Robot motion speed control method, system and equipment and storage medium

Abstract

The invention provides a robot motion speed control method, system and device and a storage medium, and is used for a robot to sort a target object, the robot comprises a weight sensor module, a depth camera, an end effector and a processor, and the method comprises the following steps: obtaining overall weight data of the target object, the overall weight data is collected through the weight sensor module after the target object is sucked up by the end effector; the weight of each target object is obtained, and the actual grabbing number of the target objects is determined according to the overall weight data and the weight of each target object; determining a speed coefficient according to the number of the target objects, and determining the running speed of the robot according to the speed coefficient. According to the method, the actual grabbing number of the target objects is determined according to the overall weight data and the weight of each target object, the speed coefficient is determined according to the number of the target objects, the running speed of the robot is determined according to the speed coefficient, and part falling caused when the grabbing number is too large and the moving speed of the robot is too high is avoided.

Description

Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] When an industrial robot is used to sort and carry goods, it is necessary to collect images of the goods through a visual sensor, identify the image of the goods to determine the posture of the goods, and then the industrial robot picks or carries the goods through a loaded clamp or suction cup. In the prior art, when sorting and carrying goods of different volumes and masses, the robot's movement speed is generally constant. This will cause the target object sucked by the end effector to be too large or too many in number, and it will often fall during transportation due to the robot's too fast movement speed, which not only easily causes damage to the goods, but also may cause safety risks. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a robot motion speed control method, system, device and storage medium.

[0006] The robot motion speed control method provided by the present invention is used for the robot to pick a target object. The robot includes a weight sensor module, a depth camera, an end effector and a processor, and includes the following steps:

[0007] Step S1: acquiring the overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector;

[0008] Step S2: obtaining the weight of each target object, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each target object;

[0009] Step S3: determining a speed coefficient according to the number of the target objects, and determining the running speed of the robot according to the speed coefficient.

[0010] Preferably, step S1 comprises the following steps:

[0011] Step S101: controlling the end effector to absorb the target object and move to a target position, wherein the target position enables the weight sensor module to be placed horizontally;

[0012] Step S102: controlling the end effector to remain stationary for a preset time value, and collecting the overall weight data of the target object through the weight sensor module;

[0013] Step S103: Acquire the overall weight data of the target object, and transmit the overall weight data to the processor.

[0014] Preferably, step S2 comprises the following steps:

[0015] Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time;

[0016] Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects;

[0017] Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether to grasp the target object more than once.

[0018] Preferably, step S2 comprises the following steps:

[0019] Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time;

[0020] Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects;

[0021] Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether any part is lost during the movement of the target object.

[0022] Preferably, step S3 comprises the following steps:

[0023] Step S301: When the number of the target objects is greater than 1, control the first depth camera to collect depth images of the plurality of target objects from an upward perspective, wherein the depth images at least include the bottom and side depths of the target objects;

[0024] Step S302: determining the positional relationship between the plurality of target objects according to the depth images of the plurality of target objects;

[0025] Step S303: determining a speed coefficient according to the number of the target objects and the position relationship, and determining the running speed of the robot according to the speed coefficient;

[0026] Step S304: controlling the end effector to operate according to the operating speed, so as to move the plurality of target objects to corresponding idle positions in terms of their positional relationship.

[0027] Preferably, step S304 includes the following steps:

[0028] Step S3041: obtaining the positional relationship between the plurality of target objects;

[0029] Step S3042: controlling the second depth camera to collect a depth image of the pallet at a top-down angle, and determining a plurality of free positions where the target object can be placed according to the depth image of the pallet;

[0030] Step S3043: Filtering out a matching target idle position from the plurality of idle positions according to the positional relationship between the plurality of target objects;

[0031] Step S3044: controlling the end effector to operate according to the operating speed to place the plurality of target objects at corresponding target idle positions.

[0032] Preferably, the end effector is connected to the mechanical arm of the robot via the weight sensor module;

[0033] The weight sensor module and the depth camera are electrically connected to the processor;

[0034] The weight sensor module comprises an upper connecting plate, a lower connecting plate, a first weight sensor and a second weight sensor; the lower connecting plate is connected to the end effector; the first weight sensor and the second weight sensor are respectively arranged at both ends of the upper side surface of the lower connecting plate;

[0035] The upper side surface of one end of the first weight sensor is connected to the upper connecting plate, and the lower side surface of the other end is connected to the lower connecting plate; the upper side surface of one end of the second weight sensor is connected to the upper connecting plate, and the lower side surface of the other end is connected to the lower connecting plate;

[0036] The upper connecting plate is connected to the end flange of the robot.

[0037] The robot motion speed control system provided by the present invention is characterized by comprising the following modules:

[0038] A data acquisition module, used to acquire overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector;

[0039] A grasping quantity determination module, used for obtaining the weight of each of the target objects, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each of the target objects;

[0040] The speed determination module is used to determine a speed coefficient according to the number of the target objects, and determine the running speed of the robot according to the speed coefficient.

[0041] The robot motion speed control device provided by the present invention comprises:

[0042] processor;

[0043] a memory module in which executable instructions of the processor are stored;

[0044] Wherein, the processor is configured to perform the steps of the robot motion speed control method by executing the executable instructions.

[0045] The computer-readable storage medium provided according to the present invention is used to store a program, and when the program is executed, the steps of the robot motion speed control method are implemented.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] In the present invention, the overall weight data of the target object is obtained, and then the weight of each of the target objects is obtained, the actual number of the target objects to be grasped is determined according to the overall weight data and the weight of each of the target objects, the speed coefficient is determined according to the number of the target objects, and the running speed of the robot is determined according to the speed coefficient, thereby avoiding the loss of parts caused by the robot moving too fast when the number of grasped objects is too large;

[0048] In the prior art, robots generally do not have weight sensors, and weight sensors are generally used for weighing separately on the conveyor line. In the present invention, a weight sensor is installed on the end for weighing, which enables convenient acquisition of weight data.

[0049] In the present invention, the weight sensor is arranged at the end of the robot arm, which is not only convenient for measuring the weight of the object, but also the robot adjusts the speed according to the weight, thereby improving the robot beat and improving the working efficiency, while reducing the box drop rate, and can judge whether there is a phenomenon of over-grasping or under-grasping the target object; when mixed cartons are delivered, cartons of unknown weight exceed the weight range that the robot can grasp, and an error can be reported, thereby avoiding the error of the incoming materials of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0051] Figure 1 A flowchart of the steps of the robot motion speed control method in an embodiment of the present invention;

[0052] Figure 2 A flowchart of the steps of obtaining the overall weight data of a target object in an embodiment of the present invention;

[0053] Figure 3 A flowchart of the steps of determining whether a target object is grasped multiple times in an embodiment of the present invention;

[0054] Figure 4 A flowchart of the steps of determining whether a target object is lost during movement in an embodiment of the present invention;

[0055] Figure 5 A flowchart of steps for controlling the operation of the end effector in an embodiment of the present invention;

[0056] Figure 6 A flowchart of the steps of placing a plurality of target objects into corresponding target free positions in an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the structure of a picking robot in an embodiment of the present invention;

[0058] Figure 8 A schematic diagram of the installation of a weight sensor module in an embodiment of the present invention;

[0059] Fig. 9 A schematic diagram of a module of a robot motion speed control system according to an embodiment of the present invention;

[0060] Fig.10 Schematic diagram of the structure of a robot motion speed control device in an embodiment of the present invention;

[0061] Fig.11 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0063] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0065] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0066] Figure 1 FIG. 1 is a flow chart of the steps of the robot motion speed control method in an embodiment of the present invention. Figure 1 As shown, the robot motion speed control method provided by the present invention is used for the robot to pick up target objects. The robot includes a weight sensor module, a depth camera, an end effector and a processor, and includes the following steps:

[0067] Step S1: acquiring the overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector;

[0068] In an embodiment of the present invention, the point cloud data is a data set, each point in the data set represents a set of X, Y, Z geometric coordinates and an intensity value, which records the intensity of the return signal according to the reflectivity of the object surface. When these points are combined together, a point cloud is formed, that is, a collection of data points representing a 3D shape or object in space. The point cloud can also be automatically colored to achieve more realistic visualization.

[0069] Figure 2 This is a flowchart of the steps of obtaining the overall weight data of the target object in an embodiment of the present invention, wherein step S1 includes the following steps:

[0070] Step S101: controlling the end effector to absorb the target object and move to a target position, wherein the target position enables the weight sensor module to be placed horizontally;

[0071] Step S102: controlling the end effector to remain stationary for a preset time value, and collecting the overall weight data of the target object through the weight sensor module;

[0072] Step S103: Acquire the overall weight data of the target object, and transmit the overall weight data to the processor.

[0073] In the embodiment of the present invention, the end effector is connected to the mechanical arm of the robot via the weight sensor module, so that the weight data of the target object can be obtained when the end effector sucks up the target object.

[0074] The weight sensor module and the depth camera are electrically connected to the processor.

[0075] The target position is related to the position where the depth camera and the end effector absorb and place the target object, so that the depth camera can at least cover the bottom side of the target object to collect the point cloud of the bottom side of the target object.

[0076] The preset time value is 0.2 to 0.5S.

[0077] Step S2: obtaining the weight of each target object, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each target object;

[0078] Figure 3 FIG. 1 is a flow chart of the steps of determining whether a target object is grasped multiple times in an embodiment of the present invention. Figure 3 As shown, step S2 includes the following steps:

[0079] Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time;

[0080] Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects;

[0081] Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether to grasp the target object more than once.

[0082] In an embodiment of the present invention, when it is determined that the target object is to be grasped multiple times, the end effector is controlled to stop running and an alarm signal is issued.

[0083] Figure 4 FIG. 1 is a flow chart of the steps of determining whether a target object is lost during movement in an embodiment of the present invention. Figure 4 As shown, step S2 includes the following steps:

[0084] Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time;

[0085] Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects;

[0086] Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether any part is lost during the movement of the target object.

[0087] In an embodiment of the present invention, when it is determined that the target object loses parts during movement, the end effector is controlled to stop running and an alarm signal is issued.

[0088] Step S3: determining a speed coefficient according to the number of the target objects, and determining the running speed of the robot according to the speed coefficient.

[0089] Figure 5 FIG. 1 is a flow chart of steps for controlling the operation of the end effector in an embodiment of the present invention. Figure 5 As shown, step S3 includes the following steps:

[0090] Step S301: When the number of the target objects is greater than 1, control the first depth camera to collect depth images of the plurality of target objects from an upward perspective, wherein the depth images at least include the bottom and side depths of the target objects;

[0091] Step S302: determining the positional relationship between the plurality of target objects according to the depth images of the plurality of target objects;

[0092] Step S303: determining a speed coefficient according to the number of the target objects and the position relationship, and determining the running speed of the robot according to the speed coefficient;

[0093] Step S304: controlling the end effector to operate according to the operating speed, so as to move the plurality of target objects to corresponding idle positions in terms of their positional relationship.

[0094] In the embodiment of the present invention, when the number of the target objects is greater, the value of the speed coefficient is smaller, and the running speed of the robot is smaller.

[0095] The positional relationship is used to determine the center of gravity distance between multiple target objects. Multiple target objects are arranged in sequence on the end effector, and the focus distance between each pair of target objects can be determined, and then the sum of multiple center of gravity distances can be determined. When the sum of the center of gravity distances is larger, the value of the speed coefficient is smaller, and the running speed of the robot is smaller.

[0096] In the embodiment of the present invention, a speed coefficient may be first determined according to the number of target objects, and then another speed coefficient may be determined according to the positional relationship, and the speed coefficient of the target may be determined according to the minimum value of the two speed coefficients or the product of the two speed coefficients.

[0097] Figure 6 FIG. 1 is a flowchart of steps for placing a plurality of target objects into corresponding target free positions in an embodiment of the present invention. Figure 6 As shown, step S304 includes the following steps:

[0098] Step S3041: obtaining the positional relationship between the plurality of target objects;

[0099] Step S3042: controlling the second depth camera to collect a depth image of the pallet at a top-down angle, and determining a plurality of free positions where the target object can be placed according to the depth image of the pallet;

[0100] Step S3043: Filtering out a matching target idle position from the plurality of idle positions according to the positional relationship between the plurality of target objects;

[0101] Step S3044: controlling the end effector to operate according to the operating speed to place the plurality of target objects at corresponding target idle positions.

[0102] In the embodiment of the present invention, if the positional relationship between the target objects is two closely adjacent ones, two vacant positions with equal heights and closely arranged can be found in the depth image of the pallet, and the two target objects can be placed in the two vacant positions; if the positional relationship between the target objects is three closely adjacent ones, three vacant positions with equal heights and closely arranged can be found in the depth image of the pallet, and the three target objects can be placed in the three vacant positions;

[0103] For example, when the positional relationship between the target objects is that there is an interval space, and the area of ​​the interval space is roughly equivalent to the bottom and side areas of a target object, two empty positions of equal height and separated by a target object can be found in the depth image of the stacking, and the two target objects can be placed in the two empty positions;

[0104] For example, when the positional relationship between the target objects is diagonally adjacent, two free positions with equal heights and diagonally adjacent can be found in the depth image of the pallet, and the two target objects can be placed in the two free positions.

[0105] Figure 7 FIG. 1 is a schematic diagram of the structure of a picking robot in an embodiment of the present invention. Fig.10 As shown, the picking robot provided by the present invention comprises:

[0106] The first unit and the second unit are used for storing and / or transporting materials;

[0107] A depth camera, whose visual scanning area covers at least the first unit of storage or transportation of the material, is used to visually scan the material, collect a depth image of the material, and generate posture information of the material according to the depth image;

[0108] The robot unit 100 is connected to the depth camera for receiving the position information, and grasps the material with a corresponding grasping posture according to the position information and then transfers it to the second unit.

[0109] The end effector includes a suction cup 102 and a weight sensor module 101;

[0110] The suction cup 102 is connected to the end flange of the robot unit 100 through the weight sensor module 102 , so that the weight data of the target object can be obtained when the suction cup 101 sucks up the target object.

[0111] Wherein, the robot unit 100 includes the above-mentioned processor, and the above-mentioned processor is configured to execute the robot motion speed control method steps by executing executable instructions to obtain point cloud data of the target object, determine the area of ​​at least one side of the target object according to the point cloud data, obtain the area threshold corresponding to the target object at least according to the area of ​​the side, and determine the corresponding first speed coefficient according to the area threshold, wherein a larger area threshold corresponds to a larger first speed coefficient, and a smaller area threshold corresponds to a smaller first speed coefficient, and the running speed of the robot is determined according to the first speed coefficient, thereby avoiding the target object from falling due to the robot's excessive movement speed during transportation.

[0112] In one embodiment of the present invention, the first unit may be configured as a storage unit and a feeding unit;

[0113] A material storage unit, used for storing materials;

[0114] A feeding unit, used for transporting the storage unit;

[0115] The robot unit 100 is connected to the depth camera for receiving the position information, and grasps the material with a corresponding grasping posture according to the position information and then transfers it to the second unit.

[0116] The second unit may be configured to transport or store the sorted materials.

[0117] In one embodiment of the present invention, the suction cup 102 includes an adapter plate, an upper cover plate, a lower cover plate, and a vacuum generator; the upper cover plate and the lower cover plate are connected to form an integrated structure, and a vacuum chamber is provided between the upper cover plate and the lower cover plate;

[0118] Suction holes arranged in a matrix are arranged on the lower side of the lower cover plate, and the suction holes are connected to the vacuum chamber.

[0119] The vacuum generator is arranged on the upper side of the upper cover plate, and the adapter plate is connected to the upper side of the upper cover plate and is located in the central area of ​​the upper cover plate, so that the suction cups located on both sides of the adapter plate are symmetrical in structure and balanced in weight.

[0120] The weight sensor module includes an upper connecting plate 1023, a lower connecting plate 1021, a first weight sensor 1022 and a second weight sensor

[0121] The lower connecting plate 1021 is connected to the adapter plate; the first weight sensor 1022 and the second weight sensor are respectively disposed at both ends of the upper side surface of the lower connecting plate 1021;

[0122] The upper side surface of one end of the first weight sensor 1022 is connected to the upper connecting plate 1023, and the lower side surface of the other end is connected to the lower connecting plate 1021;

[0123] The upper side surface of one end of the second weight sensor is connected to the upper connecting plate 1023 , and the lower side surface of the other end is connected to the lower connecting plate 1021 .

[0124] The upper connecting plate 1023 is connected to the end flange of the robot unit 100 .

[0125] In one embodiment of the present invention, the upper side surface of one end of the first weight sensor 1022 is connected to the upper connecting plate 1023 via a first gasket, and the lower side surface of the other end is connected to the lower connecting plate 1021 via a second gasket;

[0126] The upper side surface of one end of the second weight sensor is connected to the upper connecting plate 1023 via a third gasket, and the lower side surface of the other end is connected to the lower connecting plate 1021 via a fourth gasket.

[0127] Fig. 9 FIG. 1 is a schematic diagram of a module of a robot motion speed control system according to an embodiment of the present invention. Fig. 9 As shown, the robot motion speed control system provided by the present invention includes the following modules:

[0128] A data acquisition module, used to acquire overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector;

[0129] A grasping quantity determination module, used for obtaining the weight of each of the target objects, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each of the target objects;

[0130] The speed determination module is used to determine a speed coefficient according to the number of the target objects, and determine the running speed of the robot according to the speed coefficient.

[0131] The present invention also provides a robot motion speed control device, comprising a processor and a memory, wherein the memory stores executable instructions of the processor, wherein the processor is configured to execute the robot motion speed control method steps by executing the executable instructions.

[0132] As described above, in this embodiment, point cloud data of the target object is obtained, the area of ​​at least one side of the target object is determined according to the point cloud data, the area threshold corresponding to the target object is obtained at least according to the area of ​​the side, and the corresponding first speed coefficient is determined according to the area threshold, wherein a larger area threshold corresponds to a larger first speed coefficient, and a smaller area threshold corresponds to a smaller first speed coefficient, and the running speed of the robot is determined according to the first speed coefficient, thereby avoiding the target object from falling due to the robot's excessive movement speed during transportation.

[0133] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "platform".

[0134] Fig.10 Schematic diagram of the structure of the robot motion speed control device in the embodiment of the present invention. Fig.10 The electronic device 600 according to this embodiment of the present invention is described. Fig.10 The electronic device 600 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0135] like Fig.10 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0136] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps of various exemplary embodiments of the present invention described in the robot motion speed control method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 1 Follow the steps shown in .

[0137] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0138] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0139] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0140] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, cameras, depth cameras, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 through the bus 630. It should be understood that although Fig.10 Not shown, other hardware and / or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0141] In an embodiment of the present invention, a computer-readable storage medium is also provided for storing a program, and the steps of the robot motion speed control method are implemented when the program is executed. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary embodiments of the present invention described in the robot motion speed control method section of this specification.

[0142] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, point cloud data of the target object is obtained, the area of ​​at least one side of the target object is determined based on the point cloud data, an area threshold corresponding to the target object is obtained based on at least the area of ​​the side, and a corresponding first speed coefficient is determined based on the area threshold, wherein a larger area threshold corresponds to a larger first speed coefficient, and a smaller area threshold corresponds to a smaller first speed coefficient, and the running speed of the robot is determined based on the first speed coefficient, thereby avoiding the target object from falling due to the robot's excessive movement speed during transportation.

[0143] Fig.11 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Fig.11 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0144] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0145] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0146] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0147] In an embodiment of the present invention, point cloud data of a target object is obtained, the area of ​​at least one side of the target object is determined based on the point cloud data, an area threshold corresponding to the target object is obtained based on at least the area of ​​the side, and a corresponding first speed coefficient is determined based on the area threshold, wherein a larger area threshold corresponds to a larger first speed coefficient, and a smaller area threshold corresponds to a smaller first speed coefficient. The running speed of the robot is determined based on the first speed coefficient, thereby preventing the target object from falling due to the robot's excessive movement speed during transportation.

[0148] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0149] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A robot motion speed control method, characterized in that: The robot is used to pick target objects, the robot includes a weight sensor module, a depth camera, an end effector and a processor, and includes the following steps: Step S1: acquiring the overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector; Step S2: obtaining the weight of each target object, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each target object; Step S3: determining a speed coefficient according to the number of the target objects, and determining the running speed of the robot according to the speed coefficient.

2. The robot motion speed control method according to claim 1, characterized in that: The step S1 comprises the following steps: Step S101: controlling the end effector to absorb the target object and move to a target position, wherein the target position enables the weight sensor module to be placed horizontally; Step S102: controlling the end effector to remain stationary for a preset time value, and collecting the overall weight data of the target object through the weight sensor module; Step S103: Acquire the overall weight data of the target object, and transmit the overall weight data to the processor.

3. The robot motion speed control method according to claim 1, characterized in that: The step S2 comprises the following steps: Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time; Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects; Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether to grasp the target object more than once.

4. The robot motion speed control method according to claim 3, characterized in that: The step S2 comprises the following steps: Step S201: obtaining a preset weight of each target object and the number of target objects to be grasped each time; Step S202: determining the actual number of the target objects grasped according to the overall weight data and the weight of each of the target objects; Step S203: Compare the actual number of the target objects grasped with the preset number of the target objects grasped each time to determine whether any part is lost during the movement of the target object.

5. The robot motion speed control method according to claim 1, characterized in that: The step S3 comprises the following steps: Step S301: When the number of the target objects is greater than 1, control the first depth camera to collect depth images of the plurality of target objects from an upward perspective, wherein the depth images at least include the bottom and side depths of the target objects; Step S302: determining the positional relationship between the plurality of target objects according to the depth images of the plurality of target objects; Step S303: determining a speed coefficient according to the number of the target objects and the position relationship, and determining the running speed of the robot according to the speed coefficient; Step S304: controlling the end effector to operate according to the operating speed, so as to move the plurality of target objects to corresponding idle positions in terms of their positional relationship.

6. The robot motion speed control method according to claim 5, characterized in that: The step S304 includes the following steps: Step S3041: obtaining the positional relationship between the plurality of target objects; Step S3042: controlling the second depth camera to collect a depth image of the pallet at a top-down angle, and determining a plurality of free positions where the target object can be placed according to the depth image of the pallet; Step S3043: Filtering out a matching target idle position from the plurality of idle positions according to the positional relationship between the plurality of target objects; Step S3044: controlling the end effector to operate according to the operating speed to place the plurality of target objects at corresponding target idle positions.

7. The robot motion speed control method according to claim 1, characterized in that: The end effector is connected to the mechanical arm of the robot through the weight sensor module; The weight sensor module and the depth camera are electrically connected to the processor; The weight sensor module comprises an upper connecting plate, a lower connecting plate, a first weight sensor and a second weight sensor; the lower connecting plate is connected to the end effector; the first weight sensor and the second weight sensor are respectively arranged at both ends of the upper side surface of the lower connecting plate; The upper side surface of one end of the first weight sensor is connected to the upper connecting plate, and the lower side surface of the other end is connected to the lower connecting plate; the upper side surface of one end of the second weight sensor is connected to the upper connecting plate, and the lower side surface of the other end is connected to the lower connecting plate; The upper connecting plate is connected to the end flange of the robot.

8. A robot motion speed control system, characterized in that: Includes the following modules: A data acquisition module, used to acquire overall weight data of the target object, wherein the overall weight data is collected by a weight sensor module after the target object is sucked up by the end effector; A grasping quantity determination module, used for obtaining the weight of each of the target objects, and determining the actual grasping quantity of the target objects according to the overall weight data and the weight of each of the target objects; The speed determination module is used to determine a speed coefficient according to the number of the target objects, and determine the running speed of the robot according to the speed coefficient.

9. A robot motion speed control device, characterized in that: include: processor; a memory module in which executable instructions of the processor are stored; Wherein, the processor is configured to perform the steps of the robot motion speed control method according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the robot motion speed control method according to any one of claims 1 to 7 are implemented.

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