Power distribution network material grabbing system

Abstract

The invention relates to the technical field of power distribution network logistics, and provides a power distribution network material grabbing system, which selects a corresponding clamping jaw based on the type of a target material to improve the clamping stability and reduce the risk of clamping damage, and preferentially clamps an upper-layer target material based on the distribution position of the target material. Collision damage of upper-layer target materials caused by clamping of lower-layer target materials is avoided, the optimal clamping sequence is constructed, and the damage risk of the target materials is further reduced; based on the clamping sequence and the clamping jaw replacement frequency, the clamping sequence with the minimum clamping jaw replacement frequency serves as the selected clamping sequence, the clamping sequence is optimized, and the classification efficiency is improved; and by setting the preset clamping force, the risk of clamping damage is reduced. And the automatic grabbing and sorting process reduces the dependence on manual operation, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of distribution network logistics, and in particular to a distribution network material grabbing system. Background Art

[0002] In the traditional distribution network material management process, the power grid material storage management is different from the traditional logistics storage. There are various specifications and types of hardware, such as insulators, hardware, hardware with plastic shells, cables and other accessories. These small materials are usually packed in bags; the power grid material storage management has the characteristics of many types, large quantities, complex shapes, centralized storage, etc. The handling and distribution of materials mainly rely on manual operations. This method has the following problems:

[0003] High labor costs: A large amount of labor is required to load, unload, and transport materials; Low work efficiency: Manual handling is slow and easily affected by factors such as weather and personnel skills, making it difficult to achieve efficient and rapid material distribution. High safety risks: When carrying heavy or dangerous objects, manual operation is prone to accidental injuries, posing a major safety hazard. Poor accuracy: Manual operation is prone to misjudgment, such as incorrectly carrying or placing materials, resulting in damage or loss of materials.

[0004] With the development of science and technology, automation and intelligent technology are gradually applied to various fields, especially in the logistics and warehousing industries. In the material management of distribution networks, the introduction of automation equipment and technology has become an inevitable trend.

[0005] Existing automation equipment can usually only handle materials of specific types and sizes, and is not suitable for the management needs of various types of distribution network materials including insulators, hardware, hardware with plastic shells, cables, etc.

[0006] Based on this, the present invention proposes a distribution network material grabbing system to reduce labor costs, improve work efficiency, and improve the accuracy of material handling. Summary of the invention

[0007] The purpose of the present invention is to solve the deficiencies of the prior art and provide a distribution network material grabbing system to reduce labor costs, improve work efficiency, and improve the accuracy of material handling.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A distribution network material grabbing system, comprising: a remote terminal, a gripper, a control module, a mechanical arm, a walking mechanism and an image acquisition module; the mechanical arm and the image acquisition module are both arranged on the walking mechanism, the walking mechanism is provided with a gripper placement area, a plurality of the grippers are placed in the gripper placement area, the plurality of the grippers are used to grip different types of target materials, the mechanical arm is used to connect the grippers, the mechanical arm and the grippers are detachably connected, the remote terminal is wirelessly connected to the control module, and the control module is electrically connected to the grippers, the mechanical arm, the image acquisition module and the walking mechanism;

[0010] The remote terminal is used to receive the grabbing instruction and obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and to construct the movement route of the walking mechanism;

[0011] The image acquisition module is used to capture images of the target material group and transmit them to the control module;

[0012] The control module is used to control the walking mechanism to walk according to the movement route constructed by the remote terminal under the instruction of the remote terminal; the control module obtains the image of the target material group, and identifies the type of each target material and the distribution position of each target material in the image of the target material group; the control module constructs a gripping order for gripping all target materials in the target material group according to the position distribution of each target material, and controls the mechanical arm and the gripper to sort the target materials according to the gripping order of the target materials.

[0013] Preferably, the remote terminal records the current position of the walking mechanism as the first position, and the current position of the target material group to be grasped as the second position; the remote terminal constructs a first motion route based on the first position and the second position; after the first motion route is constructed, the remote terminal generates a walking instruction and sends the walking instruction to the control module.

[0014] Preferably, the image acquisition module acquires images of the target material group to be grasped after the walking mechanism walks to the target material group to be grasped.

[0015] Preferably, the control module is also used to calculate the number of times the gripper is replaced in each gripping sequence according to the type of each target material, and use the gripping sequence with the least number of gripper changes; based on the type of the first target material in the gripping sequence, generate a first gripper pick-up signal, a first gripper signal, and a first sorting signal, and the robotic arm responds to the first gripper pick-up signal, the first gripper signal, and the first sorting signal to pick up the gripper used for the first target material, transfer the gripper to the position of the first target material to grip the first target material, and transport the first target material to the target position of the first target material; the control module is also used to generate a second gripper pick-up signal, a second gripper signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from the type of the previous target material, and the robotic arm responds to the second gripper pick-up signal, the second gripper signal, and the second sorting signal to replace the gripper used for the next target material, transfer the gripper to the position of the next target material to grip the next target material, and transport the next target material to the target position of the next target material.

[0016] Preferably, the first gripper use signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripping force of the gripper required to grip the first target material; the first sorting signal is the target position of the first target material;

[0017] The second gripper use signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripping force of the gripper required to grip the next target material; the second sorting signal is the target position of the next target material.

[0018] Preferably, when the robot arm replaces the gripper for the next target material, the gripper for the previous target material is first placed back to the position of the gripper for the previous target material in the gripper placement area, and then the gripper for the next target material is used.

[0019] Preferably, after the gripper grasps the target material, the control module collects the gripping force of the gripper on the robotic arm in real time, and the control module determines whether the gripping force of the gripper on the robotic arm matches the gripping force of the gripper required for the target material. If so, the robotic arm transports the target material to the target position of the target material.

[0020] Preferably, in the process of the mechanical arm transferring the clamp to the location of the target material, the image acquisition module acquires the image of the clamp on the mechanical arm; the control module acquires the image of the clamp, and identifies the opening and closing state of the clamp on the mechanical arm based on the image of the clamp; if the clamp on the mechanical arm is in a closed state, the control module generates a jaw opening instruction, and the clamp on the mechanical arm responds to the jaw opening instruction to open the jaw mouth; if the clamp is in an open state, no action is performed;

[0021] When the robotic arm transfers the gripper to the position of the target material, the image acquisition module captures the gripping image of the gripper on the robotic arm in real time, the control module acquires the gripping image of the gripper, and based on the gripping image of the gripper, identifies the position status of the gripper on the robotic arm and the target material; if the target material is located in the clamping opening of the gripper on the robotic arm, the control module generates a jaw closing instruction, and the gripper on the robotic arm responds to the jaw closing instruction to close the jaw opening.

[0022] Preferably, the control module is also used to calculate the sorting time of each gripping sequence according to the type of each target material and the target position of the target material, use the gripping sequence with the shortest sorting time, upload the gripping sequence to the remote terminal, and the remote terminal constructs a route from the walking mechanism to the target position of the corresponding target material, generates corresponding walking instructions, and sends the corresponding walking instructions to the control module; the control module generates corresponding gripper pick-up signals, gripping signals, and sorting signals based on the type of target material in the gripping sequence, and controls the robotic arm, gripper, and walking mechanism to sort the target material group to the target position of the corresponding target material through the corresponding gripper pick-up signals, gripping signals, sorting signals, and corresponding walking instructions.

[0023] The present invention discloses a distribution network material grabbing system having the following beneficial effects.

[0024] The present invention selects corresponding clamps based on the type of target materials to improve the stability of clamping and reduce the risk of clamping damage. Based on the distribution position of the target materials, the upper target materials are clamped first to avoid collision damage to the upper target materials caused by clamping the lower target materials, and the optimal clamping sequence is constructed to further reduce the risk of damage to the target materials. Based on the clamping sequence and the number of times the clamps are replaced, the clamping sequence with the least number of times the clamps are replaced is selected, the clamping sequence is optimized, and the classification efficiency is improved. By setting the clamping force to a preset value, the risk of clamping damage is reduced. The automated grasping and sorting process reduces the reliance on manual operation and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the distribution network material grabbing system of the present invention.

[0026] Figure 2It is a schematic diagram of the quick release mechanism of the present invention.

[0027] Figure 3 It is a schematic diagram of a part of the clamping jaws of the present invention.

[0028] Figure 4 This is a schematic diagram of one of the grippers of the present invention being connected to a robotic arm.

[0029] Figure 5 It is a schematic diagram of the clamp placement area of ​​the present invention. DETAILED DESCRIPTION

[0030] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0031] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0032] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0033] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0034] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0035] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] Example 1

[0037] Please refer to Figures 1 to 4 A distribution network material grabbing system includes: a remote terminal, a gripper, a control module, a mechanical arm, a walking mechanism and an image acquisition module; the mechanical arm and the image acquisition module are both arranged on the walking mechanism, the walking mechanism is provided with a gripper placement area, a plurality of grippers are placed in the gripper placement area, the plurality of grippers are used to grip different types of target materials, the mechanical arm is used to connect the grippers, the mechanical arm and the grippers are detachably connected, the remote terminal is wirelessly connected to the control module, the control module and the grippers, the mechanical arm, the image acquisition module, and the walking mechanism are all electrically connected; in this application, the detachable connection method between the mechanical arm and the gripper is not limited, and the existing quick-release mechanism can be used for connection. As an example, it can be used Figure 2 , 4 The quick release mechanism is connected;

[0038] In this embodiment, the distribution network materials that need to be sorted are: insulators, hardware, hardware with plastic shells, and cables. The corresponding plurality of clamps are respectively corresponding to clamping different types of distribution network materials. Figure 3 It should be understood that the clamps shown in the figure do not make specific restrictions on the types of distribution network materials or the clamps used in this application. They are only used as examples. The corresponding distribution network materials can also be boxes or bags. It is only necessary to replace the corresponding gripping clamps. In this embodiment, the insulators are first recorded as the first type of target materials. The first type of target materials have the characteristics of an overall cylindrical structure and need to be clamped in a bag-like manner. The corresponding first type of clamps are selected. Hardware is recorded as the second type of target materials. The second type of target materials have the characteristics of small size and many types. The corresponding second type of clamps are selected. Hardware with plastic shells are recorded as the third type of target materials. The third type of target materials have the characteristics of a large friction coefficient and can be clamped by rubbing the shell. The corresponding third type of clamps are selected. Cables are recorded as the fourth type of target materials. The fourth type of target materials have the characteristics of needing to be clamped off and only a part is retained. The corresponding fourth type of clamps are selected;

[0039] like Figure 5 As shown, four jaws are respectively placed in the jaw placement area on the walking mechanism, and the four jaws are respectively a first type of jaw, a second type of jaw, a third type of jaw and a fourth type of jaw, and the position of the first type of jaw in the jaw placement area is recorded as Q1, the position of the first type of jaw in the jaw placement area is recorded as Q2, the position of the first type of jaw in the jaw placement area is recorded as Q3, and the position of the first type of jaw in the jaw placement area is recorded as Q4.

[0040] The remote terminal is used to receive the grabbing instruction and obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and to construct the movement route of the walking mechanism;

[0041] Specifically, in this embodiment, the remote terminal records the current position of the walking mechanism as the first position, and the current position of the target material group to be grasped as the second position; the remote terminal constructs the first motion route according to the first position and the second position; after the first motion route is constructed, the remote terminal generates a walking instruction and sends the walking instruction to the control module. Exemplarily, during the implementation process, all devices, such as the remote terminal, the control module, the mechanical arm, the gripper, the walking mechanism, and the image acquisition module are checked to ensure that all devices are operating normally.

[0042] The remote terminal first receives a grabbing instruction from an operator or system to grab the target material. After receiving the grabbing instruction, the remote terminal first obtains the current position of the walking mechanism, i.e., the first position, and the current position of the target material group, i.e., the second position. After obtaining the first position and the second position, the remote terminal constructs the optimal first motion route of the walking mechanism from the first position to the second position according to the distance and obstacle conditions between the current position of the walking mechanism and the current position of the target material group. After constructing the first motion route, the remote terminal sends the walking instruction and the first motion route to the control module.

[0043] The control module is used to control the walking mechanism to walk along the movement route constructed by the remote terminal under the instruction of the remote terminal; that is, after receiving the walking instruction and the first movement route, the control module sends a walking signal to the walking mechanism to control the walking mechanism to move from the first position to the second position along the first movement route; after the walking mechanism reaches the second position, the image acquisition module on the walking mechanism starts to shoot the image control module of the target material group, obtains the image of the target material group, and transmits it to the control module; after the control module obtains the image of the target material group, it identifies the type of each target material and the distribution position of each target material in the image of the target material group; the control module constructs a clamping order for clamping all target materials in the target material group according to the position distribution of each target material, and controls the mechanical arm and the gripper to sort the target materials according to the clamping order of the target materials. Different grippers are used for different target materials during sorting, that is, after clamping one type of target material, another type of gripper needs to be replaced. When replacing the gripper, the gripper position information in the gripper placement area is called to avoid replacing the wrong gripper.

[0044] Preferably, in this embodiment, after acquiring the image of the target material group, the control module performs preprocessing operations such as denoising, graying, and binarization on the collected image to improve the image quality. Use an edge detection algorithm (such as Canny edge detection) to extract edge information in the image, and use a feature extraction algorithm (such as SIFT, SURF, or HOG) to extract key features of the target material in the image, such as shape, texture, color, etc. The extracted key features are input into a pre-trained classifier (such as a support vector machine SVM, a random forest RF, or a deep learning model) to classify and identify the type of target material. For example, insulators are usually cylindrical, metal parts are small in size and of various types, plastic shell metal parts have high friction, and cables require special clamping methods.

[0045] The type of each target material may reflect the type of gripper required for each target material. For example, if the type of the first target material is a first type target material, the corresponding first type gripper is used.

[0046] The distribution position of each target material can reflect the relative position relationship between each target material and the order of clamping each target material. For example, when a target material Tm is stacked on another target material Tn, the target material Tm must be used first to reduce the risk of damaging the target material Tm when forcibly clamping the other target material Tn.

[0047] Use target detection algorithms (such as YOLO, Faster R-CNN) to detect the bounding boxes of each target object in the image.

[0048] Through the bounding box, the intersection and union ratio between the two target materials is calculated. The calculation formula is as follows:

[0049]

[0050] Among them, IoU is the intersection over union between two target materials, Area of Overlap is the intersection area of the bounding boxes of the two target materials; Area of Union is the union area of the bounding boxes of the two target materials.

[0051] According to the calculated intersection over union, determine the grasping order of the two target materials. For example, if the IoU of the two target materials is 0, at this time, the two target materials do not overlap at all, and the grasping order can be selected arbitrarily. If the two target materials satisfy 0 < IoU < 1, at this time, the two target materials partially overlap, then calculate the projections of the two target materials in the vertical direction, and first grasp the target material with the projection above. If the two target materials satisfy IoU = 1, at this time, one target material completely covers the other target material, first grasp this one target material.

[0052] For example, assume there are two target materials A and B. The bounding box of target material A is (x1, y1, w1, h1), where (x1, y1) is the upper left corner coordinate of target material A, w1 is the width of target material A, and h1 is the height of target material A. The bounding box of target material B is (x2, y2, w2, h2), where (x2, y2) is the upper left corner coordinate of target material B, w2 is the width of target material B, and h2 is the height of target material B.

[0053] First, calculate the lower right corner coordinates of the bounding boxes of target materials A and B: The lower right corner coordinate of target material A: (x1 + w1, y1 + h1), the lower right corner coordinate of target material B: (x2 + w2, y2 + h2).

[0054] Secondly, calculate the intersection area between target material A and target material B. The calculation process is as follows:

[0055] Calculate the left boundary of the intersection area between target material A and target material B: max(x1, x2);

[0056] Calculate the right boundary of the intersection area between target material A and target material B: min(x1 + w1, x2 + w2);

[0057] Calculate the upper boundary of the intersection area between target material A and target material B: max(y1, y2);

[0058] Calculate the lower boundary of the intersection area between target material A and target material B: min(y1 + h1, y2 + h2).

[0059] If the left boundary of the intersection area of ​​target material A and target material B is larger than the right boundary of the intersection area of ​​target material A and target material B, or the upper boundary of the intersection area of ​​target material A and target material B is larger than the lower boundary of the intersection area of ​​target material A and target material B, then there is no intersection area between target material A and target material B, and the intersection area of ​​target material A and target material B is 0.

[0060] Otherwise, if target material A and target material B have an intersection area, the width and height of the intersection area are calculated first, and then the area of ​​the intersection area.

[0061] Calculate the width of the intersection area: width = min(x1+w1,x2+w2)-max(x1,x2),

[0062] Calculate the height of the intersection area: height = min(y1+h1,y2+h2)-max(y1,y2),

[0063] Calculate the intersection area: Area of ​​Overlap = width × height.

[0064] Next, calculate the union area of ​​target material A and target material B. The calculation process is as follows:

[0065] Calculate the area of ​​target material A: areaA = w1 × h1;

[0066] Calculate the area of ​​target material B: areaB = w2 × h2,

[0067] Calculate the union area: Area of ​​Union = areaA + areaB - intersection area. In the specific implementation process, after clamping one target material, the target material group may be imaged, and based on the captured image, the clamping order of each target material in the target material group may be optimized again.

[0068] Example 2

[0069] Based on Example 1, in this embodiment, after the control module constructs a clamping sequence for clamping all target materials in the target material group according to the position distribution of each target material, the control module is also used to calculate the number of times the grippers are replaced in each clamping sequence according to the type of each target material, and use the clamping sequence with the least number of times the grippers are replaced; during the implementation process, the control module plans a possible clamping sequence based on the position distribution of each target material in the target material group, and there may be multiple such clamping sequences.

[0070] For example, there are 4 clamping sequences, which are recorded as the first clamping sequence F1, the second clamping sequence F2, the third clamping sequence F3, and the fourth clamping sequence F4. Calculate the number of times the clamping jaws need to be replaced for the first clamping sequence F1, the second clamping sequence F2, the third clamping sequence F3, and the fourth clamping sequence F4, and record them as Z1, Z2, Z3, and Z4. Determine the size of Z1, Z2, Z3, and Z4 to select the clamping sequence with the least number of clamping jaw changes. For example, if Z1 is the smallest, the first clamping sequence F1 is the most optimal clamping sequence.

[0071] Based on the type of the first target material in the gripping sequence, a first gripper pick-up signal, a first gripper signal, and a first sorting signal are generated. The robotic arm responds to the first gripper pick-up signal, the first gripper signal, and the first sorting signal to pick up the gripper used for the first target material, transfer the gripper to the position of the first target material to grip the first target material, and transport the first target material to the target position of the first target material; the control module is also used to generate a second gripper pick-up signal, a second gripper signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from the type of the previous target material. The robotic arm responds to the second gripper pick-up signal, the second gripper signal, and the second sorting signal to replace the gripper used for the next target material, transfer the gripper to the position of the next target material to grip the next target material, and transport the next target material to the target position of the next target material.

[0072] In this embodiment, as a preference, the first gripper taking signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripping force of the gripper required to grip the first target material; the first sorting signal is the target position of the first target material;

[0073] The second gripper use signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripping force of the gripper required to grip the next target material; the second sorting signal is the target position of the next target material.

[0074] In this embodiment, as a preference, after the gripper grasps the target material, the control module collects the gripping force of the gripper on the robotic arm in real time, and the control module determines whether the gripping force of the gripper on the robotic arm matches the gripping force of the gripper required for the target material. If so, the robotic arm transports the target material to the target position of the target material.

[0075] In this embodiment, preferably, when the robot arm replaces the gripper for the next target material, the gripper for the previous target material is first placed back to the position of the gripper for the previous target material in the gripper placement area, and then the gripper for the next target material is used.

[0076] Preferably, in this embodiment, in the process of the robot arm transferring the gripper to the position where the target material is located; the image acquisition module acquires the image of the gripper on the robot arm; the control module acquires the image of the gripper, and based on the image of the gripper, identifies the opening and closing state of the gripper on the robot arm; if the gripper on the robot arm is in the closed state, the control module generates an opening command, and the gripper on the robot arm responds to the opening command to open the jaw; if the gripper is in the open state, no action is performed;

[0077] When the robotic arm transfers the gripper to the position of the target material, the image acquisition module captures the gripping image of the gripper on the robotic arm in real time, the control module obtains the gripping image of the gripper, and based on the gripping image of the gripper, identifies the position status of the gripper on the robotic arm and the target material. If the target material is located in the clamping opening of the gripper on the robotic arm, the control module generates a jaw closing instruction, and the gripper on the robotic arm responds to the jaw closing instruction to close the jaw opening.

[0078] Example 3

[0079] Based on Example 1, in this embodiment, the control module is also used to calculate the sorting time of each clamping sequence according to the type of each target material and the target position of the target material, use the clamping sequence with the shortest sorting time, upload the clamping sequence to the remote terminal, and the remote terminal constructs a route from the walking mechanism to the target position of the corresponding target material, generates a corresponding walking instruction, and sends the corresponding walking instruction to the control module; in the implementation process, the control module calculates the sorting time of each clamping sequence, and the sorting time includes: the time for changing the grippers, the time for clamping the material, and the transportation time. The time for changing the grippers and the time for clamping the material corresponding to each type of target material are not much different. Therefore, the length of the sorting time is mainly calculated as the transportation time. The transportation time refers to the time it takes for the walking mechanism to move to the target position of the target material.

[0080] The control module generates corresponding gripper pick-up signals, gripper pick-up signals, and sorting signals based on the types of target materials in the gripping sequence, and controls the robotic arm, gripper, and walking mechanism to sort the target material group to the target position of the corresponding target material through the corresponding gripper pick-up signals, gripper pick-up signals, sorting signals, and corresponding walking instructions.

[0081] The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution may be a substitution of a part of the structure, device, method step, or a complete technical solution. The equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A distribution network material grabbing system, characterized in that: include: A remote terminal, a gripper, a control module, a mechanical arm, a walking mechanism and an image acquisition module; the mechanical arm and the image acquisition module are both arranged on the walking mechanism, the walking mechanism is provided with a gripper placement area, a plurality of the grippers are placed in the gripper placement area, the plurality of the grippers are used to grip different types of target materials, the mechanical arm is used to connect the grippers, the mechanical arm and the grippers are detachably connected, the remote terminal is wirelessly connected to the control module, the control module is electrically connected to the grippers, the mechanical arm, the image acquisition module and the walking mechanism; The remote terminal is used to receive the grabbing instruction and obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and to construct the movement route of the walking mechanism; The image acquisition module is used to capture images of the target material group and transmit them to the control module; The control module is used to control the walking mechanism to walk according to the movement route constructed by the remote terminal under the instruction of the remote terminal; the control module obtains the image of the target material group, and identifies the type of each target material and the distribution position of each target material in the image of the target material group; the control module constructs a gripping order for gripping all target materials in the target material group according to the position distribution of each target material, and controls the mechanical arm and the gripper to sort the target materials according to the gripping order of the target materials.

2. The distribution network material grabbing system according to claim 1, characterized in that: The remote terminal records the current position of the walking mechanism as the first position, and the current position of the target material group to be grasped as the second position; the remote terminal constructs a first motion route according to the first position and the second position; After the first movement route is constructed, the remote terminal generates a walking instruction and sends the walking instruction to the control module.

3. The distribution network material grabbing system according to claim 1, characterized in that: The image acquisition module acquires images of the target material group to be grasped after the walking mechanism walks to the target material group to be grasped.

4. The distribution network material grabbing system according to claim 1 or 2, characterized in that: The control module is also used to calculate the number of times the grippers are replaced in each gripping sequence according to the type of each target material, and use the gripping sequence with the least number of grippers replaced; based on the type of the first target material in the gripping sequence, generate a first gripper pick-up signal, a first gripper signal, and a first sorting signal, and the robotic arm responds to the first gripper pick-up signal, the first gripper signal, and the first sorting signal to pick up the gripper used for the first target material, transfer the gripper to the position of the first target material to grip the first target material, and transport the first target material to the target position of the first target material; the control module is also used to generate a second gripper pick-up signal, a second gripper signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from the type of the previous target material, and the robotic arm responds to the second gripper pick-up signal, the second gripper signal, and the second sorting signal to replace the gripper used for the next target material, transfer the gripper to the position of the next target material to grip the next target material, and transport the next target material to the target position of the next target material.

5. The distribution network material grabbing system according to claim 4, characterized in that: The first gripper use signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripping force of the gripper required to grip the first target material; the first sorting signal is the target position of the first target material; The second gripper use signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripping force of the gripper required to grip the next target material; the second sorting signal is the target position of the next target material.

6. The distribution network material grabbing system according to claim 4, characterized in that: When the robot arm replaces the gripper for the next target material, the gripper for the previous target material is first placed back to the position of the gripper for the previous target material in the gripper placement area, and then the gripper for the next target material is used.

7. The distribution network material grabbing system according to claim 5, characterized in that: After the gripper grabs the target material, the control module collects the gripping force of the gripper on the robotic arm in real time, and determines whether the gripping force of the gripper on the robotic arm matches the gripping force of the gripper required for the target material. If so, the robotic arm transports the target material to the target position of the target material.

8. The distribution network material grabbing system according to claim 4, characterized in that: The robot arm transfers the gripper to the location of the target material; the image acquisition module acquires the image of the gripper on the robot arm; the control module acquires the image of the gripper and identifies the opening and closing state of the gripper on the robot arm based on the image of the gripper; if the gripper on the robot arm is in a closed state, the control module generates an opening command, and the gripper on the robot arm responds to the opening command to open the jaw opening; If the clamping jaws are in the open state, no action is performed; When the robotic arm transfers the gripper to the position of the target material, the image acquisition module captures the gripping image of the gripper on the robotic arm in real time, the control module acquires the gripping image of the gripper, and based on the gripping image of the gripper, identifies the position status of the gripper on the robotic arm and the target material; if the target material is located in the clamping opening of the gripper on the robotic arm, the control module generates a jaw closing instruction, and the gripper on the robotic arm responds to the jaw closing instruction to close the jaw opening.

9. The distribution network material grabbing system according to claim 1 or 2, characterized in that: The control module is also used to calculate the sorting time of each gripping sequence according to the type of each target material and the target position of the target material, use the gripping sequence with the shortest sorting time, upload the gripping sequence to the remote terminal, and the remote terminal constructs a route from the walking mechanism to the target position of the corresponding target material, generates a corresponding walking instruction, and sends the corresponding walking instruction to the control module; the control module generates corresponding gripper pick-up signals, gripper signals, and sorting signals based on the type of target material in the gripping sequence, and controls the robotic arm, gripper, and walking mechanism to sort the target material group to the target position of the corresponding target material through the corresponding gripper pick-up signals, gripper signals, sorting signals, and corresponding walking instructions.

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