Object grasping method and system based on six-degree-of-freedom collaborative robot
By using a six-degree-of-freedom collaborative robot to determine the box's anchor point and adjacent anchor point set, and calculate the midpoint, multiple boxes can be accurately moved at one time. This solves the problems of low efficiency and poor adaptability of traditional single-point grasping, improves stacking efficiency and reduces machinery costs.
Patent Information
- Application Number
- CN202411493794.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-24
- Publication Date
- 2025-09-12
- Estimated Expiration
- 2044-10-24
AI Technical Summary
The traditional single-point grasping method is inefficient, takes a long time to operate, is difficult to adapt to complex tasks, and has poor adaptability to boxes of different sizes and stacking methods, resulting in limited stacking speed and increased wear of mechanical components.
Based on a six-degree-of-freedom collaborative robot, by determining the anchor points of the boxes, clustering adjacent anchor points and calculating the midpoints, it is possible to accurately move multiple boxes at one time, and dynamically adjust the grasping strategy to improve stacking efficiency and reduce machinery costs.
It significantly improves palletizing efficiency, reduces the frequency of mechanical operations, extends equipment life, and reduces energy consumption and maintenance costs.
Smart Images
Figure CN119141547B_ABST
Abstract
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 technologies, 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 typically rely on single-point grasping, grasping only one object at a time and moving it to a designated location. However, with the increasing demand for production efficiency and flexible manufacturing, single-point grasping has gradually exposed problems such as low efficiency, long operation time, and difficulty adapting to complex tasks.
[0003] Traditional single-point handling methods can only handle one box at a time, limiting overall palletizing speed and failing to meet high-volume production demands. Frequent mechanical movements also increase energy consumption and wear on mechanical components, hindering energy-efficient production. Furthermore, single-box handling often uses a single handling strategy for boxes of varying sizes and stacking arrangements, making it less adaptable. Summary of the Invention
[0004] This 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] A 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 several sets of adjacent anchor points;
[0008] Calculate the midpoint of each set of adjacent anchor points to obtain the final anchor point set of the production line;
[0009] The boxes on the production line are grasped according to the final anchor point set.
[0010] The above solution first determines the anchor point of each box on the production line based on its spatial position and rotation angle relative to the origin of the coordinate system, thereby determining the placement and arrangement of the boxes. Then, based on the anchor point of the box, a set of neighboring anchor points that record the neighboring boxes of each box is found to provide data support for calculating how many objects can be grasped at one time. The midpoint of the set of neighboring anchor points is then calculated to obtain the most reliable grasping point that can grasp multiple boxes at one time. Finally, based on the final set of anchor points and the set maximum grasping threshold, multiple grasps are performed on the production line to achieve precise 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 and 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 scan 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 this solution, a pre-set spatial coordinate system is used to first determine the spatial position and rotation angle of the boxes, clarifying the stacking location of each box. This is then used to determine the box's anchor point, providing data support for determining the optimal anchor point for grabbing multiple boxes simultaneously.
[0016] In a possible implementation method of the first aspect, the anchor points are clustered according to preset spatial conditions to obtain several sets of neighboring anchor points, specifically:
[0017] Treat all anchor points as an anchor point set;
[0018] Based on the anchor point set, searching for approximate points with the same moving direction for each anchor point of the box, and judging the approximate points 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 as follows:
[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 stacking efficiency.
[0023] In a possible implementation method of the first aspect, boxes on the production line are grasped according to the final anchor point set, 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 robotic arm by calculating the midpoint position of the anchor point combination, ensuring the stability and accuracy of the multi-grasping 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 according to the spatial position and rotation angle of each box on the production line based on a preset spatial coordinate system;
[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 adjacent anchor point set 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, an approximate point with the same moving direction is retrieved for each anchor point of the box, 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.
[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-grabbing 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 following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0040] Figure 1 This is a schematic diagram of a specific process of a method for grasping an object based on a six-degree-of-freedom collaborative robot provided in one embodiment of the present application;
[0041] Figure 2 This is a box coordinate diagram of an object grasping method based on a six-degree-of-freedom collaborative robot provided in one embodiment of the present application;
[0042] Figure 3 This 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0045] It should be understood that the step numbers used herein are only for convenience of description and are not intended to limit the order in which the steps are to be executed.
[0046] First embodiment
[0047] The intelligentization of production lines involves the use of robotic arms to grasp, stack, and integrate boxes. Prior to operation, the boxes on the production line must be identified, and a grasping strategy is developed based on the box placement. However, in practice, while the traditional one-box-at-a-time grasping method is relatively simple and easy to implement, frequent operation can cause increased wear and tear on the robotic arms. Furthermore, intelligently handling one box at a time can reduce palletizing speeds, making it impossible to meet high-volume production requirements. Therefore, the primary research focus of the embodiments of this application is how to dynamically adjust the grasping strategy based on the actual placement of boxes on the production line, grasp multiple boxes at once as accurately as possible, and improve palletizing efficiency.
[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, the anchor point of each box is determined according to the spatial position and rotation angle of each box on the production line.
[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. The spatial coordinate system is based on the production line and can ensure that all boxes are contained in the same quadrant for better management of the box coordinates.
[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 body.
[0053] For example, Table 1 below shows the coordinates of the anchor points of multiple boxes in an embodiment of the present application. The coordinates of the anchor points include the horizontal coordinate X, the vertical coordinate Y, and the rotation angle Rotate Value around the origin of the coordinate system, referred to as the rotation angle, with a value range of [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 diagram, and each box is placed in a different position. The horizontal direction is the Y-axis, and the vertical direction is the X-axis. Boxes 1, 2, and 3 are located close to the Y-axis from right to left. Boxes 4, 5, and 6 are located on the upper layer from right to left, and boxes 7 and 8 are located on the top layer from right to left. Taking the dotted line 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 box on the upper layer is 180°, and the rotation angle of the box on the top layer is 90°.
[0057] in addition, Figure 3 A diagram of the boxes' movement directions on the production line is also provided. In this embodiment, the left side shows the longitudinal direction of movement, while the right side shows the lateral direction of movement. When dynamically adjusting the grasping strategy, there is a tendency to grasp multiple boxes moving in the same direction at once. This is because grasping boxes moving in the same direction is more convenient. Therefore, the box's movement direction will be used as a reference for anchor point clustering in the future.
[0058] Step S2: clustering the anchor points according to preset spatial conditions to obtain several sets of adjacent anchor points.
[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 lines, and define a set of layers to store the grasping strategies for each layer of production lines.
[0060] The specific calculation process of the production line grasping strategy is as follows:
[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] Based on the moving direction and coordinates of point p1, find the nearest point p2 in P_i that moves in the same 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 any other point in P_i.
[0064] (2) If the found point p2 meets the preset spatial conditions, then point p2 is added to G_j and 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 a first threshold, point p2 can be considered to meet 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 is 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 adjacent 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: Calculate the midpoint of each adjacent anchor point set 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 midpoint 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-grab operation, and ensures that this operation can accurately grasp as many boxes as possible, thereby improving the stacking efficiency.
[0079] Step S4: grabbing 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 the 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] The implementation of 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 on the production line based on the spatial position of each box and the rotation angle relative to the origin of the coordinate system, thereby determining the placement and method of the box; then, based on the anchor point of the box, finds 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 grasped at one time; then, calculates 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, performs multiple grasps on the production line at one time, achieving precise handling of multiple boxes at one time, significantly improving stacking efficiency and reducing machinery costs.
[0083] Second embodiment
[0084] Furthermore, in order to implement 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 illustration, only the parts relevant to this embodiment are shown. The object grasping system based on a six-degree-of-freedom collaborative robot provided in this embodiment of the application includes:
[0085] The anchor point determination module 201 is configured 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.
[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 configured 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 regarded 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 midpoint 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-grab operation, and ensures that this operation can accurately grasp as many boxes as possible, thereby improving the stacking efficiency.
[0094] The box grabbing module 204 is configured to grab 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 the 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 contained 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 body.
[0100] For example, Table 2 below shows the coordinates of the anchor points of multiple boxes in an 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 and transverse directions of movement are mainly included. When dynamically adjusting the grasping strategy, it is preferred to grasp multiple boxes with the same moving direction at a time. This is because boxes with the same moving 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 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 grasping strategy is as follows:
[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) Based on the moving direction and coordinates of point p1, find the nearest point p2 in P_i that moves in the same 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 conditions, then point p2 is added to G_j and 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 a first threshold, point p2 can be considered to meet 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 is 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 adjacent 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] The implementation of 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 on the production line based on the spatial position of each box and the rotation angle relative to the origin of the coordinate system, thereby determining the placement and method of the box; then, based on the anchor point of the box, finds 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 grasped at one time; then, calculates 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, performs multiple grasps on the production line at one time, achieving precise handling of multiple boxes at one time, significantly improving stacking efficiency and reducing machinery costs.
[0123] The specific embodiments described above further illustrate the purpose, technical solutions, and beneficial effects of this application. It should be understood that the above description is merely a specific embodiment of this application and is not intended to limit the scope of protection of this application. In particular, it should be noted that for those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this 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, the anchor point of each box on the production line is determined according to the spatial position and rotation angle of each box. Specifically, the production line is scanned to obtain box scanning data; based on the spatial coordinate system and the box scanning data, the spatial position and rotation angle of the box are determined; 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; Clustering the anchor points according to preset spatial conditions to obtain several neighboring anchor point sets, specifically: all anchor points are regarded as one anchor point set; based on the anchor point set, an approximate point with the same moving direction is retrieved for each anchor point of the box, and the approximate point is judged according to the spatial conditions to obtain the corresponding neighboring anchor point set; when all anchor points in the anchor point set have been retrieved, several neighboring anchor point sets are obtained; wherein the process of obtaining the neighboring anchor point set is: 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; 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, boxes on the production line are grasped, specifically: based on each midpoint of the final anchor point set, multiple boxes on the production line are grasped at one time without exceeding a preset maximum grasping threshold.
2. 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 grasping module; The anchor point determination module is configured to determine the anchor point of each box on the production line based on a preset spatial coordinate system and the spatial position and rotation angle of each box. Specifically, 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; and 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. The neighboring anchor point clustering module is used to cluster the anchor points according to preset spatial conditions to obtain several neighboring anchor point sets, specifically: all anchor points are regarded as an anchor point set; based on the anchor point set, an approximate point with the same moving direction is retrieved for each anchor point of the box, and the approximate point is judged according to the spatial conditions to obtain the corresponding neighboring anchor point set; when all anchor points in the anchor point set have been retrieved, several neighboring anchor point sets are obtained; wherein, the process of obtaining the neighboring anchor point set is: 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; The midpoint calculation module is used to calculate the midpoint of each adjacent anchor point set to obtain the final anchor point set of the production line; The box grabbing module is used to grab boxes on the production line according to the final anchor point set, specifically: based on each midpoint of the final anchor point set, multiple boxes on the production line are grabbed at one time without exceeding a preset maximum grab threshold.
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