Object transport method, system, storage medium and terminal

Abstract

The present invention relates to a method, system, storage medium and terminal for transporting objects, which include obtaining the placement position of an object to be transported; calculating the moving distance according to the placement position and a preset clamping position; controlling a preset conveyor belt to work according to the moving distance to move the object to be transported to the clamping position, and obtaining a three-dimensional model of the object to be transported and the center of gravity of the object; determining the clamping surface size according to the clamping surface of the three-dimensional model; matching clamping parameters from a preset clamping database according to the clamping surface size; controlling a preset mechanical arm to clamp the object to be transported according to the clamping parameters; determining a supporting position according to the center of gravity of the object; and controlling a preset lifting device based on the supporting position to insert the lifting device between the object to be transported and the conveyor belt in a preset lifting method to lift the object to be transported. The present application has the effect of reducing the problem of shaking of the object to be transported during the transport process, thereby improving the stability during transport.

Description

Technical Field

[0001] The present invention relates to the field of object transportation, and in particular to an object transportation method, system, storage medium and terminal. Background Art

[0002] Object handling refers to the activities carried out within the same place with the main goal of changing the storage status and spatial location of materials. It is crucial to improving warehouse operation efficiency and directly affects production efficiency.

[0003] In the prior art, when an object needs to be transported over a long distance, the object is generally placed in a transport device first, and then the transport device transports the object to the destination.

[0004] Regarding the above-mentioned related technologies, since the center of gravity of the object is not fixed, the weights at both ends of the object are not equal, and the object is prone to shaking during transportation, causing the object to tilt and then fall. This problem needs to be improved. Summary of the invention

[0005] In order to solve the problem that objects are easily shaken during transportation, which causes the objects to tilt and then fall, the present invention provides a method, system, storage medium and terminal for transporting objects.

[0006] In a first aspect, the present invention provides a method for transporting an object, which adopts the following technical solution:

[0007] A method for transporting an object, comprising:

[0008] Get the placement location of the object to be transported;

[0009] Calculate the moving distance based on the placement position and the preset clamping position;

[0010] Controlling the preset conveyor belt to work according to the moving distance to move the object to be transported to the clamping position, and obtaining the three-dimensional model and the center of gravity of the object to be transported;

[0011] Determine the size of the clamping surface according to the clamping surface of the three-dimensional model;

[0012] Match the clamping parameters from the preset clamping database according to the clamping surface size;

[0013] Control the preset robotic arm to clamp the object to be transported according to the clamping parameters;

[0014] Determine the support position based on the object's center of gravity;

[0015] Based on the supporting position, the preset lifting device is controlled to lift the object to be transported in a preset lifting method.

[0016] By adopting the above technical solution, the clamping surface size of the object is obtained by acquiring the three-dimensional model of the object, and the clamping parameters are determined by the clamping surface size to control the robot arm to clamp the object; and the center of gravity of the object is obtained to obtain the supporting position of the lifting device, so as to lift the object to be transported, thereby reducing the problem of shaking of the object to be transported during the transportation process, thereby improving the stability during transportation.

[0017] Optionally, the clamping parameters include the clamping quantity and the clamping position, and the method for confirming the clamping quantity and the clamping position includes:

[0018] Obtain the object weight of the object to be transported;

[0019] Calculate the quotient of the friction force of the object weight on the horizontal plane and the preset clamping force value of a single robot arm;

[0020] Split the calculated quotient into an integer part and a decimal part, and determine whether the decimal part of the quotient is equal to zero;

[0021] If it is equal to zero, the integer part is defined as the clamping quantity;

[0022] If it is not equal to zero, the sum of the integer part plus one is defined as the clamping quantity;

[0023] The clamping position of each robot arm is determined according to the number of clamps, the size of the clamping surface and the center of gravity of the object.

[0024] By adopting the above technical solution, the required number of robotic arm clamps is calculated by the friction force of the object's weight on the horizontal plane and the clamping force value of a single robotic arm, and then the clamping position of each robotic arm is determined by the number of clamps, the size of the clamping surface and the center of gravity of the object, thereby improving the accuracy of clamping the object to be transported and thus improving the stability during transportation.

[0025] Optionally, the clamping parameter also includes a clamping force, and the method for confirming the clamping force includes:

[0026] Obtain the firmware material parameters and firmware structure parameters in the object to be transported;

[0027] Determine the material surface force value according to the material parameters and structural parameters of the fixture;

[0028] Determine whether the force value on the material surface is less than the clamping force value;

[0029] If it is not less than, clamping is performed;

[0030] If it is less than that, a matching analysis is performed based on the clamping force value and the clamping quantity to determine the overall pressure value;

[0031] Perform matching analysis based on the overall pressure value and the material surface force value to determine the comprehensive quantity;

[0032] Determine the number of arrangements based on the size of the clamping surface and the preset size of the monomer clamping;

[0033] Determine whether the arrangement quantity is greater than the comprehensive quantity;

[0034] If not, update the clamping quantity with the arrangement quantity;

[0035] If it is greater, a prompt will be given.

[0036] By adopting the above technical solution, by comparing the relationship between the force value on the material surface and the clamping force value, it is determined whether the current clamping force value will cause damage to the fixings in the object to be transported; if it is less than, by comparing the obtained comprehensive number with the obtained arrangement number, it is determined whether the current clamping surface can withstand the comprehensive number, and then determine whether the next operation can be performed, thereby reducing the problem of shaking or even falling due to unstable clamping, improving the transportation stability, and then improving the transportation efficiency.

[0037] Optionally, the three-dimensional model acquisition method includes:

[0038] Acquiring display image information of the object to be transported in the display area;

[0039] Determine the covering area and the distance value between the object to be transported and the preset reference object from a preset display comparison library according to the display image information;

[0040] Determining a radius value of a preset detection path based on the sum of the spacing value and a preset distance value;

[0041] Control the reference object to move around the object to be transported according to the detection path, and synchronously obtain the detection images of the object to be transported and the reference object;

[0042] Determine the three-dimensional parameters of the object to be transported according to the detection image, the spacing value and the preset reference three-dimensional parameters;

[0043] Determine the 3D model based on the 3D parameters of the object.

[0044] By adopting the above technical solution, the camera device is used to take all-round pictures around the object to be transported to obtain images of all sides of the object to be transported, and then a movable reference object preset around the object to be transported moves with the camera device to compare and obtain the three-dimensional parameters of the object to be transported, and then a three-dimensional model is obtained, thereby improving the data accuracy of the object to be transported and further improving the transportation efficiency.

[0045] Optionally, the processing method when the arrangement quantity is greater than the comprehensive quantity includes:

[0046] Find the detection surface in the same circumferential direction as the current clamping surface according to the three-dimensional model, and obtain the size of the detection surface;

[0047] Determine whether the detection surface size is larger than the clamping surface size;

[0048] If it is not greater than, a prompt will be given;

[0049] If it is greater, the arrangement quantity is updated according to the detection surface size and the monomer clamping size;

[0050] Determine whether the updated arrangement quantity is less than the comprehensive quantity;

[0051] If it is not less than, a prompt will be given;

[0052] If it is less than, mark it and obtain the component placement information of the components in the object to be transported;

[0053] Determine the opening direction and connection parameters of the assembly location of the item based on the component placement information;

[0054] Determine the rotation direction according to the opening direction;

[0055] Determine the rotation speed from a preset rotation database according to the connection parameters;

[0056] Determine the detection surface of the mark closest to the clamping surface according to the rotation direction, and update the detection surface to the new clamping surface;

[0057] The preset rotating device is controlled according to the rotating speed to rotate the object to be transported in the rotating direction and re-clamp it.

[0058] By adopting the above technical solution, when the number of arrangements is not less than the comprehensive number, the detection surface larger than the clamping surface is found by checking the detection surface in the same circumferential direction of the clamping surface; then by judging whether the size of the detection surface is larger than the size of the clamping surface, it is determined whether the detection surface can be used for the comprehensive number of mechanical arms to clamp. When it can be used, it is judged again whether the number of arrangements of the detection surface is less than the comprehensive number. If it is less, the object to be transported is rotated to update the detection surface to a new clamping surface. The problem of transportation difficulties caused by the inability to clamp is reduced, and the transportation efficiency is improved.

[0059] Optionally, when the updated arrangement quantity is greater than the comprehensive quantity, the processing method includes:

[0060] Find the flipping surface of the object to be transported according to the three-dimensional model and obtain the size of the flipping surface;

[0061] Determine whether the flip surface size is larger than the clamping surface size;

[0062] If it is not greater than, a prompt will be given;

[0063] If it is greater, the arrangement quantity is updated according to the flip surface size and the monomer clamping size;

[0064] Determine whether the updated arrangement quantity is greater than the comprehensive quantity;

[0065] If it is greater, a prompt will be given;

[0066] If it is not greater than, mark it and obtain the component placement information and component types of the components in the object to be transported;

[0067] Determine whether the component type falls into the preset flip feature library;

[0068] If it does not fall into the category, a prompt will be given;

[0069] If it falls in, determine the opening direction and connection parameters of the assembly location of the item according to the component placement information;

[0070] Determine the flipping direction according to the opening direction;

[0071] Determine the flipping speed based on the connection parameters;

[0072] The flipping surface is updated to a new clamping surface, and the preset flipping device is controlled according to the flipping speed to flip the object to be transported in the flipping direction and re-clamp it.

[0073] By adopting the above technical solution, when the updated arrangement quantity is greater than the comprehensive quantity, the flip surface of the object to be transported is checked to determine whether the flip surface size is greater than the clamping surface size, so as to determine whether the flip surface can be used for the comprehensive number of mechanical arms to clamp. If it can, it is once again determined whether the arrangement quantity of the flip surface is less than the comprehensive quantity. If it is less, the object to be transported is flipped to update the flip surface to a new clamping surface. The problem of the difficulty of transporting the objects to be transported that cannot be rotated and the objects to be transported after rotation is reduced, and the transport efficiency is improved.

[0074] Optional lifting methods include:

[0075] Acquire abutment image information when the conveyor belt abuts against the object to be transported;

[0076] Recognize the groove features of the conveyor belt from a preset groove feature library according to the abutment image information;

[0077] Determine whether the center of gravity of the object is directly above the groove feature;

[0078] If it is located, the lifting device is controlled to be inserted between the object to be transported and the conveyor belt according to the groove characteristics to lift the object to be transported;

[0079] If it is not located, the lifting device is controlled to be inserted into the groove feature to lift the object to be transported to a preset safety height to obtain a safety gap;

[0080] Control the preset lifting device to insert into the safety gap to temporarily lift the object to be transported;

[0081] Based on the safety gap, the lifting device is controlled to move to the center of gravity of the object to lift the object to be transported, and the lifting device is controlled to exit the safety gap.

[0082] By adopting the above technical solution, when the center of gravity of the object is not directly above the groove feature, the lifting device enters the groove feature to initially lift it to a safe height to obtain a safe gap, and then the jacking device is inserted into the safe gap to prevent the object to be transported from shaking or even collapsing when the lifting device moves toward the center of gravity of the object. Finally, the lifting device is used to lift the object to be transported, and the jacking device is controlled to exit the safe gap. In this way, the stability of the lifting device when lifting the object to be transported is improved.

[0083] In a second aspect, the present application provides an object handling system, which adopts the following technical solution:

[0084] An acquisition module, used to acquire placement position, three-dimensional model, object center of gravity, object weight, firmware material parameters, firmware structure parameters, display image information, detection image, component placement information, component type, and abutment image information;

[0085] A memory for storing a program of a method for transporting an object;

[0086] The processor is used to process the program stored in the memory.

[0087] In a third aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is convenient for implementing a method for transporting an object, and adopts the following technical solution:

[0088] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned object transport methods.

[0089] In a fourth aspect, the present application provides an intelligent terminal, which adopts the following technical solution:

[0090] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executed for a method of transporting an object.

[0091] By adopting the above technical solution, the clamping surface size of the object is obtained by acquiring the three-dimensional model of the object, and the clamping parameters are determined by the clamping surface size to control the robot arm to clamp the object; and the center of gravity of the object is obtained to obtain the supporting position of the lifting device, so as to lift the object to be transported, thereby reducing the problem of shaking of the object to be transported during the transportation process, thereby improving the stability during transportation.

[0092] In summary, the present application includes at least one of the following beneficial technical effects:

[0093] 1. Obtain the clamping surface size of the object by obtaining the three-dimensional model of the object, and then determine the clamping parameters by the clamping surface size to control the robot arm to clamp the object; then obtain the center of gravity of the object to obtain the supporting position of the lifting device, so as to lift the object to be transported, reduce the problem of shaking of the object to be transported during the transportation process, and thus improve the stability during transportation;

[0094] 2. By comparing the relationship between the force value on the material surface and the clamping force value, the shaking or even falling problem caused by unstable clamping is reduced, the handling stability is improved, and thus the handling efficiency is improved;

[0095] 3. When the center of gravity of the object is not directly above the groove feature, the lifting device is used to initially lift it to a safe height to obtain a safe gap, and then the jacking device is inserted into the safe gap. Finally, the lifting device is used to lift the object to be transported, and the jacking device is controlled to exit the safe gap. This improves the stability of the lifting device when lifting the object to be transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 It is a method flow chart of a method for transporting an object in an embodiment of the present invention.

[0097] Figure 2 It is a method flow chart of a method for confirming the clamping quantity and clamping position in an embodiment of the present invention.

[0098] Figure 3 4 is a flow chart of a method for confirming the pressing force in an embodiment of the present invention.

[0099] Figure 4 It is a method flow chart of the three-dimensional model acquisition method in an embodiment of the present invention.

[0100] Figure 5 It is a method flow chart of a processing method when the arrangement quantity is not less than the comprehensive quantity in an embodiment of the present invention.

[0101] Figure 6It is a method flow chart of a processing method when the updated arrangement quantity is not less than the comprehensive quantity in an embodiment of the present invention.

[0102] Figure 7 It is a method flow chart of the lifting method in an embodiment of the present invention.

[0103] Figure 8 It is a system module diagram of an object handling system in an embodiment of the present invention.

[0104] The parts indicated by the numerical symbols in the above figures are as follows: 800, acquisition module; 801, memory; 802, processor. DETAILED DESCRIPTION

[0105] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0106] The transport mechanism includes a conveyor belt, a mechanical arm, a lifting device, a rotating device, a flipping device and a jacking device. The conveyor belt is located at the bottom of the transport mechanism; the mechanical arm is located on both sides of the top of the transport mechanism; the lifting device and the jacking device are respectively located on both sides of the bottom of the transport mechanism; the rotating device and the flipping device are arranged on both sides of the conveyor belt.

[0107] Reference Figure 1 , a method for transporting an object, comprising the following steps:

[0108] Step 100: Obtain the placement location of the object to be transported.

[0109] The placement position refers to the initial position where the object to be transported is placed on the preset transport mechanism, and the placement position is obtained through a gravity sensing device on the transport mechanism.

[0110] Step 101: Calculate the moving distance according to the placement position and the preset clamping position.

[0111] By establishing a coordinate system based on any point on the conveyor belt, the coordinates of the object to be transported in the coordinate system can be known.

[0112] The clamping position refers to the position where the transport mechanism clamps the object to be transported, and the moving distance refers to the distance the object to be transported is moved from the placement position to the clamping position. The calculation formula d=√{(x2-x1) 2 + (y2-y1) 2} to get the moving distance, where d is the moving distance, (x1, y1) is the placement position, and (x2, y2) is the clamping position.

[0113] Step 102: Control the preset conveyor belt to work according to the moving distance to move the object to be transported to the clamping position, and obtain the three-dimensional model of the object to be transported and the center of gravity of the object.

[0114] The three-dimensional model is obtained through the three-dimensional modeling software. The center of gravity of the object is obtained by the balance method in the three-dimensional modeling software through the three-dimensional model. The balance method is to apply force on the object to keep the object balanced and determine the center of gravity by measuring the point of force application. The conveyor belt is used to move the object to be transported from the placement position to the clamping position. When the moving distance is obtained, the conveyor belt is used to move the object to be transported from the placement position to the clamping position.

[0115] Step 103: Determine the size of the clamping surface according to the clamping surface of the three-dimensional model.

[0116] The clamping surface refers to the surface on the object to be transported that is used for the robot arm to clamp and fix. The size of the clamping surface is obtained by measuring the 3D model using 3D modeling software.

[0117] Step 104: Match the clamping parameters from a preset clamping database according to the clamping surface size.

[0118] After the size of the clamping surface is determined, the robot needs to be controlled to clamp the clamping surface. Before that, the parameters of the robot need to be obtained. The clamping parameters are the parameters of the robot, which include the number of clamps of the robot, the clamping position of the robot on the clamping surface, and the clamping force value of a single robot on the clamping surface; the clamping parameters can be obtained through the clamping surface size and the clamping database, which contains the corresponding relationship between the clamping surface size and the clamping parameters. The clamping database is a manually set database and will not be described here.

[0119] Step 105: Control a preset robotic arm to clamp the object to be transported according to the clamping parameters.

[0120] After the clamping parameters of the robot arm are determined, the robot arm can be controlled according to the clamping parameters to clamp the object to be transported.

[0121] Step 106: Determine the supporting position according to the center of gravity of the object.

[0122] The supporting position refers to the contact position between the object to be transported and the lifting device when the lifting device lifts the object to be transported. The supporting position can be determined by the center of gravity of the object. The supporting position is located at the projection of the center of gravity of the object on the bottom surface of the object to be transported.

[0123] Step 107: Based on the supporting position, control a preset lifting device to lift the object to be transported using a preset lifting method.

[0124] After the supporting position is determined, the lifting device lifts the object to be transported according to the supporting position, which can effectively reduce the shaking problem of the object to be transported during the lifting process. The lifting method is introduced in detail in the subsequent steps and will not be repeated here.

[0125] Reference Figure 2The clamping parameters include the clamping quantity and the clamping position. The method for confirming the clamping quantity and the clamping position includes the following steps:

[0126] Step 200: Obtain the weight of the object to be transported.

[0127] The weight of the object is obtained through the gravity sensor on the handling mechanism.

[0128] Step 201: Calculate the quotient of the friction force of the object weight on the horizontal plane and the preset pressing force value of a single robot arm.

[0129] When transporting an object, the pressure exerted by a single robotic arm on the object may not be enough to fix the object, so multiple robotic arms need to be set up to clamp the object at the same time.

[0130] The clamping force value refers to the pressure applied by a single robot arm when fixing the object to be transported. The friction between the object to be transported and the horizontal plane can be calculated by the weight of the object. The robot arm applies horizontal pressure to the object to be transported to balance the friction, making it difficult for the object to be transported to move horizontally.

[0131] The required number of robotic arms is determined by dividing the calculated friction between the object to be transported and the horizontal plane by the preset clamping force value of a single robotic arm.

[0132] Step 202: Split the calculated quotient into an integer part and a decimal part, and determine whether the decimal part of the quotient is equal to zero.

[0133] Since the number of robotic arms cannot be a decimal, the number of robotic arms is determined by judging whether the decimal part of the calculated quotient is equal to zero.

[0134] Step 2021: If the decimal part of the quotient is equal to zero, the integer part is defined as the clamping quantity.

[0135] The number of grippers refers to the number of robot arms. If the decimal part of the quotient is equal to zero, it means there is no decimal part, and the integer part is directly defined as the number of grippers of the robot arm.

[0136] Step 2022: If the decimal part of the quotient is not equal to zero, the sum of the integer part plus one is defined as the clamping quantity.

[0137] If the decimal part of the quotient is not equal to zero, it means that there is a decimal part. After removing the decimal part, the sum of the integer part plus one is defined as the clamping quantity.

[0138] Step 203: Determine the clamping position of each robot arm according to the clamping quantity, the clamping surface size and the center of gravity of the object.

[0139] The clamping position refers to the position of the robot arm when it clamps the object to be transported. The clamping position takes the center of gravity of the object as the midpoint, and the number of robot arms for clamping is distributed on both sides of the center of gravity of the object, and the clamping position is located on the clamping surface.

[0140] When the number of clamps is fixed, they are evenly separated on both sides of the midpoint of the clamping surface, and the number of mechanical arms on the clamping surface close to the center of gravity of the object to be transported is greater than the number of mechanical arms on the clamping surface far from the center of gravity of the object to be transported.

[0141] Reference Figure 3 The clamping parameters also include the clamping force. The methods for confirming the clamping force include:

[0142] Step 300: Obtaining firmware material parameters and firmware structure parameters in the object to be transported.

[0143] The firmware material parameter refers to the material strength of the firmware material in the object to be transported; the firmware structure parameter refers to the structural strength of the firmware material in the object to be transported; the firmware material parameter and the firmware structure parameter are obtained by comparing the preset strength database with the firmware material. The strength database contains the corresponding relationship between the firmware material parameter and the firmware structure parameter and the firmware material. The strength database is a manually set database and will not be described in detail here.

[0144] Step 301: Determine the material surface force value according to the firmware material parameters and the firmware structure parameters.

[0145] The material surface force value refers to the force value that the material of the fixture in the object to be transported can withstand. There is a corresponding relationship between the fixture material parameters, fixture structure parameters and the material surface force value. The material surface force value can be obtained through the fixture material parameters and fixture structure parameters.

[0146] Step 302: Determine whether the force value on the material surface is less than the clamping force value.

[0147] By judging whether the force value on the material surface is less than the clamping force value, it is determined whether the pressure exerted by the robot arm on the fixture material when the robot arm is clamped on the object to be transported will cause damage to the object to be transported.

[0148] Step 3021: If the force value on the material surface is not less than the clamping force value, clamping is performed.

[0149] If the force value on the material surface is not less than the clamping force value, it means that the current clamping force value will not cause damage to the object to be transported and it can be clamped directly.

[0150] Step 3022: If the material surface force value is less than the clamping force value, a matching analysis is performed based on the clamping force value and the clamping quantity to determine the overall pressure value.

[0151] The overall pressure value refers to the combined force of several robotic arms exerting pressure on the clamping surface of the object to be transported. If the force value on the material surface is less than the clamping force value, it means that the current clamping force value will cause damage to the object to be transported, and the clamping force value needs to be reduced. At the same time, since it is necessary to ensure that the robotic arm can still clamp the object to be transported stably after reducing the clamping force value, the number of clamps needs to be increased. The overall pressure value can be obtained by the clamping force value and the number of clamps. There is a corresponding relationship between the clamping force value, the number of clamps and the overall pressure value. The larger the clamping force value and the number of clamps, the greater the overall pressure value.

[0152] Step 3023: Perform matching analysis based on the overall pressure value and the material surface force value to determine the comprehensive quantity.

[0153] The comprehensive quantity refers to the maximum number of clamps that the material force-bearing surface of the object to be transported can withstand. There is a corresponding relationship between the overall pressure value, the material surface force value and the comprehensive quantity. When the overall pressure value is determined, the smaller the material surface force value, the greater the comprehensive quantity.

[0154] Step 3024: Determine the arrangement quantity according to the clamping surface size and the preset monomer clamping size.

[0155] The single clamping size refers to the area of ​​the part of the mechanical arm that contacts the clamping surface when a single mechanical arm clamps the clamping surface; the number of arrangements refers to the number of mechanical arms that can be accommodated on the current clamping surface. There is a corresponding relationship between the clamping surface size, the single clamping size, and the number of arrangements. When the clamping surface size is determined, the larger the single clamping size, the smaller the number of arrangements.

[0156] Step 3025: Determine whether the arrangement quantity is greater than the comprehensive quantity.

[0157] By judging whether the arrangement quantity is greater than the comprehensive quantity, it is determined whether the robot arm can clamp the current clamping surface to ensure that no damage is caused to the object to be transported.

[0158] Step 30251: If the arrangement quantity is not greater than the comprehensive quantity, the clamping quantity is updated with the arrangement quantity.

[0159] If the arrangement quantity is not greater than the comprehensive quantity, it means that the robot arm can clamp the current detection surface, and the current arrangement quantity will not cause damage to the object being transported, so it can be clamped and the arrangement quantity will be replaced and updated to the new clamping quantity.

[0160] Step 30252: If the arrangement quantity is greater than the comprehensive quantity, a prompt will be given.

[0161] If the arrangement quantity is greater than the comprehensive quantity, it means that the robot arm cannot clamp the current detection surface. When clamping the transported object with the current arrangement quantity, it will cause damage to it, so it cannot be clamped and a prompt needs to be reported.

[0162] Reference Figure 4 , the three-dimensional model acquisition method includes:

[0163] Step 400: Acquire display image information of the object to be transported in the display area.

[0164] The display image information refers to image information including the object to be transported and the display background, and the display image information is obtained by taking pictures with a camera.

[0165] Step 401: Determine the covering area and the distance value between the object to be transported and the preset reference object from a preset display comparison library according to the display image information.

[0166] The covered area refers to the area of ​​the grid background plate set on the display area covered by the object to be transported in the display area; the reference object refers to the reference object used to measure the three-dimensional parameters of the object to be transported; the spacing value refers to the distance between the reference object and the object to be transported. The display comparison library contains the grid spacing of the grid on the grid background plate. The display comparison library identifies and calculates the number and area of ​​the covered grids in the display image information, so as to obtain the covered area and spacing value. The display comparison library is a manually set database and will not be described in detail here.

[0167] Step 402: Determine a radius value of a preset detection path based on the sum of the spacing value and the preset distance value.

[0168] The detection path refers to the movement trajectory of the camera when the object to be transported is captured in a surround manner. The distance value refers to the distance between the reference object and the camera. Since the spacing value between the reference object and the object to be transported and the distance value between the reference object and the camera are always fixed, the sum of the spacing value and the distance value is defined as the radius value. The distance value is a manually set value and will not be described in detail here.

[0169] The radius value refers to the distance between the camera and the object to be transported.

[0170] Step 403: Control the reference object to move around the object to be transported according to the detection path, and synchronously acquire detection images of the object to be transported and the reference object.

[0171] The detection image includes the detection image of the object to be transported and the detection image of the reference object. The detection image is obtained by moving the camera around the object to be transported along the detection path following the reference object.

[0172] Step 404: Determine the 3D parameters of the object to be transported according to the detected image, the spacing value and the preset reference 3D parameters.

[0173] The reference three-dimensional parameters refer to the three-dimensional parameters of the reference object used for comparison with the object to be transported. The reference three-dimensional parameters are artificially set parameters and are not described in detail here. The ratio of the three-dimensional parameters of the detection image of the object to be transported and the three-dimensional parameters of the object to be transported can be obtained by comparing the spacing value and the ratio of the three-dimensional parameters of the reference object detection image and the preset reference three-dimensional parameters. The three-dimensional parameters of the object to be transported can be obtained by the ratio.

[0174] Step 405: Determine a 3D model according to the 3D parameters of the object.

[0175] The three-dimensional model is established through the three-dimensional parameters of the object from the preset modeling software. The modeling software is selected by the staff according to the actual situation and will not be described in detail here.

[0176] By acquiring the display image information, the display background and the object to be transported are obtained, wherein the display background includes a grid background board, and the number and area of ​​the grids covered in the display image information are identified and calculated through the display comparison library, so as to obtain the covering area and spacing value. The display comparison library includes the grid spacing value of the grid on the grid background board.

[0177] According to the radius value, the camera is controlled to capture the object to be transported along the detection path. The reference object moves synchronously with the detection path at a fixed spacing value to ensure that the captured images contain the reference object and the object to be transported. Then, the 3D parameters of the reference object are obtained and compared with the object to be transported to obtain the 3D parameters of the object to be transported. Finally, a 3D model is established based on the 3D parameters of the object to be transported.

[0178] Reference Figure 5 , the processing methods when the arrangement quantity is greater than the comprehensive quantity include:

[0179] Step 500: Find out the detection surface in the same circumferential direction as the current clamping surface according to the three-dimensional model, and obtain the size of the detection surface.

[0180] The detection surface refers to all other surfaces in the same circumferential direction as the clamping surface. The detection surface size is obtained by measuring the 3D model using 3D modeling software.

[0181] Step 501: Determine whether the size of the detection surface is greater than the size of the clamping surface.

[0182] Since the clamping surface size is not sufficient for clamping by a total number of robotic arms, the detection surface size is judged to be larger than the clamping surface size to determine whether the total number of detection surfaces is larger than the total number of clamping surfaces, and then to determine whether the detection surface can be used for clamping by a total number of robotic arms.

[0183] Step 5011: If the detection surface size is not larger than the clamping surface size, a prompt is given.

[0184] If the size of the detection surface is not larger than the size of the clamping surface, it means that the total number of the detection surfaces is not larger than the total number of the clamping surfaces. Therefore, the detection surface cannot be used and a report prompt is given directly.

[0185] Step 5012: If the detection surface size is larger than the clamping surface size, the arrangement quantity is updated according to the detection surface size and the monomer clamping size.

[0186] If the detection surface size is larger than the clamping surface size, it means that the total number of detection surfaces is larger than the total number of clamping surfaces, so the detection surface can be used, and the arrangement quantity is updated by calculating the quotient of the detection surface size divided by the single clamping size.

[0187] Step 5013: Determine whether the updated arrangement quantity is greater than the comprehensive quantity.

[0188] By judging whether the updated arrangement quantity is greater than the comprehensive quantity, it is determined whether the robot arm can clamp the current detection surface.

[0189] Step 50131: If the updated arrangement quantity is greater than the comprehensive quantity, a prompt will be given.

[0190] If the updated arrangement quantity is greater than the comprehensive quantity, it means that the robot arm cannot clamp the current detection surface and a prompt needs to be reported.

[0191] Step 50132: If the updated arrangement quantity is not greater than the comprehensive quantity, it is marked and the component placement information of the components in the object to be transported is obtained.

[0192] If the updated arrangement quantity is not greater than the comprehensive quantity, it means that the robot arm can clamp the current detection surface and needs to be marked first for subsequent processes. Component placement information refers to the placement form and fixing method of the components in the object to be transported. The component placement information can be obtained by obtaining the image information during packaging, and the image information during packaging is obtained by taking pictures with the camera.

[0193] Step 50133: Determine the opening direction and connection parameters of the assembly location of the item based on the component placement information.

[0194] A connecting piece for connecting and fixing the parts is arranged at the assembly position of the article, and the connecting piece is a semi-open circular ring.

[0195] The opening direction refers to the direction in which the connector opens when the component is placed in the object to be transported; the connection parameter refers to the connection strength when the component is fixedly connected. The connection strength is obtained by matching the preset connection database with the connector. The connection database contains the corresponding relationship between the connection strength and the connector. The connection database is a manually set database and will not be described here.

[0196] Step 50134: Determine the rotation direction based on the opening direction.

[0197] The rotation direction refers to the direction in which the object to be transported rotates. The rotation method can be obtained through the opening direction. When the object to be transported rotates, it rotates in the opposite direction of the opening direction to avoid the problem of the object to be transported rotating to the opening and then falling off.

[0198] Step 50135: Determine the rotation speed from the preset rotation database based on the connection parameters.

[0199] The rotation speed refers to the speed at which the object to be transported rotates. The rotation speed is determined by the strength of the connection parameters to avoid the problem of disconnection of components due to excessive rotation speed when the object to be transported rotates. The rotation speed can be obtained through the preset rotation database, which contains the corresponding relationship between the connection parameters and the rotation speed. The stronger the connection parameters, the faster the rotation speed. The rotation database is a manually set database and will not be described here.

[0200] Step 50136: Determine the detection surface of the mark closest to the clamping surface according to the rotation direction, and update the detection surface to the new clamping surface.

[0201] The detection surface closest to the clamping surface among the marked detection surfaces is determined by the rotation direction, and the closest detection surface is updated as the new clamping surface.

[0202] Step 50137: Control the preset rotating device according to the rotation speed to rotate the object to be transported in the rotation direction and re-clamp it.

[0203] The rotating device is used to rotate the object to be transported. The rotating device is controlled by the rotation speed and the rotation direction to rotate the object to be transported, and the updated clamping surface is clamped after the rotation.

[0204] Reference Figure 6 , the processing methods when the updated arrangement quantity is greater than the comprehensive quantity include:

[0205] Step 600: Find the flipping surface of the object to be transported according to the three-dimensional model and obtain the size of the flipping surface.

[0206] The flip surface refers to the top and bottom surfaces of the object to be transported. The flip surface dimensions are obtained by measuring the 3D model using 3D modeling software.

[0207] Step 601: Determine whether the flipping surface size is greater than the clamping surface size.

[0208] Since the size of the clamping surface is not sufficient for clamping by a total number of robotic arms, the flipping surface size is judged to be larger than the clamping surface size to determine whether the total number of flipping surfaces is greater than the total number of clamping surfaces, and then to determine whether the flipping surfaces can be used for clamping by a total number of robotic arms.

[0209] Step 6011: If the size of the broken flipping surface is not larger than the size of the clamping surface, a prompt is given.

[0210] If the flipping surface size is not larger than the clamping surface size, it means that the total number of flipping surfaces is not larger than the total number of clamping surfaces. Therefore, the flipping surface cannot be used and a report prompt is given directly.

[0211] Step 6012: If the size of the flipping surface is larger than the size of the clamping surface, the arrangement quantity is updated according to the flipping surface size and the monomer clamping size.

[0212] If the flip surface size is larger than the clamping surface size, it means that the total number of flip surfaces is larger than the total number of clamping surfaces, so the flip surface can be used, and the arrangement quantity is updated by calculating the quotient of the flip surface size divided by the single clamping size.

[0213] Step 6013: Determine whether the updated arrangement quantity is greater than the comprehensive quantity.

[0214] By judging whether the updated arrangement quantity is greater than the comprehensive quantity, it is determined whether the robot arm can clamp the current flip surface.

[0215] Step 60131: If the updated arrangement quantity is greater than the comprehensive quantity, a prompt will be given.

[0216] If the updated arrangement quantity is greater than the comprehensive quantity, it means that the robot arm cannot clamp the current flip surface and needs to be reported.

[0217] Step 60132: If the updated arrangement quantity is not greater than the comprehensive quantity, it is marked and the component placement information and component type of the components in the object to be transported are obtained.

[0218] If the updated arrangement quantity is not greater than the comprehensive quantity, it means that the robot arm can clamp the current flip surface, and it needs to be marked first for subsequent processes. The component placement information and component type can be obtained by obtaining the image information during packaging, and the image information during packaging is obtained by taking pictures with the camera. The types of components include fragile components and other components. When it is a fragile component, the component cannot be flipped to avoid breaking after flipping; when it is other components, the component can be flipped.

[0219] Step 60133: Determine whether the component type falls into the preset flip feature library.

[0220] By judging whether the component type is less than the preset flip feature library, it is determined whether the component can be flipped, and then whether the object to be transported can be flipped.

[0221] Step 60134: If the component type does not fall into the preset flip feature library, a prompt will be given.

[0222] If the number of component types is not less than the preset flip feature library, it means that the object to be transported cannot be flipped and a report prompt is required.

[0223] Step 60135: If the component type falls into the preset flip feature library, the opening direction and connection parameters of the item assembly are determined according to the component placement information.

[0224] If the number of component types is less than the preset flip feature library, it means that the object to be transported can be flipped, and the opening direction and connection parameters can be obtained through the component placement information.

[0225] Step 60136: Determine the flipping direction based on the opening direction.

[0226] The flipping direction refers to the direction in which the object to be transported flips upside down. The flipping method can be obtained through the opening direction to avoid the problem of parts falling off the opening when the object to be transported flips.

[0227] Step 60137: Determine the flipping speed based on the connection parameters.

[0228] The flipping speed refers to the speed at which the object to be transported flips itself. The flipping speed is determined by the size of the connection parameters to avoid the problem of disconnection of components due to excessive flipping speed when the object to be transported flips.

[0229] Step 60138: Update the flipping surface to a new clamping surface, and control the preset flipping device according to the flipping speed to flip the object to be transported in the flipping direction and re-clamp it.

[0230] The flipping device is a device used to flip the object to be transported. The flipping surface is updated to a new clamping surface, and the flipping device is controlled by the flipping speed and flipping direction to flip the object to be transported, and the updated clamping surface is clamped after flipping.

[0231] Reference Figure 7 , lifting methods include:

[0232] Step 700: Acquire contact image information when the conveyor belt contacts the object to be transported.

[0233] The contact image information refers to the image information of the contact point between the conveyor belt and the object to be transported when the object to be transported is placed on the conveyor belt. The contact image information is obtained by taking a picture with a camera.

[0234] Step 701: Identify the groove features of the conveyor belt from a preset groove feature library according to the abutment image information.

[0235] The groove feature refers to the depression on the conveyor belt. The lifting device is inserted between the conveyor belt and the object to be transported through the groove feature. The groove feature in the abutment image information can be identified through the groove feature library. The groove feature library is obtained based on the deep learning of the neural network model, which contains the groove feature. The groove feature library is a manually set database and will not be described here.

[0236] Step 702: Determine whether the center of gravity of the object is located directly above the groove feature.

[0237] By judging whether the center of gravity of the object is located directly above the groove feature, it is determined whether the object to be transported needs to be translated so that the center of gravity of the object is located directly above the groove feature.

[0238] Step 7021: If the center of gravity of the object is located directly above the groove feature, a lifting device is controlled according to the groove feature to be inserted between the object to be transported and the conveyor belt to lift the object to be transported.

[0239] If the center of gravity of the object is located directly above the groove feature, it means that there is no need to translate the object to be transported, and the lifting device can be directly inserted into the groove feature to lift the object to be transported.

[0240] Step 7022: If the center of gravity of the object is not located directly above the groove feature, control the lifting device to be inserted into the groove feature to lift the object to be transported to a preset safety height to obtain a safety gap.

[0241] If the center of gravity of the object is not directly above the groove feature, it means that the object to be transported needs to be translated so that the center of gravity of the object falls into the groove feature. The safe height refers to the height reached by the object to be transported after being lifted; the safe clearance refers to the gap between the object to be transported and the conveyor belt after being lifted. The safe height is a manually set data and will not be described here. The safe clearance is obtained through the safe height.

[0242] Step 7023: Control the preset lifting device to be inserted into the safety gap to temporarily lift the object to be transported.

[0243] The lifting device is used to lift the object to be transported to a safe height and then insert it into the safety gap to prevent the object to be transported from falling when the lifting device moves. The lifting device is inserted into the safety gap by controlling it to temporarily lift the object to be transported so that the lifting device can move.

[0244] Step 7024: Control the lifting device to move to the center of gravity of the object within the safety gap to lift the object to be transported, and control the lifting device to exit the safety gap.

[0245] Control the lifting device to move to a position below the center of gravity of the object within the safety gap, then lift the object to be transported, and after lifting, control the lifting device to exit the safety gap.

[0246] There are multiple groove features and they are evenly distributed on the conveyor belt. The lifting device is inserted into between the conveyor belt and the object to be transported through the groove to lift the object to be transported.

[0247] By acquiring the abutment image information and identifying the groove features in the abutment image information, and judging whether the center of gravity of the object is within the groove features, if so, the lifting device is directly inserted into the groove where the center of gravity of the object exists to lift the object to be transported; if not, the lifting device is first inserted into any groove in the middle, and then the object to be transported is lifted to a safe height to prevent the object to be transported from falling, and then the lifting device is inserted into the safe gap between the object to be transported and the conveyor belt to temporarily lift the object to be transported, so that the lifting device moves to the center of gravity of the object within the safe gap, and then lifts the object to be transported. After lifting, the lifting device is withdrawn from the safe gap.

[0248] Based on the same inventive concept, an embodiment of the present invention provides an object handling system, comprising:

[0249] The acquisition module 800 is used to obtain the placement position, three-dimensional model, object center of gravity, object weight, firmware material parameters, firmware structure parameters, display image information, detection image, component placement information, component type and abutment image information.

[0250] The memory 801 is used to store a program of a method for transporting objects.

[0251] Processor 802 , the program in memory 801 can be loaded and executed by processor 802 to implement the object transport method.

[0252] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a method for transporting an object.

[0253] Computer storage media include, for example, USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks, and other media that can store program codes.

[0254] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory 801 and a processor 802 , wherein the memory 801 stores a computer program that can be loaded by the processor 802 and execute a method for transporting an object.

[0255] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for transporting an object, characterized in that: include: Get the placement location of the object to be transported; Calculate the moving distance based on the placement position and the preset clamping position; Controlling the preset conveyor belt to work according to the moving distance to move the object to be transported to the clamping position, and obtaining the three-dimensional model and the center of gravity of the object to be transported; Determine the size of the clamping surface according to the clamping surface of the three-dimensional model; Match the clamping parameters from the preset clamping database according to the clamping surface size; Control the preset robotic arm to clamp the object to be transported according to the clamping parameters; Determine the support position based on the object's center of gravity; Based on the supporting position, the preset lifting device is controlled to lift the object to be transported in a preset lifting method; The clamping parameters include the clamping quantity and the clamping position. The confirmation methods of the clamping quantity and the clamping position include: Obtain the object weight of the object to be transported; Calculate the quotient of the friction force of the object weight on the horizontal plane and the preset clamping force value of a single robot arm; Split the calculated quotient into an integer part and a decimal part, and determine whether the decimal part of the quotient is equal to zero; If it is equal to zero, the integer part is defined as the clamping quantity; If it is not equal to zero, the sum of the integer part plus one is defined as the clamping quantity; Determine the clamping position of each robot arm based on the number of clamps, the size of the clamping surface, and the center of gravity of the object; The clamping parameters also include the clamping force, and the methods for confirming the clamping force include: Obtain the firmware material parameters and firmware structure parameters in the object to be transported; Determine the material surface force value according to the material parameters and structural parameters of the fixture; Determine whether the force value on the material surface is less than the clamping force value; If it is not less than, clamping is performed; If it is less than that, a matching analysis is performed based on the clamping force value and the clamping quantity to determine the overall pressure value; Perform matching analysis based on the overall pressure value and the material surface force value to determine the comprehensive quantity; Determine the number of arrangements based on the size of the clamping surface and the preset size of the monomer clamping; Determine whether the arrangement quantity is greater than the comprehensive quantity; If not, update the clamping quantity with the arrangement quantity; If it is greater, a prompt will be given; The processing methods when the arrangement quantity is greater than the comprehensive quantity include: Find the detection surface in the same circumferential direction as the current clamping surface according to the three-dimensional model, and obtain the size of the detection surface; Determine whether the detection surface size is larger than the clamping surface size; If it is not greater than, a prompt will be given; If it is greater, the arrangement quantity is updated according to the detection surface size and the monomer clamping size; Determine whether the updated arrangement quantity is greater than the comprehensive quantity; If it is greater, a prompt will be given; If it is not greater than, mark it and obtain the component placement information of the components in the object to be transported; Determine the opening direction and connection parameters of the assembly location of the item based on the component placement information; Determine the rotation direction according to the opening direction; Determine the rotation speed from a preset rotation database according to the connection parameters; Determine the detection surface of the mark closest to the clamping surface according to the rotation direction, and update the detection surface to the new clamping surface; According to the rotation speed, the preset rotating device is controlled to rotate the object to be transported in the rotation direction and re-clamp it; The processing methods when the updated arrangement quantity is greater than the comprehensive quantity include: Find the flipping surface of the object to be transported according to the three-dimensional model and obtain the size of the flipping surface; Determine whether the flip surface size is larger than the clamping surface size; If it is not greater than, a prompt will be given; If it is greater, the arrangement quantity is updated according to the flip surface size and the monomer clamping size; Determine whether the updated arrangement quantity is greater than the comprehensive quantity; If it is greater, a prompt will be given; If it is not greater than, mark it and obtain the component placement information and component types of the components in the object to be transported; Determine whether the component type falls into the preset flip feature library; If it does not fall into the category, a prompt will be given; If it falls in, determine the opening direction and connection parameters of the assembly location of the item according to the component placement information; Determine the flipping direction according to the opening direction; Determine the flipping speed based on the connection parameters; The flipping surface is updated to a new clamping surface, and the preset flipping device is controlled according to the flipping speed to flip the object to be transported in the flipping direction and re-clamp it.

2. A method for transporting an object according to claim 1, characterized in that: The three-dimensional model acquisition method includes: Acquiring display image information of the object to be transported in the display area; Determine the covering area and the distance value between the object to be transported and the preset reference object from a preset display comparison library according to the display image information; Determining a radius value of a preset detection path based on the sum of the spacing value and a preset distance value; Control the reference object to move around the object to be transported according to the detection path, and synchronously obtain the detection images of the object to be transported and the reference object; Determine the three-dimensional parameters of the object to be transported according to the detection image, the spacing value and the preset reference three-dimensional parameters; Determine the 3D model based on the 3D parameters of the object.

3. The method for transporting an object according to claim 1, characterized in that: Lifting methods include: Acquire abutment image information when the conveyor belt abuts against the object to be transported; Recognize the groove features of the conveyor belt from a preset groove feature library according to the abutment image information; Determine whether the center of gravity of the object is directly above the groove feature; If it is located, the lifting device is controlled to be inserted between the object to be transported and the conveyor belt according to the groove characteristics to lift the object to be transported; If it is not located, the lifting device is controlled to be inserted into the groove feature to lift the object to be transported to a preset safety height to obtain a safety gap; Control the preset lifting device to insert into the safety gap to temporarily lift the object to be transported; Based on the safety gap, the lifting device is controlled to move to the center of gravity of the object to lift the object to be transported, and the lifting device is controlled to exit the safety gap.

4. A system for transporting objects, characterized in that: include: An acquisition module, used to acquire placement position, three-dimensional model, object center of gravity, object weight, firmware material parameters, firmware structure parameters, display image information, detection image, component placement information, component type, and abutment image information; A memory for storing a program of a method for controlling a method for transporting an object as claimed in claim 3; The processor is used to process the program stored in the memory.

5. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes the object handling method according to any one of claims 1 to 3.

6. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for transporting an object as claimed in any one of claims 1 to 3.

Images