Object grabbing method and system based on six-degree-of-freedom collaborative robot

Abstract

The invention discloses an object grabbing method and system based on a six-degree-of-freedom collaborative robot, and the method comprises the steps: determining an anchor point of each box based on a preset space coordinate system according to the space position and rotation angle of each box on a production line; clustering the anchor points according to a preset space condition to obtain a plurality of adjacent anchor point sets; calculating a midpoint of each adjacent anchor point set to obtain a final anchor point set of the production line; and the boxes on the production line are grabbed according to the final anchor point set. The box suction strategy is dynamically adjusted according to the stacking mode of the boxes, multiple boxes are accurately carried at a time, the stacking efficiency is remarkably improved, and the mechanical cost is reduced.

Description

Technical Field

[0001] The present application belongs to the field of mechanical control technology, and specifically relates to an object grasping method and system based on a six-degree-of-freedom collaborative robot. Background Art

[0002] With the development of industrial automation and intelligent manufacturing technology, robotic arms have been widely used in various production lines and logistics systems, especially in repetitive and regular operations such as palletizing, handling and sorting. Traditional robotic arms usually focus on single-point grasping, that is, only grasping one object at a time and moving it to a specified position. However, with the improvement of production efficiency and flexible manufacturing needs, the single-point grasping method has gradually exposed its problems such as low efficiency, long operation time, and difficulty in adapting to complex tasks.

[0003] The traditional single-point grabbing method can only carry one box at a time, which limits the overall palletizing speed and cannot meet the high-volume demand. Frequent mechanical movements increase energy consumption and cause increased wear of mechanical parts, which is not conducive to energy-saving production. In addition, the single-box suction method often uses a single box suction strategy for boxes of different sizes and stacking methods, which has poor adaptability. Summary of the invention

[0004] The present application proposes an object grasping method and system based on a six-degree-of-freedom collaborative robot, which dynamically adjusts the box suction strategy according to the stacking method of the boxes, realizes the precise handling of multiple boxes at a time, significantly improves the stacking efficiency and reduces the machinery cost.

[0005] The first aspect of the present application provides an object grasping method based on a six-degree-of-freedom collaborative robot, the method comprising:

[0006] Based on a preset spatial coordinate system, determine the anchor point of each box according to the spatial position and rotation angle of each box on the production line;

[0007] Clustering the anchor points according to preset spatial conditions to obtain a plurality of adjacent anchor point sets;

[0008] Calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line;

[0009] According to the final anchor point set, the boxes on the production line are grasped.

[0010] The above scheme first determines the anchor point of each box according to the spatial position of each box on the production line and the rotation angle relative to the origin of the coordinate system, so as to determine the placement and method of the box; then, based on the anchor point of the box, find the set of neighboring anchor points that record the neighboring boxes of each box to provide data support for calculating how many objects can be grabbed at one time; then calculate the midpoint of the set of neighboring anchor points to obtain the most reliable grasping point that can grasp multiple boxes at one time; finally, based on the final anchor point set and the set maximum grasping threshold, perform multiple grasps on the production line to achieve accurate handling of multiple boxes at one time, significantly improving stacking efficiency and reducing machinery costs.

[0011] In a possible implementation method of the first aspect, based on a preset spatial coordinate system, according to the spatial position and rotation angle of each box on the production line, an anchor point of each box is determined, specifically:

[0012] Scan the production line to obtain box scanning data;

[0013] Determine the spatial position and rotation angle of the box according to the spatial coordinate system and the box scanning data; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin;

[0014] According to the spatial position and rotation angle of the box, the center point of the upper surface of the box is used as the anchor point of the box.

[0015] In the above scheme, the preset spatial coordinate system is used to first determine the spatial position and rotation angle of the box, and to clarify the stacking position of each box. Then, based on the spatial position and rotation angle of the box, the anchor point of the box is determined, providing data support for the subsequent determination of which anchor point is the optimal position for grabbing multiple boxes at a time.

[0016] In a possible implementation method of the first aspect, the anchor points are clustered according to preset spatial conditions to obtain a plurality of neighboring anchor point sets, specifically:

[0017] Treat all anchor points as an anchor point set;

[0018] Based on the anchor point set, for each anchor point of the box, an approximate point in the same moving direction is retrieved, and the approximate point is judged according to the spatial condition to obtain the corresponding adjacent anchor point set;

[0019] When all anchor points in the anchor point set have been retrieved, several adjacent anchor point sets are obtained.

[0020] In a possible implementation method of the first aspect, judging the approximate point according to the spatial condition to obtain the corresponding set of neighboring anchor points is specifically:

[0021] When the rotation angle of the approximate point is consistent with the corresponding anchor point, and the difference between the approximate point and the corresponding anchor point in the horizontal coordinate or the vertical coordinate is less than a first threshold, the approximate point is added to the corresponding neighboring anchor point set according to the corresponding anchor point.

[0022] The above scheme uses the same rotation angle and the position difference between the anchor points being less than the first threshold as the judgment criteria for the approximate point. By screening out multiple similar boxes that are convenient for one-time grasping, the robotic arm can grasp multiple objects in one operation, thereby improving the palletizing efficiency.

[0023] In a possible implementation method of the first aspect, grabbing a box on the production line according to the final anchor point set is specifically as follows:

[0024] Based on each midpoint of the final anchor point set, several boxes on the production line are grasped at one time without exceeding a preset maximum grasping threshold.

[0025] The above scheme optimizes the grasping position and posture of the robot arm by calculating the midpoint position of the anchor point combination to ensure the stability and accuracy of the multi-grasp operation.

[0026] A second aspect of the present application provides an object grasping system based on a six-degree-of-freedom collaborative robot, the system comprising: an anchor point determination module, a neighbor anchor point clustering module, a midpoint calculation module, and a box grasping module;

[0027] The anchor point determination module is used to determine the anchor point of each box on the production line based on a preset spatial coordinate system and according to the spatial position and rotation angle of each box on the production line;

[0028] The neighboring anchor point clustering module is used to cluster the anchor points according to preset spatial conditions to obtain a plurality of neighboring anchor point sets;

[0029] The midpoint calculation module is used to calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line;

[0030] The box grabbing module is used to grab the boxes on the production line according to the final anchor point set.

[0031] In a possible implementation of the second aspect, the anchor point determination module includes: a box anchor point determination unit;

[0032] The box anchor point determination unit is used to scan the production line to obtain box scanning data; determine the spatial position and rotation angle of the box based on the spatial coordinate system and the box scanning data; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin; based on the spatial position and rotation angle of the box, the center point of the upper surface of the box is used as the anchor point of the box.

[0033] In a possible implementation of the second aspect, the neighbor anchor point clustering module includes: an anchor point clustering unit;

[0034] The anchor point clustering unit is used to treat all anchor points as an anchor point set; based on the anchor point set, retrieve approximate points with the same moving direction for each anchor point of the box, and judge the approximate points according to the spatial conditions to obtain the corresponding adjacent anchor point set; when all anchor points in the anchor point set have been retrieved, a number of adjacent anchor point sets are obtained.

[0035] In a possible implementation of the second aspect, the neighbor anchor point clustering module includes: a proximity point judgment unit;

[0036] The approximate point judgment unit is used to add the approximate point to the corresponding adjacent anchor point set according to the corresponding anchor point when the rotation angle of the approximate point is consistent with the corresponding anchor point and the difference between the approximate point and the corresponding anchor point in the horizontal coordinate or the vertical coordinate is less than a first threshold.

[0037] In a possible implementation of the second aspect, the box grabbing module includes: a multi-grabbing unit;

[0038] The multi-grasping unit is used to grasp a plurality of boxes on the production line at one time based on each midpoint of the final anchor point set without exceeding a preset maximum grasping threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 It is a specific flow chart of an object grasping method based on a six-degree-of-freedom collaborative robot provided in a certain embodiment of the present application;

[0041] Figure 2 It is a box coordinate diagram of an object grasping method based on a six-degree-of-freedom collaborative robot provided in a certain embodiment of the present application;

[0042] Figure 3 It is a box movement direction diagram of an object grasping method based on a six-degree-of-freedom collaborative robot provided in a certain embodiment of the present application;

[0043] Figure 4 This is a specific structural diagram of an object grasping system based on a six-degree-of-freedom collaborative robot provided in a certain embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] It should be understood that the step numbers used in this article are only for the convenience of description and are not intended to limit the order in which the steps are executed.

[0046] First embodiment

[0047] The intelligentization of the production line includes operations such as grabbing, stacking and integrating boxes through a robotic arm. Before the operation, the boxes on the production line need to be identified, and a reference for the grabbing strategy is given based on the placement of the boxes. However, in actual applications, although the traditional method of grabbing one box at a time is relatively simple in structure and easy to implement, frequent operations will cause more wear and tear on the robotic arm, and intelligently moving one box at a time will reduce the stacking speed and cannot meet high production requirements. Therefore, how to dynamically adjust the grabbing strategy based on the actual placement of the boxes on the production line, grab multiple boxes at a time as accurately as possible, and improve the stacking efficiency is the main research direction of the embodiments of this application.

[0048] like Figure 1 As shown, Figure 1 A specific flow chart of a method for grasping an object based on a six-degree-of-freedom collaborative robot is provided for a certain embodiment of the present application. The method for grasping an object based on a six-degree-of-freedom collaborative robot of this embodiment includes steps S1 to S4, which are described in detail as follows:

[0049] Step S1, based on a preset spatial coordinate system, according to the spatial position and rotation angle of each box on the production line, determine the anchor point of each box.

[0050] In the embodiment of the present application, a spatial coordinate system is first set up to determine the spatial position and rotation angle of the box, wherein the spatial coordinate system is based on the production line and can ensure that all boxes are included in the same quadrant, so that the coordinates of the boxes can be better managed.

[0051] Then, the boxes on the production line are scanned to determine the spatial position and rotation angle of all boxes; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin.

[0052] Specifically, in order to ensure the uniqueness of the coordinates of the box, the center point of the upper surface of the box is used as the anchor point of the box, and the coordinates of the anchor point are used as the coordinates of the corresponding box.

[0053] Exemplarily, the following Table 1 shows the coordinates of the anchor points of multiple boxes in an embodiment of the present application. The coordinates of the anchor points include a horizontal coordinate X, a vertical coordinate Y, and a rotation angle Rotate Value around the origin of the coordinate system, referred to as the rotation angle, and the value range is [0°, 360°].

[0054] Table 1

[0055]

[0056] In order to better respond to the content in Table 1 above, Figure 2 A box coordinate diagram in a spatial coordinate system is provided. There are a total of 8 boxes in the figure, and the placement of each box is different. The horizontal direction is the Y axis, and the vertical direction is the X axis. Boxes 1, 2, and 3 are close to the Y axis from right to left. The upper layer is boxes 4, 5, and 6 from right to left, and the top is boxes 7 and 8 from right to left. Taking the dotted part on the box as an example, the rightmost box has a rotation angle of 0, so the rotation angle of the box close to the Y axis in the coordinate system is 0, the rotation angle of the upper layer of boxes is 180°, and the rotation angle of the top layer of boxes is 90°.

[0057] in addition, Figure 3 A diagram of the moving direction of the box on the production line is also provided. In the embodiment of the present application, the longitudinal moving direction is shown on the left and the lateral moving direction is shown on the right. When dynamically adjusting the grasping strategy, it is inclined to grasp multiple boxes with the same moving direction at a time. This is because boxes with the same direction are more convenient to grasp. Therefore, the moving direction of the box will be used as a reference condition for anchor point clustering in the subsequent process.

[0058] Step S2: clustering the anchor points according to preset spatial conditions to obtain a plurality of adjacent anchor point sets.

[0059] In an embodiment of the present application, if there is more than one production line but multiple layers of different production lines, it is necessary to formulate different grasping strategies for each layer of production line, and define a set of layers layers for storing the grasping strategies for each layer of production line.

[0060] The specific calculation process of the production line grabbing strategy is:

[0061] Let L_i be the i-th production line, P_i be the anchor point set of L_i, A_j be the j-th anchor point in P_i, usedPoint be the anchor point set that has been retrieved and determined, G_j be the neighboring anchor point set of A_j, and maxGripNum be the total number of boxes in L_i.

[0062] (1) Initialize usedPoint to an empty set, and then determine whether A_j belongs to usedPoint; if so, select another anchor point from P_i for determination; otherwise, initialize G_j = {A_j} and p1 = A_j; where p1 can be any point that does not exist in usedPoint;

[0063] According to the moving direction and coordinates of point p1, find the nearest point p2 in P_i with the same moving direction; wherein the spatial conditions are: ① the rotation angle of p1 = the rotation angle of p2; ② p2 does not exist in the set usedPoint; ③ the distance between p1 and p2 is the smallest among the distances between p1 and other points in P_i;

[0064] (2) If the found point p2 meets the preset spatial condition, then point p2 is added to G_j and point p2 is marked as used, that is, p2 is added to the usedPoint set;

[0065] When the rotation angle of point p2 is consistent with that of point p1, and the difference between point p2 and point p1 in the horizontal coordinate or the vertical coordinate is less than the first threshold, it can be considered that point p2 meets the preset spatial conditions, specifically:

[0066] 1. The rotation angle of point p2 is the same as that of point p1:

[0067] r(p1)=r(p2);

[0068] Where r(p1) is the rotation angle of point p1, and r(p2) is the rotation angle of point p2.

[0069] 2. The difference between point p2 and point p1 on the X-axis or Y-axis is less than the first threshold:

[0070] |x(p1)-x(p2)|<10 or |y(p1)-y(p2)<10;

[0071] In the embodiment of the present application, the first threshold is set to 10; in other embodiments, the first threshold can be adjusted accordingly according to the hardware parameters of the robot arm, the box size and the production line parameters.

[0072] (3) Repeat steps (2) and (3) for all anchor points in P_i until no point that does not exist in usedPoint can be found in P_i, or the size of G_j is equal to maxGripNum, then stop searching.

[0073] Finally, according to the above process, the neighboring anchor point set of all anchor points on the production line L_i can be obtained, so as to obtain the reference support of other boxes that can be grasped simultaneously with the box corresponding to each anchor point.

[0074] Step S3, calculating the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line.

[0075] In the embodiment of the present application, for each acquired set of adjacent anchor points, the point M is calculated. i , specifically:

[0076] M j = midpoint ({p1, p2, ..., p n});

[0077] Where p1, 2, ..., n is an anchor point in the set of neighboring anchor points.

[0078] Then M j It is added to the final anchor point set as the final grasping anchor point of the robot arm. The grasping anchor point optimizes the grasping posture of the robot arm, improves the stability and accuracy of the multi-grasp operation, and ensures that as many boxes as possible can be accurately grasped by this operation, thereby improving the stacking efficiency.

[0079] Step S4: grab the boxes on the production line according to the final anchor point set.

[0080] In an embodiment of the present application, the final anchor point set is stored. When the robotic arm is operated to grab boxes on the production line, based on each midpoint of the final anchor point set, several boxes on the production line are grabbed at one time without exceeding a preset maximum grabbing threshold, so that multiple objects can be grabbed at the same time in one operation, the frequency of mechanical operations is reduced, the service life of the equipment is extended, the equipment maintenance cost is reduced, and the overall energy consumption and usage cost of the system are reduced while the stacking rate is accelerated.

[0081] Implementing the embodiments of the present application has the following beneficial effects:

[0082] The embodiment of the present application first determines the anchor point of each box according to the spatial position of each box on the production line and the rotation angle relative to the origin of the coordinate system, so as to determine the placement position and method of the box; then, based on the anchor point of the box, finds the adjacent anchor point set of each box to provide data support for calculating how many objects can be grabbed at one time; then calculates the midpoint of the adjacent anchor point set to obtain the most reliable grasping point that can grasp multiple boxes at one time; finally, based on the final anchor point set and the set maximum grasping threshold, performs multiple grasps on the production line to achieve accurate handling of multiple boxes at one time, significantly improving the stacking efficiency and reducing the machinery cost.

[0083] Second embodiment

[0084] Furthermore, in order to execute the object grasping system based on the six-degree-of-freedom collaborative robot corresponding to the above method embodiment to achieve the corresponding functions and technical effects, Figure 4 A structural diagram of an object grasping system based on a six-degree-of-freedom collaborative robot is provided. For ease of description, only the parts related to this embodiment are shown. The object grasping system based on a six-degree-of-freedom collaborative robot provided in the embodiment of the present application includes:

[0085] The anchor point determination module 201 is used to determine the anchor point of each box on the production line based on a preset spatial coordinate system according to the spatial position and rotation angle of each box on the production line.

[0086] In an embodiment of the present application, the production line is scanned to obtain box scanning data; the spatial position and rotation angle of the box are determined based on the spatial coordinate system and the box scanning data; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin; based on the spatial position and rotation angle of the box, the center point of the upper surface of the box is used as the anchor point of the box.

[0087] The neighboring anchor point clustering module 202 is used to cluster the anchor points according to a preset spatial condition to obtain a plurality of neighboring anchor point sets.

[0088] In an embodiment of the present application, all anchor points are taken as an anchor point set; based on the anchor point set, approximate points with the same moving direction are retrieved for each anchor point of the box, and the approximate points are judged according to the spatial conditions to obtain the corresponding adjacent anchor point set; when all anchor points in the anchor point set have been retrieved, several adjacent anchor point sets are obtained.

[0089] The midpoint calculation module 203 is used to calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line.

[0090] In the embodiment of the present application, for each acquired set of adjacent anchor points, the point M is calculated.j , specifically:

[0091] M j = midpoint ({p1, p2, ..., p n});

[0092] Where p1, 2, ..., n is an anchor point in the set of neighboring anchor points.

[0093] Then M i It is added to the final anchor point set as the final grasping anchor point of the robot arm. The grasping anchor point optimizes the grasping posture of the robot arm, improves the stability and accuracy of the multi-grasp operation, and ensures that as many boxes as possible can be accurately grasped by this operation, thereby improving the stacking efficiency.

[0094] The box grabbing module 204 is used to grab the boxes on the production line according to the final anchor point set.

[0095] In an embodiment of the present application, the final anchor point set is stored. When the robotic arm is operated to grab boxes on the production line, based on each midpoint of the final anchor point set, several boxes on the production line are grabbed at one time without exceeding a preset maximum grabbing threshold, so that multiple objects can be grabbed at the same time in one operation, the frequency of mechanical operations is reduced, the service life of the equipment is extended, the equipment maintenance cost is reduced, and the overall energy consumption and usage cost of the system are reduced while the stacking rate is accelerated.

[0096] In some embodiments, the anchor point determination module 201 further includes:

[0097] First, a spatial coordinate system is set up to determine the spatial position and rotation angle of the box. The spatial coordinate system is based on the production line and can ensure that all boxes are included in the same quadrant so that the coordinates of the boxes can be better managed.

[0098] Then, the boxes on the production line are scanned to determine the spatial position and rotation angle of all boxes; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin.

[0099] Specifically, in order to ensure the uniqueness of the coordinates of the box, the center point of the upper surface of the box is used as the anchor point of the box, and the coordinates of the anchor point are used as the coordinates of the corresponding box.

[0100] For example, the following Table 2 shows the coordinates of the anchor points of multiple boxes in the embodiment of the present application. The coordinates of the anchor points include the horizontal coordinate X, the vertical coordinate Y and the rotation angle Rotat around the origin of the coordinate system. e Valu e , referred to as the rotation angle, the value range is [0°, 360°].

[0101] surface,

[0102]

[0103]

[0104] In addition, in the embodiment of the present application, the longitudinal direction of travel and the lateral direction of travel are mainly included. When dynamically adjusting the grasping strategy, it is inclined to grasp multiple boxes with the same moving direction at a time. This is because boxes with the same direction are more convenient to grasp. Therefore, the moving direction of the box will be used as a reference condition for anchor point clustering in the subsequent process.

[0105] In some embodiments, the neighbor anchor point clustering module 202 further includes:

[0106] If there is more than one production line, but multiple layers of different production lines, it is necessary to formulate different grasping strategies for each layer of production line, and define a set of layers to store the grasping strategies for each layer of production line.

[0107] The specific calculation process of the production line grabbing strategy is:

[0108] Let L_i be the i-th production line, P_i be the anchor point set of L_i, A_j be the j-th anchor point in P_i, usedPoint be the anchor point set that has been retrieved and determined, G_j be the neighboring anchor point set of A_j, and maxGripNum be the total number of boxes in L_i.

[0109] (1) Initialize usedPoint to an empty set, and then determine whether A_j belongs to usedPoint; if so, select another anchor point from P_i for determination; otherwise, initialize G_j = {A_j} and p1 = A_j; where p1 can be any point that does not exist in usedPoint;

[0110] (2) According to the moving direction and coordinates of point p1, find the nearest point p2 in P_i with the same moving direction; the spatial conditions are: ① the rotation angle of p1 = the rotation angle of p2; ② p2 does not exist in the set usedPoint; ③ the distance between p1 and p2 is the smallest among the distances between p1 and other points in P_i;

[0111] (3) If the found point p2 meets the preset spatial condition, then point p2 is added to G_j and point p2 is marked as used, that is, p2 is added to the usedPoint set;

[0112] When the rotation angle of point p2 is consistent with that of point p1, and the difference between point p2 and point p1 in the horizontal coordinate or the vertical coordinate is less than the first threshold, it can be considered that point p2 meets the preset spatial conditions, specifically:

[0113] 1. The rotation angle of point p2 is the same as that of point p1:

[0114] r(p1)=r(p2);

[0115] Where r(p1) is the rotation angle of point p1, and r(p2) is the rotation angle of point p2.

[0116] 2. The difference between point p2 and point p1 on the X-axis or Y-axis is less than the first threshold:

[0117] |x(p1)-x(p2)|<10 or |y(p1)-y(p2)<10;

[0118] In the embodiment of the present application, the first threshold is set to 10; in other embodiments, the first threshold can be adjusted accordingly according to the hardware parameters of the robot arm, the box size and the production line parameters.

[0119] (4) Repeat steps (2) and (3) for all anchor points in P_i until no point that does not exist in usedPoint can be found in P_i, or the size of G_j is equal to maxGripNum, then stop searching.

[0120] Finally, according to the above process, the neighboring anchor point set of all anchor points on the production line L_i can be obtained, so as to obtain the reference support of other boxes that can be grasped simultaneously with the box corresponding to each anchor point.

[0121] Implementing the embodiments of the present application has the following beneficial effects:

[0122] The embodiment of the present application first determines the anchor point of each box according to the spatial position of each box on the production line and the rotation angle relative to the origin of the coordinate system, so as to determine the placement position and method of the box; then, based on the anchor point of the box, finds the adjacent anchor point set of each box to provide data support for calculating how many objects can be grabbed at one time; then calculates the midpoint of the adjacent anchor point set to obtain the most reliable grasping point that can grasp multiple boxes at one time; finally, based on the final anchor point set and the set maximum grasping threshold, performs multiple grasps on the production line to achieve accurate handling of multiple boxes at one time, significantly improving the stacking efficiency and reducing the machinery cost.

[0123] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for grasping an object based on a six-degree-of-freedom collaborative robot, characterized in that: include: Based on a preset spatial coordinate system, determine the anchor point of each box according to the spatial position and rotation angle of each box on the production line; Clustering the anchor points according to preset spatial conditions to obtain a plurality of adjacent anchor point sets; Calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line; According to the final anchor point set, the boxes on the production line are grasped.

2. The object grasping method based on a six-degree-of-freedom collaborative robot according to claim 1, characterized in that: Based on the preset spatial coordinate system, the anchor point of each box is determined according to the spatial position and rotation angle of each box on the production line, specifically: Scan the production line to obtain box scanning data; Determine the spatial position and rotation angle of the box according to the spatial coordinate system and the box scanning data; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin; According to the spatial position and rotation angle of the box, the center point of the upper surface of the box is used as the anchor point of the box.

3. The object grasping method based on a six-degree-of-freedom collaborative robot according to claim 1, characterized in that: The anchor points are clustered according to the preset spatial conditions to obtain a plurality of adjacent anchor point sets, specifically: Treat all anchor points as an anchor point set; Based on the anchor point set, for each anchor point of the box, an approximate point in the same moving direction is retrieved, and the approximate point is judged according to the spatial condition to obtain the corresponding adjacent anchor point set; When all anchor points in the anchor point set have been retrieved, several adjacent anchor point sets are obtained.

4. The object grasping method based on a six-degree-of-freedom collaborative robot according to claim 3 is characterized in that: The judging of the approximate point according to the spatial condition to obtain the corresponding set of adjacent anchor points is specifically as follows: When the rotation angle of the approximate point is consistent with the corresponding anchor point, and the difference between the approximate point and the corresponding anchor point in the horizontal coordinate or the vertical coordinate is less than a first threshold, the approximate point is added to the corresponding neighboring anchor point set according to the corresponding anchor point.

5. The object grasping method based on a six-degree-of-freedom collaborative robot according to claim 1, characterized in that: The box on the production line is grabbed according to the final anchor point set, specifically: Based on each midpoint of the final anchor point set, several boxes on the production line are grasped at one time without exceeding a preset maximum grasping threshold.

6. An object grasping system based on a six-degree-of-freedom collaborative robot, characterized in that: include: Anchor point determination module, neighbor anchor point clustering module, midpoint calculation module and box grabbing module; The anchor point determination module is used to determine the anchor point of each box on the production line based on a preset spatial coordinate system and according to the spatial position and rotation angle of each box on the production line; The neighboring anchor point clustering module is used to cluster the anchor points according to preset spatial conditions to obtain a plurality of neighboring anchor point sets; The midpoint calculation module is used to calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line; The box grabbing module is used to grab the boxes on the production line according to the final anchor point set.

7. The object grasping system based on a six-degree-of-freedom collaborative robot according to claim 6, characterized in that: The anchor point determination module includes: a box anchor point determination unit; The box anchor point determination unit is used to scan the production line to obtain box scanning data; determine the spatial position and rotation angle of the box based on the spatial coordinate system and the box scanning data; wherein the spatial position is the coordinate of the box, and the rotation angle is the rotation angle of the box around the coordinate origin; based on the spatial position and rotation angle of the box, the center point of the upper surface of the box is used as the anchor point of the box.

8. The object grasping system based on a six-degree-of-freedom collaborative robot according to claim 6, characterized in that: The neighbor anchor point clustering module includes: an anchor point clustering unit; The anchor point clustering unit is used to treat all anchor points as an anchor point set; based on the anchor point set, retrieve approximate points with the same moving direction for each anchor point of the box, and judge the approximate points according to the spatial conditions to obtain the corresponding adjacent anchor point set; when all anchor points in the anchor point set have been retrieved, a number of adjacent anchor point sets are obtained.

9. The object grasping system based on a six-degree-of-freedom collaborative robot according to claim 8, characterized in that: The neighbor anchor point clustering module includes: a proximity point judgment unit; The approximate point judgment unit is used to add the approximate point to the corresponding adjacent anchor point set according to the corresponding anchor point when the rotation angle of the approximate point is consistent with the corresponding anchor point and the difference between the approximate point and the corresponding anchor point in the horizontal coordinate or the vertical coordinate is less than a first threshold.

10. The object grasping system based on a six-degree-of-freedom collaborative robot according to claim 6, characterized in that: The box grabbing module comprises: a multi-grabbing unit; The multi-grasping unit is used to grasp a plurality of boxes on the production line at one time based on each midpoint of the final anchor point set without exceeding a preset maximum grasping threshold.

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