of workpieces to be gripped as a target workpiece combination. Next, workpieces in the target workpiece combination are removed from the set of workpieces to be gripped, and the process returns to the step of selecting at least one workpiece from the set of workpieces to be gripped as a target workpiece combination based on the workpiece information and gripping constraints, until the set of workpieces to be gripped is empty. For each target workpiece combination, the first centroid position of each workpiece in the target workpiece combination and the second centroid position of the target workpiece combination can be determined based on the workpiece information. Based on the first and second centroid positions, the target gripping parameters of the workpiece gripper for the target workpiece combination are determined. Then, during workpiece sorting, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters. Therefore, by adopting the above workpiece gripping method, during the workpiece sorting process, at least one workpiece can be gripped at once, such as multiple workpieces, by gripping a combination of target workpieces, thereby improving workpiece sorting efficiency. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is an application environment diagram of the workpiece gripping method in one embodiment;

[0058] Figure 2 This is a flowchart illustrating a workpiece gripping method in one embodiment;

[0059] Figure 3 This is a flowchart illustrating the process of selecting a target workpiece combination in one embodiment;

[0060] Figure 4 This is a schematic diagram of the workpiece nesting diagram in one embodiment;

[0061] Figure 5 This is a flowchart illustrating the selection of a target workpiece combination in another embodiment;

[0062] Figure 6 This is a flowchart illustrating a workpiece gripping method in one embodiment, including how to determine target gripping parameters;

[0063] Figure 7This is a schematic diagram of a magnetic attraction point provided at the end of the workpiece gripper in one embodiment;

[0064] Figure 8 This is a schematic diagram of a workpiece gripper gripping a target workpiece combination according to the target gripping parameters of the target workpiece combination in one embodiment.

[0065] Figure 9 This is a flowchart illustrating the workpiece gripping method in another embodiment;

[0066] Figure 10 This is a structural block diagram of the workpiece gripping device in one embodiment;

[0067] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0069] The workpiece gripping method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, server 102 can pre-store workpiece nesting diagrams and pre-configured gripping constraints of workpiece gripper 104, and server 102 can control workpiece gripper 104 to perform gripping operations. Specifically, server 102 can obtain workpiece information from the workpiece nesting diagram and gripping constraints of workpiece gripper 104 from the stored data, thereby determining the set of workpieces to be gripped indicated by the workpiece information. Further, server 102 can select at least one workpiece as a target workpiece combination from the set of workpieces to be gripped based on the workpiece information and gripping constraints, delete the workpieces in the target workpiece combination from the set of workpieces to be gripped, and then return to the step of selecting at least one workpiece as a target workpiece combination based on the workpiece information and gripping constraints, until the set of workpieces to be gripped is empty. For each target workpiece combination, server 102 can determine the first centroid position of each workpiece in the target workpiece combination and the second centroid position of the target workpiece combination based on the workpiece information, and determine the target gripping parameters of the workpiece gripper for the target workpiece combination based on the first centroid position and the second centroid position. Based on this, during workpiece sorting, server 102 can control workpiece gripper 104 to grip target workpiece combinations according to target gripping parameters. Server 102 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Workpiece gripper 104 can be an end effector or other automated equipment, which can accurately and efficiently grip and move workpieces using suction cups, clamps, magnetic attraction, etc., realizing material transfer and processing in automated production processes.

[0070] In one exemplary embodiment, such as Figure 2 As shown, a workpiece gripping method is provided, which is applied to... Figure 1 Taking server 102 as an example, the explanation includes the following steps 202 to 210. Wherein:

[0071] Step 202: Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram.

[0072] Specifically, a workpiece nesting drawing refers to a design drawing in which multiple parts or sheet metal are placed on the same surface according to certain rules during the manufacturing process to optimize material use and improve production efficiency. This type of drawing is usually generated in computer-aided manufacturing software, which can automatically optimize the layout of multiple parts to ensure the shortest cutting path and highest material utilization. The workpiece information in the workpiece nesting drawing includes various data such as the contour information, size information, position information, thickness information, density information, and weight information of each workpiece. The gripping constraints of the workpiece gripper include: gripping weight constraints (related to the gripping weight capacity of the workpiece gripper) and gripping size constraints (related to the gripping range of the workpiece gripper). If the workpiece gripper grips the workpiece based on the suction force of the suction cups, then the weight constraint is related to the suction force of the suction cups in the workpiece gripper, and the gripping size constraint is related to the coverage area (gripping range) of all the suction cups in the workpiece gripper. If the workpiece gripper grips the workpiece based on the magnetic force of the magnetic attraction points, then the weight constraint is related to the magnetic force of the magnetic attraction points in the workpiece gripper, and the gripping size constraint is related to the coverage area (gripping range) of all the magnetic attraction points in the workpiece gripper. If the workpiece gripper grips the workpiece based on the gripper jaws, then the weight constraint is related to the weight that the gripper jaws can grip, and the gripping size constraint is related to the opening size (gripping range) of the gripper jaws.

[0073] Optionally, workers in a workpiece sorting scenario can store pre-designed workpiece nesting diagrams and the gripping constraints of the workpiece gripper obtained through testing in a server, so that the server can obtain workpiece information in the workpiece nesting diagram and the gripping constraints of the workpiece gripper from the stored data.

[0074] Step 204: Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and grasping constraints.

[0075] Optionally, after obtaining the workpiece information, the server can first determine the set of workpieces to be grabbed indicated by the workpiece information, and then select at least one workpiece as the target workpiece combination from the set of workpieces to be grabbed based on the workpiece information and the grabbing constraints, so that the selected target workpiece combination satisfies both the workpiece information and the grabbing constraints and can be grabbed in one go.

[0076] Step 206: Remove the workpieces in the target workpiece combination from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece combination based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty.

[0077] Optionally, the server can remove the workpieces in the target workpiece combination from the workpiece set to be grabbed, and return the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece combination based on the workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty, and end the grouping of workpieces in the workpiece set to be grabbed as indicated by the workpiece information.

[0078] Step 208: For each target workpiece combination, determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination based on the workpiece information, and determine the target gripping parameters of the workpiece gripper for the target workpiece combination based on the first center of gravity position and the second center of gravity position.

[0079] The second center of gravity position of the target workpiece assembly is the average center of gravity position of all workpieces in the target workpiece assembly. The target gripping parameter is the gripping angle of the workpiece gripper. The end of the workpiece gripper can be equipped with a suction cup or magnetic attachment point, and the gripping angle can be adjusted by rotating the end. The target gripping parameter of the workpiece gripper for the target workpiece assembly is characterized as follows: if the workpiece gripper rotates to the target gripping parameter (gripping angle) corresponding to the target workpiece assembly, the workpiece gripper can grip all workpieces in the target workpiece assembly at once.

[0080] Optionally, for each target workpiece assembly, the server can determine the first center of gravity position of each workpiece in the target workpiece assembly and the second center of gravity position of the target workpiece assembly based on the contour information, size information, position information, thickness information, density information, weight information, and other information of each workpiece in the workpiece information. Furthermore, based on the first and second center of gravity positions, the server can calculate the target grasping parameters for the target workpiece assembly, ensuring that both the target workpiece assembly can be successfully grasped as a whole and each individual workpiece in the target workpiece assembly can be successfully grasped individually.

[0081] Step 210: When sorting workpieces, control the workpiece gripper to grip the target workpiece combination according to the target gripping parameters.

[0082] Optionally, when sorting workpieces, for each target workpiece combination, the server can control the workpiece gripper to grab all workpieces in the target workpiece combination at once, based on the corresponding target gripping parameters of that target workpiece combination.

[0083] The above-described workpiece gripping method first obtains the workpiece information and gripping constraints of the workpiece gripper from the workpiece nesting diagram, and determines the set of workpieces to be gripped indicated by the workpiece information. Then, based on the workpiece information and gripping constraints, at least one workpiece is selected from the set of workpieces to be gripped as a target workpiece combination. Next, the workpieces in the target workpiece combination are removed from the set of workpieces to be gripped, and the process returns to the step of selecting at least one workpiece from the set of workpieces to be gripped as a target workpiece combination based on the workpiece information and gripping constraints, until the set of workpieces to be gripped is empty. For each target workpiece combination, the first centroid position of each workpiece in the target workpiece combination and the second centroid position of the target workpiece combination can be determined based on the workpiece information. Based on the first and second centroid positions, the target gripping parameters of the workpiece gripper for the target workpiece combination are determined. Then, during workpiece sorting, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters. Therefore, by using the above-described workpiece gripping method, at least one workpiece (or multiple workpieces) can be gripped at once during the workpiece sorting process, thereby improving workpiece sorting efficiency.

[0084] In one exemplary embodiment, such as Figure 3 The diagram shows a flowchart for selecting a target workpiece combination, including the following steps:

[0085] (1) Step 302: Based on the workpiece information, determine the weight and center of gravity of each workpiece in the set of workpieces to be gripped, as well as the starting workpiece at the gripping start position.

[0086] Specifically, the starting workpiece at the gripping start position can be: based on the position of multiple workpieces in the workpiece nesting diagram in the workpiece set to be gripped, the starting workpiece is the first workpiece on the far left in the workpiece set to be gripped, or a workpiece in another preset position.

[0087] Optionally, the server can determine the weight and center of gravity of each workpiece in the set of workpieces to be grasped, as well as the starting workpiece at the grasping start position, based on the workpiece information, so as to divide the workpieces in the set of workpieces to be grasped into workpiece groups starting from the starting workpiece.

[0088] For example, such as Figure 4 As shown, a schematic diagram of a workpiece nesting diagram is provided to illustrate the method of determining the starting workpiece. If the "grab starting position" is "the first workpiece on the far left", after obtaining the workpiece information in the workpiece nesting diagram, the server can first determine the set of workpieces to be grabbed, and then select the first workpiece on the far left of the set (e.g., the first workpiece on the far left of the set). Figure 4Workpiece A in the set is used as the starting workpiece. If, in subsequent grouping processes, the server combines workpieces A, B, C, and D into a target workpiece group and removes workpieces A, B, C, and D from the set of workpieces to be crawled, then in the next round of selecting a target workpiece group, the server can use the leftmost workpiece in the set of workpieces to be crawled (e.g., the first workpiece on the far left of the set). Figure 4 Workpiece E is used as the starting workpiece to select a new workpiece combination.

[0089] (2) Step 304: Take the starting workpiece as the first workpiece in the initial workpiece combination.

[0090] Optionally, the server can first use the starting workpiece as the first workpiece in the initial workpiece combination.

[0091] (3) If the weight of the initial workpiece satisfies the gripping constraint, execute step 306 to select the target workpiece from the set of workpieces to be gripped and add it to the initial workpiece combination according to the gripping constraint.

[0092] The gripping constraints include gripping weight constraints and gripping size constraints. The requirement that the weight of the initial workpiece satisfies the gripping constraints means that the weight of the initial workpiece meets the gripping weight constraint of the workpiece gripper. Satisfying the gripping weight constraint indicates that the gripper's gripping weight (which is related to the gripper's suction / magnetic force) is greater than the weight of the initial workpiece, and the difference between the gripping weight and the initial workpiece weight reaches a preset value. Conversely, not satisfying the gripping weight constraint indicates that although the gripper's gripping weight (which is related to the gripper's suction / magnetic force) is greater than the weight of the initial workpiece, the difference between the gripping weight and the initial workpiece weight does not reach a preset value.

[0093] Based on this, if the weight of the initial workpiece meets the gripping weight constraint of the workpiece gripper, it is possible to add other workpieces to the initial workpiece group. This maximizes the number of workpieces grouped into one group, within the gripping constraints of the workpiece gripper, thus facilitating the gripping of as many workpieces as possible at once. This improves workpiece sorting efficiency and maximizes the gripping capacity of the workpiece gripper. Therefore, if the weight of the initial workpiece meets the gripping constraints, the server can select a target workpiece from the set of workpieces to be gripped and add it to the initial workpiece group. It then determines whether the initial workpiece group still meets the gripping constraints after adding the target workpiece. If the initial workpiece group still meets the gripping constraints after adding the target workpiece, the initial workpiece group generated after adding the target workpiece is saved, and step 306 is executed.

[0094] It should be noted that if the initial workpiece combination does not meet the grasping constraints after the target workpiece is added to the initial workpiece combination, the initial workpiece combination generated after adding the target workpiece to the initial workpiece combination will not be saved. Step 308 will be executed, and the initial workpiece combination without the target workpiece selected this time will be used as the latest initial workpiece combination. The latest initial workpiece combination will be used as the target workpiece combination.

[0095] (4) If the weight of the starting workpiece does not meet the gripping constraint, there is no need to add other workpieces to the initial workpiece combination. At this time, the server can execute step 310 and use the initial workpiece combination that only includes the starting workpiece as the target workpiece combination.

[0096] (5) Further, after executing step 308 or step 310, the server can further execute step 312 to delete the workpieces in the target workpiece combination from the workpiece set to be crawled. Further, the server needs to determine whether the workpiece set to be crawled is empty. If it is not empty, it returns to step 302 to determine a new starting workpiece. If it is empty, it executes step 314 to stop selecting the target workpiece combination.

[0097] In this embodiment, during the process of selecting target workpiece combinations in each round, starting from the initial workpiece of each round, workpieces are added one by one to the initial workpiece combination including the initial workpiece according to the grasping constraints, so as to obtain the target workpiece combination selected in each round. This allows a target workpiece combination (containing one or more workpieces) to be grasped at once during subsequent workpiece sorting, thereby improving workpiece sorting efficiency.

[0098] It should be noted that the gripping constraints include gripping size constraints and gripping weight constraints. Based on this, in Figure 3 On the basis of, such as Figure 5 As shown, another flowchart for selecting a target workpiece combination is provided, which mainly includes the following steps:

[0099] (1) If the weight of the starting workpiece satisfies the gripping weight constraint, execute step 502 and take the center of gravity position of the starting workpiece as the center of gravity reference position.

[0100] Optionally, after determining the starting workpiece in the set of workpieces to be grasped at the grasping start position by executing steps 302 to 304, and taking the starting workpiece as the first workpiece in the initial workpiece combination, the server can calculate the weight and center of gravity position of the starting workpiece by using the contour data, thickness data, and density data of the starting workpiece in the workpiece information, thereby determining whether the weight of the starting workpiece meets the grasping weight constraint condition. If it does, the center of gravity position of the starting workpiece is taken as the center of gravity reference position.

[0101] (2) Step 504: Select the target workpiece whose center of gravity is closest to the center of gravity reference position from the set of workpieces to be grabbed.

[0102] Optionally, after determining the center of gravity reference position, the server can use the workpiece information to determine the weight and center of gravity position of all workpieces in the set of workpieces to be grasped, and filter out the target workpiece whose center of gravity position is closest to the center of gravity reference position from the set of workpieces to be grasped.

[0103] (3) Further, the server needs to determine whether the initial workpiece combination satisfies the grasping constraints if the target workpiece is added to the initial workpiece combination, that is, whether the total weight of the initial workpiece combination and the target workpiece satisfies the grasping weight constraints, and whether the distance between the center of gravity positions of the initial workpiece combination and the target workpiece satisfies the grasping size constraints. Among them, the center of gravity position of the initial workpiece combination is the average center of gravity position of all workpieces in the initial workpiece combination.

[0104] For a single workpiece, the gripping size constraint can be disregarded, but for multiple workpieces, the gripping size constraint must be considered.

[0105] Optionally, if the total weight of the initial workpiece combination and the target workpiece does not meet the gripping weight constraint, or the distance between the center of gravity of the initial workpiece combination and the target workpiece does not meet the gripping size constraint, step 308 is executed, and the initial workpiece combination without the selected target workpiece is taken as the latest initial workpiece combination, and the latest initial workpiece combination is taken as the target workpiece combination.

[0106] Optionally, if the total weight of the initial workpiece assembly and the target workpiece meets the gripping weight constraint, and the distance between the center of gravity positions of the initial workpiece assembly and the target workpiece meets the gripping size constraint, step 506 is executed to add the target workpiece to the initial workpiece assembly. The center of gravity reference position is updated according to the average center of gravity position of the workpieces in the initial workpiece assembly. Then, step 504 is returned until the initial workpiece assembly no longer meets the gripping weight constraint or gripping size constraint. Then, step 308 is executed to take the initial workpiece assembly that has not added the target workpiece selected this time as the latest initial workpiece assembly and take the latest initial workpiece assembly as the target workpiece assembly.

[0107] For example, taking a workpiece gripper based on magnetic attraction as an example, when multiple workpieces need to be gripped at once, it is necessary to consider whether other workpieces can be allocated to the magnetic attraction points when some magnetic attraction points are attached to a certain workpiece. In this embodiment, it can be specifically determined whether the distance between the center of gravity positions meets the gripping size constraint conditions by: determining whether the line segment or minimum rectangle formed by the distance between the center of gravity positions of the initial workpiece combination and the target workpiece is within the coverage area of ​​the magnetic attraction points of the workpiece gripper.

[0108] In this embodiment, during the process of selecting target workpiece combinations in each round, workpieces can be added one by one to the initial workpiece combination including the starting workpiece according to the gripping weight constraint and gripping size constraint, so as to obtain the target workpiece combination selected in each round. This allows a target workpiece combination (containing one or more workpieces) to be gripped at once during subsequent workpiece sorting, thereby improving workpiece sorting efficiency.

[0109] In practical applications, servers typically require multiple rounds of calculations to obtain the available gripping angles for each combination of target workpieces. Based on this, in Figure 2 On the basis of, such as Figure 6 As shown, a flowchart illustrating a workpiece gripping method that includes determining target gripping parameters is provided, including:

[0110] (1) After the set of workpieces to be grabbed is empty, step 602 can be executed. For each target workpiece combination, the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination are determined according to the workpiece information.

[0111] Optionally, since the workpiece information stores various data such as contour information, size information, position information, thickness information, density information, and weight information of each workpiece, for each target workpiece combination, the server can calculate the first center of gravity position of each workpiece in the target workpiece combination based on the workpiece information corresponding to the workpieces in the target workpiece combination, and calculate the average position based on the first center of gravity positions of all workpieces in the target workpiece combination to obtain the average center of gravity position, which is used as the second center of gravity position of the target workpiece combination.

[0112] For example, for a workpiece with uniform density, the center of gravity is the geometric center; for a symmetrical workpiece, the center of gravity is usually located on the axis of symmetry or at the center of symmetry. In this embodiment, for a more complex workpiece, the complex workpiece can be divided into several parts with simple shapes and known mass distribution, the center of gravity of each part can be calculated, and then the center of gravity of the entire workpiece can be calculated using the principle of torque balance.

[0113] (2) Step 604: Obtain the gripping point parameters of the workpiece gripper.

[0114] Alternatively, the server can obtain the gripping point parameters of the workpiece gripper from the stored data.

[0115] For example, taking a workpiece gripper that grips a workpiece using magnetic force, the gripping point parameters include, but are not limited to, the distribution positions of the magnetic attraction points at the end of the workpiece gripper, the coverage area of ​​each magnetic attraction point, and the magnetic force. Taking a workpiece gripper that grips a workpiece using the suction force of suction cups, the gripping point parameters include, but are not limited to, the distribution positions of the suction cups at the end of the workpiece gripper, the coverage area of ​​each suction cup, and the suction force. The end of the workpiece gripper can adhere to the workpiece and adhere to it.

[0116] For example, taking a workpiece gripper that grips a workpiece based on magnetic force as an example, a schematic diagram of the magnetic attraction points set at the end of the workpiece gripper is provided, such as... Figure 7 As shown, the end of the workpiece gripper is symmetrically equipped with multiple magnetic attraction points of different sizes. Figure 7 The multiple circles in the image are magnetic attraction points.

[0117] (3) When the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece assembly as a whole based on the second center of gravity position and gripping point parameters, and the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece assembly based on the first center of gravity position and gripping point parameters, step 606 is executed to obtain the target gripping parameters. That is, the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece assembly.

[0118] Specifically, the gripping point parameter refers to the default angle at which the workpiece gripper grips the workpiece. The gripping condition for the target workpiece assembly as a whole can be characterized by: the force acting on the second center of gravity position of the target workpiece assembly exceeding the total weight of the assembly, and the excess value reaching a preset value, allowing for stable gripping of the target assembly workpieces considered as a whole. The gripping condition for a specific workpiece within the target workpiece assembly can be characterized by: the force acting on the first center of gravity position of that workpiece exceeding the weight of that workpiece, and the excess value reaching a preset value, allowing for stable gripping of that workpiece.

[0119] Optionally, the server can first calculate the workpiece gripping data when the workpiece gripper grips the target workpiece combination according to the gripping point parameters, that is, calculate the force acting on the second center of gravity position, and determine whether the force acting on the second center of gravity position satisfies the gripping condition of the target workpiece combination as a whole. If it does, the server can determine that the initial gripping parameters of the workpiece gripper satisfy the gripping condition of the target workpiece combination as a whole. Further, the server can calculate the workpiece gripping data when the workpiece gripper grips the target workpiece combination according to the gripping point parameters, that is, calculate the force acting on the first center of gravity position of each workpiece in the target workpiece combination, and then determine whether the force acting on the first center of gravity position of each workpiece in the target workpiece combination satisfies the gripping condition of the workpiece. If the gripping condition of all workpieces in the target workpiece combination is satisfied, it is determined that the initial gripping parameters satisfy the gripping condition of each workpiece in the target workpiece combination, and then the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0120] (4) If the initial gripping parameters do not meet the gripping conditions of the target workpiece assembly as a whole, or do not meet the gripping conditions of any workpiece in the target workpiece assembly, proceed to step 608 to adjust the initial gripping parameters. Each adjusted gripping parameter is verified until the adjusted gripping parameters meet the gripping conditions of the target workpiece assembly as a whole and the gripping conditions of each workpiece in the target workpiece assembly. Then proceed to step 606 to obtain the target gripping parameters.

[0121] Adjusting the initial gripping parameters involves rotating the end of the workpiece gripper to adjust its gripping angle.

[0122] For example, in Figure 4 The workpiece nesting diagram and Figure 7 Based on the schematic diagram of the magnetic attraction point shown, as follows: Figure 8 As shown, a workpiece gripper is provided according to the target workpiece combination (including...) Figure 4 The diagram illustrates the target gripping parameters for workpieces A and B, and the process of gripping the combined target workpieces (this process is simulated in a computer). Specifically, when the end of the workpiece gripper rotates to the target gripping parameters, it can grip as follows: Figure 8 As shown, magnetic attraction points are attached to each workpiece in the target workpiece assembly, so that each workpiece in the target workpiece assembly can be stably attracted, realizing the simultaneous grasping of multiple workpieces.

[0123] In this embodiment, for each target workpiece combination, during the selection process, it is ensured that the target workpiece combination meets the gripping constraints of the workpiece gripper. Therefore, the gripping angle of the workpiece gripper can be continuously adjusted to enable the workpiece gripper to grip all the workpieces in the target workpiece combination at once.

[0124] In one embodiment, the workpiece gripping method further includes:

[0125] Determine the gripping point used to grip the target workpiece combination when the workpiece gripper grips the target workpiece combination according to the initial gripping parameters;

[0126] Based on the distribution of gripping points and gripping force used to grip the target workpiece assembly, as well as the position of the second center of gravity, the gripping force of the workpiece gripper applied to the second center of gravity is determined.

[0127] If the gripping force applied to the center of gravity of the target workpiece assembly satisfies the gripping conditions of the target workpiece assembly as a whole, then the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece assembly as a whole.

[0128] Optionally, the server can simulate the process of the workpiece gripper gripping the target workpiece assembly according to the initial gripping parameters to determine the gripping points that can be used to grip the target workpiece assembly when the workpiece gripper grips the target workpiece assembly according to the initial gripping parameters; that is, to calculate which gripping points will fit with the target workpiece assembly. Further, the server can determine the gripping force (resultant force) exerted by the workpiece gripper on the second center of gravity position based on the distribution of the gripping points used to grip the target workpiece assembly, the gripping force, and the second center of gravity position. If the gripping force acting on the center of gravity position of the target workpiece assembly satisfies the gripping condition of the target workpiece assembly as a whole—for example, if the gripping force acting on the center of gravity position of the target workpiece assembly exceeds the total weight of the target workpiece assembly, and the excess value reaches a preset value—then it is determined that the initial gripping parameters of the workpiece gripper satisfy the gripping condition of the target workpiece assembly as a whole.

[0129] For example, regarding the process of calculating the gripping force (resultant force) acting on the second center of gravity position: the server can determine the torque between each gripping point and the second center of gravity position based on the distribution of gripping points used to grip the target workpiece assembly and the second center of gravity position. Then, based on the gripping force (individual force) of each gripping point used to grip the target workpiece assembly, the server calculates the force (resultant force) of all gripping points acting on the second center of gravity position, i.e., the force equivalent to acting on the center of mass of the target workpiece assembly. The process of calculating the resultant force can be implemented based on vector addition.

[0130] In this embodiment, the gripping force acting on the second center of gravity position of the target workpiece assembly can be simulated and calculated. By comparing the gripping force acting on the second center of gravity position of the target workpiece assembly with the total weight of the target workpiece assembly, it can be determined whether the gripping condition of gripping the target workpiece assembly as a whole in one go has been met.

[0131] In one embodiment, the workpiece gripping method further includes:

[0132] For each workpiece in the target workpiece assembly, determine the gripping point used to grip the workpiece when the workpiece gripper grips the target workpiece assembly according to the initial gripping parameters;

[0133] Based on the distribution of gripping points and gripping force used to grip the workpiece, as well as the first center of gravity position of the workpiece, determine the gripping force of the workpiece gripper acting on the first center of gravity position of the workpiece.

[0134] If the gripping force applied to the first center of gravity position of each workpiece in the target workpiece assembly satisfies the gripping conditions of each workpiece, then the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece assembly.

[0135] Optionally, the server can simulate the process of the workpiece gripper gripping the target workpiece assembly according to initial gripping parameters. For each workpiece in the target workpiece assembly, the server can determine the gripping points used to grip the workpieces, i.e., which gripping points will be in contact with the workpiece. Further, the server can determine the gripping force (resultant force) exerted by the workpiece gripper on the first center of gravity of the workpiece based on the distribution of the gripping points, the gripping force, and the first center of gravity position of the workpiece. If the gripping force acting on the first center of gravity position of each workpiece in the target workpiece assembly satisfies the gripping conditions for each workpiece—for example, for each workpiece, the gripping force acting on the first center of gravity position exceeds the total weight of the workpiece, and the excess value reaches a preset value—then it is determined that the initial gripping parameters satisfy the gripping conditions for each workpiece in the target workpiece assembly.

[0136] For example, regarding the process of calculating the gripping force (resultant force) acting on the first center of gravity position for each workpiece in the target workpiece assembly: the server can determine the torque between each gripping point and the first center of gravity position based on the distribution of the gripping points used to grip the workpiece and the first center of gravity position of the workpiece. Then, based on the gripping force (individual force) of each gripping point used to grip the workpiece, the server calculates the force (resultant force) of all gripping points acting on the first center of gravity position, that is, calculates the force equivalent to acting on the center of mass of the workpiece. The reasonable calculation process can be implemented based on vector addition.

[0137] In this embodiment, the gripping force acting on the first center of gravity position of the workpiece can be simulated and calculated, and the gripping force acting on the first center of gravity position of the workpiece can be compared with the weight of the workpiece to determine whether the gripping conditions of the workpiece have been met.

[0138] In one of the most detailed embodiments, such as Figure 9 As shown, another flowchart of the workpiece gripping method is provided, which mainly includes the following steps:

[0139] Step 902: Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting drawing; the gripping constraints include gripping size constraints and gripping weight constraints.

[0140] Step 904: Determine the set of workpieces to be grasped indicated by the workpiece information. Based on the workpiece information, determine the weight and center of gravity of each workpiece in the set of workpieces to be grasped, as well as the starting workpiece at the grasping start position.

[0141] Step 906: Select the starting workpiece as the first workpiece in the initial workpiece assembly;

[0142] If the weight of the starting workpiece meets the gripping weight constraint, proceed to step 908 and use the center of gravity position of the starting workpiece as the center of gravity reference position; if the weight of the starting workpiece does not meet the gripping weight constraint, proceed to step 910 and use the initial workpiece combination that only includes the starting workpiece as the target workpiece combination.

[0143] After executing step 908, execute step 912 to select the target workpiece whose center of gravity is closest to the center of gravity reference position from the set of workpieces to be grabbed.

[0144] If adding the target workpiece to the initial workpiece combination results in the initial workpiece combination satisfying the gripping constraints (i.e., the total weight of the initial workpiece combination and the target workpiece satisfies the gripping weight constraint, and the distance between the center of gravity positions of the initial workpiece combination and the target workpiece satisfies the gripping size constraint), then step 914 is executed to add the target workpiece to the initial workpiece combination and update the center of gravity reference position based on the average center of gravity position of the workpieces in the initial workpiece combination. Then, the process returns to step 912 until adding the target workpiece to the initial workpiece combination causes the initial workpiece combination to no longer satisfy the gripping constraints. In this case, step 916 is executed to use the initial workpiece combination without the selected target workpiece as the latest initial workpiece combination and use the latest initial workpiece combination as the target workpiece combination.

[0145] After executing step 910 or step 916, execute step 918 to remove the workpieces in the target workpiece combination from the workpiece set to be grabbed, and determine whether the workpiece set to be grabbed is empty.

[0146] If not empty, return to step 904; if empty, proceed to step 920.

[0147] Step 920: For each target workpiece assembly, based on the workpiece information, determine the first center of gravity position of each workpiece in the target workpiece assembly and the second center of gravity position of the target workpiece assembly.

[0148] Step 922: Obtain the gripping point parameters of the workpiece gripper;

[0149] Furthermore, if the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece combination as a whole based on the second center of gravity position and gripping point parameters, and the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece combination based on the first center of gravity position and gripping point parameters, then step 924 is executed to obtain the target gripping parameters, that is, the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0150] If the initial gripping parameters do not meet the gripping conditions of the target workpiece combination as a whole, or do not meet the gripping conditions of any workpiece in the target workpiece combination, then step 926 is executed to adjust the initial gripping parameters until the adjusted gripping parameters meet the gripping conditions of the target workpiece combination as a whole and meet the gripping conditions of each workpiece in the target workpiece combination, and then step 924 is executed to obtain the target gripping parameters.

[0151] The workpiece gripping method in this embodiment can be applied to automated steel plate cutting and sorting scenarios, enabling the gripping of at least one workpiece at a time during the sorting process. Specifically, it can automatically combine suitable workpieces for one-time gripping based on the workpiece nesting diagram and calculate the gripping parameters after combination. This allows for the sorting of at least one workpiece at a time based on the gripping parameters, improving workpiece sorting efficiency and factory capacity.

[0152] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0153] Based on the same inventive concept, this application also provides a workpiece gripping device for implementing the workpiece gripping method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more workpiece gripping device embodiments provided below can be found in the limitations of the workpiece gripping method described above, and will not be repeated here.

[0154] In one exemplary embodiment, such as Figure 10 As shown, a workpiece gripping device is provided, including: a gripping constraint condition acquisition module 1002, a workpiece combination selection module 1004, a workpiece combination cyclic selection module 1006, a gripping parameter determination module 1008, and a workpiece combination gripping control module 1010, wherein:

[0155] The grasping constraint acquisition module is used to acquire workpiece information and grasping constraint conditions of the workpiece gripper from the workpiece nesting diagram.

[0156] The workpiece combination selection module is used to determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece as the target workpiece combination based on the workpiece information and grasping constraints.

[0157] The workpiece combination cyclic selection module is used to remove workpieces from the target workpiece combination from the workpiece set to be grabbed, and return to the step of selecting at least one workpiece from the workpiece set to be grabbed as the target workpiece combination based on workpiece information and grabbing constraints, until the workpiece set to be grabbed is empty;

[0158] The grasping parameter determination module is used to determine the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination based on the workpiece information, and to determine the target grasping parameters of the workpiece gripper for the target workpiece combination based on the first center of gravity position and the second center of gravity position.

[0159] The workpiece combination gripping control module is used to control the workpiece gripper to grip the target workpiece combination according to the target gripping parameters when sorting workpieces.

[0160] The aforementioned workpiece gripping device first acquires the workpiece information and gripping constraints of the workpiece gripper from the workpiece nesting diagram, and determines the set of workpieces to be gripped indicated by the workpiece information. Then, based on the workpiece information and gripping constraints, it selects at least one workpiece from the set of workpieces to be gripped as a target workpiece combination. Next, it removes the workpieces from the set of workpieces to be gripped, and returns to the step of selecting at least one workpiece from the set of workpieces to be gripped as a target workpiece combination based on the workpiece information and gripping constraints, until the set of workpieces to be gripped is empty. For each target workpiece combination, the first centroid position of each workpiece in the target workpiece combination and the second centroid position of the target workpiece combination can be determined based on the workpiece information. Based on the first and second centroid positions, the target gripping parameters of the workpiece gripper for the target workpiece combination are determined. Then, during workpiece sorting, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters. Therefore, by using the above workpiece gripping method, during workpiece sorting, at least one workpiece (or multiple workpieces) can be gripped at once by gripping the target workpiece combination, thereby improving workpiece sorting efficiency.

[0161] In one embodiment, the workpiece combination selection module is further configured to: determine the weight and center of gravity position of each workpiece in the set of workpieces to be grasped, and the starting workpiece at the grasping start position, based on the workpiece information; take the starting workpiece as the first workpiece in the initial workpiece combination; if the weight of the starting workpiece meets the grasping constraint conditions, select a target workpiece from the set of workpieces to be grasped and add it to the initial workpiece combination according to the grasping constraint conditions, until the initial workpiece combination no longer meets the grasping constraint conditions, and take the latest initial workpiece combination as the target workpiece combination.

[0162] In one embodiment, the gripping constraints include gripping size constraints and gripping weight constraints. The workpiece combination selection module is further configured to: if the weight of the initial workpiece satisfies the gripping weight constraint, use the center of gravity position of the initial workpiece as the center of gravity reference position, and select the target workpiece whose center of gravity position is closest to the center of gravity reference position from the set of workpieces to be gripped; if the total weight of the initial workpiece combination and the target workpiece satisfies the gripping weight constraint, and the distance between the center of gravity positions of the initial workpiece combination and the target workpiece satisfies the gripping size constraint, add the target workpiece to the initial workpiece combination; update the center of gravity reference position according to the average center of gravity position of the workpieces in the initial workpiece combination, and return to the step of selecting the target workpiece whose center of gravity position is closest to the center of gravity reference position from the set of workpieces to be gripped, until the initial workpiece combination no longer satisfies the gripping weight constraint or the gripping size constraint, and use the latest initial workpiece combination as the target workpiece combination.

[0163] In one embodiment, the gripping parameter determination module is further configured to: obtain gripping point parameters of the workpiece gripper; when the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece combination as a whole based on the second center of gravity position and the gripping point parameters, and the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece combination based on the first center of gravity position and the gripping point parameters, the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece combination.

[0164] In one embodiment, the grasping parameter determination module is further configured to: if the initial grasping parameters do not meet the grasping conditions of the target workpiece combination as a whole, or do not meet the grasping conditions of any workpiece in the target workpiece combination, adjust the initial grasping parameters until the adjusted grasping parameters meet the grasping conditions of the target workpiece combination as a whole, and meet the grasping conditions of each workpiece in the target workpiece combination, thereby obtaining the target grasping parameters of the workpiece gripper for the target workpiece combination.

[0165] In one embodiment, the workpiece gripping device further includes a gripping condition judgment module, which is used to: determine the gripping point for gripping the target workpiece combination when the workpiece gripper grips the target workpiece combination according to the initial gripping parameters; determine the gripping force of the workpiece gripper acting on the second center of gravity position based on the distribution position of the gripping point for gripping the target workpiece combination, the gripping force, and the second center of gravity position; and determine that the initial gripping parameters of the workpiece gripper satisfy the gripping condition of the target workpiece combination as a whole if the gripping force acting on the center of gravity position of the target workpiece combination satisfies the gripping condition of the target workpiece combination as a whole.

[0166] In one embodiment, the gripping condition judgment module is further configured to: for each workpiece in the target workpiece assembly, determine the gripping point used to grip the workpiece when the workpiece gripper grips the target workpiece assembly according to the initial gripping parameters; determine the gripping force of the workpiece gripper acting on the first center of gravity of the workpiece based on the distribution position and gripping force of the gripping point used to grip the workpiece, and the first center of gravity position of the workpiece; if the gripping force acting on the first center of gravity position of each workpiece in the target workpiece assembly satisfies the gripping conditions of each workpiece, determine that the initial gripping parameters satisfy the gripping conditions of each workpiece in the target workpiece assembly.

[0167] Each module in the aforementioned workpiece gripping device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0168] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores workpiece grasping data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a workpiece grasping method.

[0169] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0170] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0172] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0173] It should be noted that the information (including but not limited to device information) and data (including but not limited to data used for analysis, data stored, data displayed) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0174] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0175] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0176] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A workpiece gripping method, characterized in that, The method includes: Obtain the workpiece information and the gripping constraints of the workpiece gripper from the workpiece nesting diagram; Determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as the target workpiece combination based on the workpiece information and the grasping constraints. Remove the workpieces in the target workpiece combination from the set of workpieces to be grabbed, and return to the step of selecting at least one workpiece from the set of workpieces to be grabbed as the target workpiece combination based on the workpiece information and the grabbing constraints, until the set of workpieces to be grabbed is empty; For each of the target workpiece combinations, based on the workpiece information, the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination are determined, and based on the first center of gravity position and the second center of gravity position, the target gripping parameters of the workpiece gripper for the target workpiece combination are determined. When sorting workpieces, the workpiece gripper is controlled to grip the target workpiece combination according to the target gripping parameters.

2. The method according to claim 1, characterized in that, The step of selecting at least one workpiece as a target workpiece combination from the set of workpieces to be grasped based on the workpiece information and the grasping constraints includes: Based on the workpiece information, determine the weight and center of gravity of each workpiece in the set of workpieces to be grasped, as well as the starting workpiece at the grasping start position; The starting workpiece is used as the first workpiece in the initial workpiece combination. If the weight of the starting workpiece satisfies the gripping constraint, a target workpiece is selected from the set of workpieces to be gripped and added to the initial workpiece combination according to the gripping constraint. This process continues until the initial workpiece combination no longer satisfies the gripping constraint. The latest initial workpiece combination is then used as the target workpiece combination.

3. The method according to claim 2, characterized in that, The gripping constraints include gripping size constraints and gripping weight constraints; If the weight of the initial workpiece satisfies the gripping constraint, a target workpiece is selected from the set of workpieces to be gripped and added to the initial workpiece combination according to the gripping constraint, until the initial workpiece combination no longer satisfies the gripping constraint, and the latest initial workpiece combination is used as the target workpiece combination, including: If the weight of the starting workpiece satisfies the gripping weight constraint, the center of gravity position of the starting workpiece is used as the center of gravity reference position, and the target workpiece whose center of gravity position is closest to the center of gravity reference position is selected from the set of workpieces to be gripped. If the total weight of the initial workpiece assembly and the target workpiece satisfies the gripping weight constraint, and the distance between the center of gravity of the initial workpiece assembly and the target workpiece satisfies the gripping size constraint, then the target workpiece is added to the initial workpiece assembly. Based on the average center of gravity position of the workpieces in the initial workpiece combination, update the center of gravity reference position, and return to the step of selecting the target workpiece whose center of gravity position is closest to the center of gravity reference position from the set of workpieces to be grasped, until the initial workpiece combination no longer meets the grasping weight constraint condition or the grasping size constraint condition, and the latest initial workpiece combination is used as the target workpiece combination.

4. The method according to claim 1, characterized in that, The step of determining the target gripping parameters of the workpiece gripper for the target workpiece combination based on the first center of gravity position and the second center of gravity position includes: Obtain the gripping point parameters of the workpiece gripper; When the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping conditions of the target workpiece combination as a whole based on the second center of gravity position and the gripping point parameters, and the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece combination based on the first center of gravity position and the gripping point parameters, the initial gripping parameters are used as the target gripping parameters of the workpiece gripper for the target workpiece combination.

5. The method according to claim 4, characterized in that, The method further includes: If the initial gripping parameters do not meet the gripping conditions of the target workpiece combination as a whole, or do not meet the gripping conditions of any workpiece in the target workpiece combination, the initial gripping parameters are adjusted until the adjusted gripping parameters meet the gripping conditions of the target workpiece combination as a whole and meet the gripping conditions of each workpiece in the target workpiece combination, thus obtaining the target gripping parameters of the workpiece gripper for the target workpiece combination.

6. The method according to claim 4, characterized in that, The method further includes: Determine the gripping point for gripping the target workpiece combination when the workpiece gripper grips the target workpiece combination according to the initial gripping parameters; The gripping force of the workpiece gripper applied to the second center of gravity is determined based on the distribution of gripping points and gripping force used to grip the target workpiece assembly, as well as the second center of gravity position. If the gripping force applied to the center of gravity of the target workpiece assembly satisfies the gripping condition of the target workpiece assembly as a whole, then the initial gripping parameters of the workpiece gripper are determined to satisfy the gripping condition of the target workpiece assembly as a whole.

7. The method according to claim 4, characterized in that, The method further includes: For each workpiece in the target workpiece combination, determine the gripping point for gripping the workpiece when the workpiece gripper grips the target workpiece combination according to the initial gripping parameters; Based on the distribution of the gripping points used to grip the workpiece and the gripping force, as well as the first center of gravity position of the workpiece, the gripping force of the workpiece gripper applied to the first center of gravity position of the workpiece is determined. If the gripping force applied to the first center of gravity position of each workpiece in the target workpiece assembly satisfies the gripping conditions of each workpiece, then the initial gripping parameters are determined to satisfy the gripping conditions of each workpiece in the target workpiece assembly.

8. A workpiece gripping device, characterized in that, The device includes: The grasping constraint acquisition module is used to acquire workpiece information and grasping constraint conditions of the workpiece grasper from the workpiece nesting diagram. The workpiece combination selection module is used to determine the set of workpieces to be grasped indicated by the workpiece information, and select at least one workpiece from the set of workpieces to be grasped as a target workpiece combination based on the workpiece information and the grasping constraints. The workpiece combination cyclic selection module is used to delete the workpieces in the target workpiece combination from the workpiece set to be grasped, and return to the step of selecting at least one workpiece as the target workpiece combination from the workpiece set to be grasped according to the workpiece information and the grasping constraints, until the workpiece set to be grasped is empty; The grasping parameter determination module is used to determine, for each of the target workpiece combinations, the first center of gravity position of each workpiece in the target workpiece combination and the second center of gravity position of the target workpiece combination based on the workpiece information, and to determine the target grasping parameters of the workpiece gripper for the target workpiece combination based on the first center of gravity position and the second center of gravity position. The workpiece combination gripping control module is used to control the workpiece gripper to grip the target workpiece combination according to the target gripping parameters when sorting workpieces.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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