Material grabbing method, device, equipment and storage medium

Abstract

The present application relates to the field of automation technology, and discloses a material grabbing method, device, equipment and storage medium, which is applied to a material grabbing device provided with at least two suction nozzles, and comprises: photographing a target vibration plate, determining the physical coordinates of each material to be sucked according to the photographed image, and obtaining the physical coordinates of the last material to be sucked assigned by the last suction nozzle; obtaining a preset suction nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset suction nozzle spacing and the physical coordinates of the last material to be sucked; determining the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate; selecting the current material to be sucked from each remaining material to be sucked according to the relative distance, and assigning the current material to be sucked to the current suction nozzle; and grabbing the material to be sucked by each suction nozzle according to the corresponding assignment result. The present application can reduce reciprocating motion, thereby reducing the grabbing cycle.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a material grabbing method, device, equipment and storage medium. Background Art

[0002] In the production workshop, it is often necessary to arrange individual products on a plate to facilitate subsequent processes. When placing products on a plate, the vibration plate is usually photographed first, and the materials on the vibration plate are matched with a preset template based on the photographed image. The preset template can be a template for materials that can be placed on a plate. When the matching score reaches the preset threshold, it means that the material is allowed to be placed on a plate, and then the materials are sucked up by the suction nozzle on the robot in the order of the matching scores from large to small and placed on the silo.

[0003] However, existing robots can be equipped with multiple suction nozzles. When sucking, they will generally move to the material with the highest matching score first and suck it with the first suction nozzle, then move to the material with the second highest matching score and suck it with the second suction nozzle, and so on, until all suction nozzles have sucked the material and then move to the silo to discharge the material. Since the positions of the materials on the plate are randomly distributed, the distribution of materials to the next suction nozzle in the order of matching scores is likely to cause the robot to reciprocate, with many invalid paths, thus resulting in a longer grasping cycle. Summary of the invention

[0004] The main purpose of the present application is to provide a material grasping method, device, equipment and storage medium, aiming to solve the technical problem in the prior art that grasping using matching scores is prone to reciprocating motion, there are many invalid paths, and thus lead to a long grasping cycle.

[0005] To achieve the above object, the present application provides a material grabbing method, which is applied to a material grabbing device provided with at least two suction nozzles, and the method comprises:

[0006] The target vibration plate is photographed, the physical coordinates of each material to be sucked are determined according to the photographed image, and the physical coordinates of the last material to be sucked assigned by the last suction nozzle are obtained;

[0007] Obtaining a preset nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the last material to be sucked;

[0008] Determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate;

[0009] Selecting the current material to be sucked from the remaining materials to be sucked according to the relative distance, and distributing the current material to be sucked to the current suction nozzle;

[0010] The material to be sucked is grabbed by each suction nozzle according to the corresponding distribution result.

[0011] In one embodiment, the step of obtaining the physical coordinates of the last material to be sucked distributed by the last suction nozzle includes:

[0012] Determine whether the current nozzle is the first nozzle;

[0013] When the current suction nozzle is the first suction nozzle, the first material to be sucked is selected from the materials to be sucked according to the physical coordinates of the materials to be sucked, the first material to be sucked is assigned to the first suction nozzle, the first suction nozzle is used as the previous suction nozzle, and the physical coordinates of the first material to be sucked are used as the physical coordinates of the previous material to be sucked;

[0014] When the current suction nozzle is not the first suction nozzle, the physical coordinates of the last material to be sucked allocated by the last suction nozzle are obtained.

[0015] In one embodiment, the step of grabbing the material to be sucked by each suction nozzle according to the corresponding distribution result includes:

[0016] Determine whether the current nozzle is the last nozzle;

[0017] When the current suction nozzle is the last suction nozzle, the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result;

[0018] When the current suction nozzle is not the last suction nozzle, return to execute the step of obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle, until the current suction nozzle is the last suction nozzle, and the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result.

[0019] In one embodiment, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0020] Determine the area occupied by each material to be sucked according to the captured image;

[0021] When the occupied area reaches a preset area threshold, the physical coordinates of each material to be sucked are determined according to the captured image.

[0022] In one embodiment, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0023] Recognize the captured image to determine a material image of the material in the captured image;

[0024] Comparing each of the material images with a preset matching template, and selecting a material to be sucked from each of the existing materials according to the comparison result;

[0025] The physical coordinates of the material to be sucked are determined.

[0026] In one embodiment, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0027] Determine the pixel coordinates of each material to be sucked according to the captured image;

[0028] The pixel coordinates are converted according to a preset conversion relationship to obtain the physical coordinates of the material to be sucked.

[0029] In one embodiment, the step of obtaining the physical coordinates of the last material to be sucked distributed by the last suction nozzle includes:

[0030] Determine the quantity of the material to be absorbed according to the physical coordinates of each of the materials to be absorbed;

[0031] When the number of the materials is greater than the number of the suction nozzles, the physical coordinates of the last material to be sucked allocated by the last suction nozzle are obtained.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a material grabbing device, which comprises:

[0033] The material shooting module is used to shoot the target vibration plate, determine the physical coordinates of each material to be sucked according to the shot image, and obtain the physical coordinates of the last material to be sucked assigned by the last suction nozzle;

[0034] A coordinate determination module, used for obtaining a preset nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the last material to be sucked;

[0035] A distance determination module, used to determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate;

[0036] A nozzle allocation module, used for selecting a current material to be sucked from the remaining materials to be sucked according to the relative distance, and allocating the current material to be sucked to the current nozzle;

[0037] The material grabbing module is used to grab the material to be sucked through each suction nozzle according to the corresponding distribution result.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a material grabbing device, which includes: a memory, a processor, a material grabbing program stored in the memory and executable on the processor, and at least two suction nozzles. When the material grabbing program is executed by the processor, the steps of the material grabbing method described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a material grabbing program is stored, and when the material grabbing program is executed by a processor, the steps of the material grabbing method described above are implemented.

[0040] The present application provides a material grabbing method, device, equipment and storage medium, the method is applied to a material grabbing device with at least two suction nozzles, the method includes: photographing a target vibration plate, determining the physical coordinates of each material to be sucked according to the photographed image, and obtaining the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle; obtaining a preset suction nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset suction nozzle spacing and the physical coordinates of the previous material to be sucked; determining the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate; selecting the current material to be sucked from each remaining material to be sucked according to the relative distance, and assigning the current material to be sucked to the current suction nozzle; grabbing the material to be sucked by each suction nozzle according to the corresponding assignment result.

[0041] Since the present application can first determine the physical coordinates of each material to be sucked, and obtain the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle, and then determine the virtual point coordinates of the current virtual point according to the preset suction nozzle spacing and the physical coordinates of the previous material to be sucked, the virtual point coordinates can be understood as the position coordinates of the current suction nozzle, and then determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and the physical coordinates of each material to be sucked, that is, the relative distance between the current suction nozzle and each remaining material to be sucked, and select the current material to be sucked from them according to each relative distance and assign it to the current suction nozzle, and finally grab the material to be sucked through each suction nozzle according to the corresponding assignment result. Compared with the existing method of allocating materials to the next suction nozzle in the order of matching scores, which leads to reciprocating motion, the present application can allocate materials according to the relative distance between each remaining material to be sucked, which reduces the reciprocating motion and thus reduces the grabbing cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 This is a structural block diagram of a material grabbing device in the hardware operating environment involved in the embodiment of the present application;

[0045] Figure 2 A schematic diagram of a conventional robot grasping with a suction nozzle;

[0046] Figure 3 This is a schematic diagram of the process of the first embodiment of the material grabbing method of the present application;

[0047] Figure 4 This is a schematic diagram of the preset nozzle spacing in the first embodiment of the material grabbing method of this application;

[0048] Figure 5 In the first embodiment of the material grabbing method of the present application, there are at least two schematic diagrams with the closest relative distance;

[0049] Figure 6 This is a schematic diagram of the process of the second embodiment of the material grabbing method of the present application;

[0050] Figure 7 This is a schematic diagram of the operation flow in the second embodiment of the material grabbing method of this application;

[0051] Figure 8 This is a structural block diagram of the first embodiment of the material grabbing device of the present application.

[0052] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] Reference Figure 1 , Figure 1 This is a structural block diagram of the material grabbing equipment in the hardware operating environment involved in the embodiment of the present application.

[0055] like Figure 1As shown, the material grabbing device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include an interface for connecting a display screen (Display), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable memory (Non-volatile Memory, NVM), such as a disk storage, a flash memory, etc. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0056] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the material grabbing device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0057] like Figure 1 As shown, the memory 1005 identified as a computer storage medium may include an operating system, a network communication module, a user interface module, and a material grabbing program.

[0058] exist Figure 1 In the material grabbing device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the user device; the material grabbing device calls the material grabbing program stored in the memory 1005 through the processor 1001, and executes the steps of the material grabbing method provided in the embodiment of the present application.

[0059] It should be emphasized that the material grabbing device in this embodiment may also include at least two suction nozzles, and the processor may be connected to each suction nozzle, so as to control each suction nozzle to grab the material. The suction nozzle may be any suction nozzle used to grab objects, and the number of suction nozzles in this embodiment may also be set according to actual conditions, and this embodiment does not limit this.

[0060] It should also be emphasized that the above-mentioned material grabbing device adopts an integrated design. As another implementation method, the above-mentioned material grabbing device in this embodiment can also adopt a split design, that is, the material grabbing device can include: an industrial computer and a robot, the industrial computer is connected to the robot, and the robot can be provided with the above-mentioned at least two suction nozzles, and then the material grabbing method in this embodiment can be run in the industrial computer first, and then the robot can be controlled to grab the material through the suction nozzle according to the corresponding distribution result. For the convenience of subsequent understanding, this embodiment adopts the above-mentioned integrated design for description.

[0061] It should be noted that in the production workshop, it is often necessary to arrange individual products on a plate to facilitate subsequent processes. When arranging the plate, the vibration plate is generally photographed first, and the materials on the vibration plate are matched with the preset template according to the photographed image. The preset template can be a template for materials that can be placed on a plate. When the matching score reaches the preset threshold, it means that the material is allowed to be placed on a plate, and then the material is sucked by the suction nozzle on the robot in the order of the matching score from large to small and placed on the silo.

[0062] However, existing robots may be equipped with multiple suction nozzles. When sucking, they will generally move to the material with the highest matching score first and suck it with the first suction nozzle, then move to the material with the second highest matching score and suck it with the second suction nozzle, and so on, until all suction nozzles have sucked the material and then move to the silo to discharge the material. For ease of understanding, refer to Figure 2 To explain, Figure 2 Schematic diagram of a traditional robot grasping using a suction nozzle.

[0063] like Figure 2 As shown, when placing the materials to be sucked on the vibration plate onto the silo, the vibration plate is generally photographed first, and each material to be sucked (i.e. Figure 2 medium material to ) is matched with a preset template for similarity. The preset template can be a template used to determine whether the material to be sucked is allowed to be clamped, which can be understood as a template that meets the processing requirements, and the matching score of each material to be sucked (i.e. Figure 2 If the preset threshold is set to 0.6, it means that the material to be sucked to It is allowed to be clamped, and then the matching scores of each material to be sucked are sorted. The sorting results are ranked from large to small. 、Material to be absorbed 、Material to be absorbed And the material to be sucked .

[0064] Then the nozzles can be assigned according to the matching scores. Figure 2 There are four nozzles in the display, if they are respectively recorded as nozzles to If the matching scores are matched, the robot nozzle can be controlled to move to the material to be sucked. At the nozzle Grab the material and then control the robot nozzle to move to the material to be sucked At the nozzle Grab the material and then control the robot nozzle to move to the material to be sucked At the nozzle Grab the material and then control the robot nozzle to move to the material to be sucked At the nozzle Grab it and finally move it to the silo for discharge.

[0065] Since the materials are randomly distributed on the plate, Figure 2 It is not difficult to find that if the material is distributed to the next nozzle in the order of matching scores, it is easy for the robot to move back and forth, with more invalid paths, thus resulting in a longer grasping cycle.

[0066] Therefore, in order to solve the above defects, the present embodiment provides a material grabbing method, which can be provided with at least two suction nozzles. In actual use, the physical coordinates of each material to be sucked can be determined first, and the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle can be obtained. Then, the virtual point coordinates of the current virtual point can be determined according to the preset suction nozzle spacing and the physical coordinates of the previous material to be sucked. The virtual point coordinates can be understood as the position coordinates of the current suction nozzle. Then, the relative distance between the current virtual point and each remaining material to be sucked is determined according to the virtual point coordinates and the physical coordinates of each material to be sucked, that is, the relative distance between the current suction nozzle and each remaining material to be sucked. According to each relative distance, the current material to be sucked is selected and allocated to the current suction nozzle. Finally, the material to be sucked can be grabbed by each suction nozzle according to the corresponding allocation result. Compared with the existing method of allocating materials to the next suction nozzle in the order of matching scores, which leads to reciprocating motion, the present embodiment can allocate materials according to the relative distance between each remaining material to be sucked, which reduces the reciprocating motion and thus reduces the grabbing cycle.

[0067] For ease of understanding, the following combination Figures 3 to 7 The material grabbing method provided in the embodiment of the present application is introduced in detail.

[0068] The present application embodiment provides a material grabbing method, referring to Figure 3 , Figure 3 This is a schematic diagram of the flow chart of the first embodiment of the material grabbing method of the present application.

[0069] In this embodiment, the material grabbing method includes the following steps:

[0070] Step S10: photograph the target vibration plate, determine the physical coordinates of each material to be sucked according to the photographed image, and obtain the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle.

[0071] It should be understood that the method of this embodiment can be applied to any scenario where material grabbing is required, and this embodiment does not limit this. The executor of the method of this embodiment can be a device with data processing, program running and material grabbing functions, such as a material grabbing device, etc., and this embodiment does not limit this. For the convenience of subsequent description, this embodiment uses a material grabbing device (hereinafter referred to as the device) to illustrate this embodiment and the following embodiments. Therefore, in order to achieve grabbing, the above-mentioned device in this embodiment can be provided with at least two suction nozzles, and the specific number can be set according to the actual situation, and this embodiment does not limit this.

[0072] It should also be understood that the target vibration plate can be the vibration plate that needs to be clamped at present. The target vibration plate in this embodiment can have the function of carrying the material to be sucked and vibrating the material to be sucked, and can adjust the posture of the material to be sucked by vibration, so as to facilitate the suction of the suction nozzle. The material to be sucked can be any processed material, and this embodiment does not limit this.

[0073] It should be noted that in order to obtain the captured image on the vibration plate, the above-mentioned device in this embodiment may also be provided with a camera, and the camera may be arranged facing the bearing surface of the target vibration plate, and of course may also be arranged at other positions, which is not limited in this embodiment. When in use, the bearing surface of the target vibration plate may be photographed by the camera first to obtain the above-mentioned captured image.

[0074] It is understandable that the physical coordinates of the material to be sucked may be the coordinates of the material to be sucked in the coordinate system relative to the suction nozzle of the device. After obtaining the captured images, the device may extract the images of the materials to be sucked and determine their coordinates in the coordinate system of the suction nozzle as the physical coordinates of the materials to be sucked.

[0075] It can also be understood that since the above-mentioned equipment in this embodiment is provided with multiple suction nozzles, if all the suction nozzles clamp the material to be sucked and move it to the silo as one transportation, then in this one transportation, the last suction nozzle allocated before the current suction nozzle allocates the material to be sucked can be used as the above-mentioned previous suction nozzle, and the last allocated material to be sucked can be used as the above-mentioned previous material to be sucked.

[0076] In actual use, after obtaining the physical coordinates of each material to be sucked, the above-mentioned device can also obtain the physical coordinates of the previous material to be sucked allocated by the previous suction nozzle.

[0077] Furthermore, considering that if the current suction nozzle is the first suction nozzle in this transportation, there is no previous suction nozzle, therefore, in this embodiment, the step of obtaining the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle includes:

[0078] Step S15: Determine whether the current nozzle is the first nozzle;

[0079] Step S16: When the current suction nozzle is the first suction nozzle, select the first material to be sucked from the materials to be sucked according to the physical coordinates of each material to be sucked, assign the first material to be sucked to the first suction nozzle, use the first suction nozzle as the previous suction nozzle, and use the physical coordinates of the first material to be sucked as the physical coordinates of the previous material to be sucked.

[0080] It should be understood that the first nozzle mentioned above may be the first nozzle to be distributed in this transportation. Figure 2 Medium nozzle To nozzle In this transportation, the nozzle Can be the first suction mouth.

[0081] It should be noted that the first material to be sucked may be the material to be sucked allocated to the first suction nozzle.

[0082] In actual use, after obtaining the physical coordinates of each material to be sucked, the above-mentioned device can first determine whether the suction nozzle currently being allocated is the first suction nozzle, that is, whether it is the suction nozzle ; If it is the first suction nozzle, there is no previous suction nozzle, and then when allocating the suction nozzle, a material to be absorbed can be randomly selected from the materials to be absorbed according to the physical coordinates of each material to be absorbed as the above-mentioned first material to be absorbed, and the first material to be absorbed is allocated to the first suction nozzle, and then the first suction nozzle is used as the previous suction nozzle, and the first material to be absorbed is used as the previous material to be absorbed, and then when the current suction nozzle is the suction nozzle When the last suction nozzle is used, the physical coordinates of the last material to be sucked can be obtained.

[0083] It should be emphasized that when selecting the first material to be sucked, in order to further reduce the reciprocating motion, the present embodiment selects the material in combination with the position of the suction nozzle, and specifically, the selection can be made in combination with the arrangement position of the current suction nozzle and the previous suction nozzle. Figure 2 As shown, in this embodiment, the suction nozzles are arranged from left to right, and the current suction nozzle is located on the right side of the previous suction nozzle. Therefore, when selecting, the leftmost material to be sucked on the target vibration plate can be used as the first material to be sucked (i.e. Figure 2 medium material As the first material to be sucked), this is because when the suction nozzle When the first material to be sucked is the one on the far left, due to the suction nozzle In the nozzle On the left side of the suction nozzle When dispensing, the nozzle only needs to move to the right relative to the horizontal direction; If the material dispensed is not the leftmost material to be sucked, the dispense nozzle may Move left to distribute the nozzle The situation where the wheel moves to the right again increases the reciprocating motion.

[0084] Similarly, if the suction nozzles are arranged from top to bottom, when selecting the first material to be sucked, the material to be sucked at the top of the target vibration plate can be used as the first material to be sucked. Therefore, in this embodiment, when selecting the first material to be sucked, the selection can be made according to the arrangement order of the suction nozzles on the target vibration plate. For example, if the arrangement order is from left to right, the material to be sucked on the far left can be used as the first material to be sucked.

[0085] Step S17: when the current suction nozzle is not the first suction nozzle, the physical coordinates of the last material to be sucked allocated by the last suction nozzle are obtained.

[0086] It should be noted that when the current suction nozzle is not the first suction nozzle, there is a previous suction nozzle, so the device can directly obtain the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle.

[0087] Step S20: obtaining a preset nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the previous material to be sucked.

[0088] It is understandable that the above-mentioned preset nozzle spacing can be the spacing between two adjacent nozzles on the device in this embodiment. Since when there are multiple nozzles, the spacing between adjacent nozzles is generally set to be consistent, the preset nozzle spacing between adjacent nozzles in this embodiment is also consistent.

[0089] It should be understood that the current virtual point may be the point on the target vibration plate where the current nozzle is located when the previous nozzle is at the position of the previous material to be sucked. The virtual point coordinates may be the coordinates of the current nozzle on the target vibration plate. After the previous material to be sucked is determined, the virtual point coordinates of the current virtual point may be obtained by offsetting the nozzles according to the arrangement order of the nozzles according to the preset nozzle spacing.

[0090] For ease of understanding, refer to Figure 4 To explain, Figure 4 Schematic diagram of the preset nozzle spacing in the first embodiment of the material grabbing method of this application, as shown in FIG. Figure 4As shown, if the last material to be sucked is material , the physical coordinates of the last material to be sucked are marked as (X1, Y1), and the preset nozzle spacing is D. Since the nozzles are arranged from left to right, (X1, Y1) can be offset to the right by the preset nozzle spacing D to obtain the current virtual point. The virtual point coordinates of the current virtual point are (X1, Y1+D), and the current virtual point can be understood as when the nozzle Grab the material to be sucked When the nozzle Located at the current virtual point.

[0091] Similarly, if the last material to be sucked is material , the physical coordinates of the last material to be sucked are marked as (X2, Y2), the preset nozzle spacing is D, and then (X2, Y2) can be offset to the right by the preset nozzle spacing D to obtain the current virtual point. The virtual point coordinates of the current virtual point are (X2, Y2+D), and then the current virtual point can be understood as when the nozzle Grab the material to be sucked When the nozzle Located at the current virtual point.

[0092] Step S30: determining the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate.

[0093] It should be noted that the remaining materials to be sucked may be the remaining materials to be sucked on the target vibrating plate after being distributed. After obtaining the virtual point coordinates of the current virtual point, the relative distance between the current virtual point and each remaining material to be sucked can be determined based on the virtual point coordinates and the physical coordinates of each remaining material to be sucked.

[0094] Step S40: selecting the current material to be sucked from the remaining materials to be sucked according to the relative distance, and distributing the current material to be sucked to the current suction nozzle.

[0095] It is understandable that after determining the relative distance between the current virtual point and each remaining material to be sucked, the material to be sucked with the shortest relative distance can be selected as the current material to be sucked, and the current material to be sucked can be assigned to the current suction nozzle, so that the shortest distance for the suction nozzle to move can be determined to grab the material to be sucked. Therefore, compared with the existing method of grabbing according to the matching score, the grabbing cycle is shortened.

[0096] For example, continue based on Figure 4 As shown, in the suction nozzle When allocating, once the corresponding current virtual point is determined, the material The relative distance from the current virtual point is the shortest, so the material can be Dispense to nozzle .

[0097] After the current nozzle is allocated, the current nozzle can be used as the previous nozzle, the current material to be sucked can be used as the previous material to be sucked, and the next nozzle can be used as the current nozzle, and the above steps can be followed to allocate again until all nozzles are allocated. Figure 4 Finished nozzle To nozzle In summary, if Figure 4 For example, after the distribution is performed according to the method of this embodiment, the material Dispense to nozzle ,materials Dispense to nozzle ,materials Dispense to nozzle ,materials Dispense to nozzle .

[0098] Furthermore, if there are at least two materials to be sucked whose relative distances to the current virtual point are the shortest, they can generally be randomly selected. However, in order to further reduce the grabbing cycle, in this embodiment, the materials to be sucked with the shortest relative distance can be simulated and grabbed respectively, and then the relative distances between the corresponding current virtual point and the remaining materials to be sucked can be calculated and then the current material to be sucked can be determined based on the calculation results. Specifically, the above step S40 includes:

[0099] Step S41: selecting a material to be compared from the remaining materials to be sucked according to the relative distance, and determining the virtual point coordinates of the virtual point to be compared corresponding to the material to be compared;

[0100] Step S42: determining the relative distance between each virtual point to be compared and each remaining material to be sucked based on the virtual point coordinates of the virtual point to be compared and the physical coordinates of each remaining material to be sucked;

[0101] Step S43: selecting the current material to be sucked from the materials to be compared according to the relative distance between each virtual point to be compared and each remaining material to be sucked.

[0102] It should be noted that the material to be compared may be the material to be sucked that is closest to the current virtual point among the remaining materials to be sucked. The virtual point to be compared may be a virtual point corresponding to the physical coordinates of the material to be compared.

[0103] For ease of understanding, refer to Figure 5 , Figure 5 In the first embodiment of the material grabbing method of this application, there are at least two schematic diagrams with the closest relative distance. Figure 5 As shown, after determining the relative distance between the current virtual point and the remaining materials to be sucked, the above device can select the material to be sucked with the shortest relative distance, for example Figure 5 Materials exist in With materials All with materials The relative distance of the current virtual point is the shortest, and the material And materials All of them are used as the above-mentioned materials for comparison.

[0104] Then, according to the physical coordinates of each material to be compared, the corresponding virtual point is shifted to the right by D to obtain the corresponding virtual point to be compared (i.e. Figure 5 medium material Current virtual point and material and obtain the virtual point coordinates of each virtual point to be compared.

[0105] After determining the virtual point coordinates of the virtual point to be compared, the remaining material to be sucked (i.e. Figure 5 medium material And materials ) and materials Virtual points and materials to be compared The relative distance between the virtual points to be compared, that is, to determine the material With materials The relative distance between the virtual points to be compared, material With materials The relative distance between the virtual points to be compared, material With materials The relative distance between the virtual points to be compared, material With materials The relative distance between the virtual points to be compared is then selected from the group of virtual points to be compared with the shortest relative distance and the corresponding material to be compared as the current material to be sucked. Figure 5 According to the comparison, we can know the material With materials The relative distance between the virtual points to be compared is the shortest, then the material As the above-mentioned current material to be sucked, it is distributed to the current suction nozzle.

[0106] Step S50: grabbing the material to be sucked by each suction nozzle according to the corresponding distribution result.

[0107] After all the suction nozzles are allocated, the grabbing path for this transport is generated according to the allocation result, and then the suction nozzles can be controlled to move to the corresponding material to be sucked according to the corresponding allocation result (that is, according to the grabbing path) for grabbing, and the grabbed material to be sucked can be transported to the silo.

[0108] Furthermore, considering that when the last nozzle is assigned, there is no need to determine the corresponding current virtual point, in this embodiment, the above step S50 includes:

[0109] Step S51: determining whether the current nozzle is the last nozzle;

[0110] Step S52: when the current suction nozzle is the last suction nozzle, the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result.

[0111] It should be understood that the above-mentioned last suction nozzle can be the last suction nozzle. In this embodiment, after the device distributes the current material to be sucked to the current suction nozzle, it can first determine whether the current suction nozzle is the last suction nozzle, that is, determine whether the current suction nozzle is the suction nozzle. ; If so, it means that all the current nozzles have been allocated, and there is no need to determine the current virtual point later. Therefore, the nozzles can be controlled to start grabbing and transporting according to the corresponding allocation results.

[0112] Step S53: When the current suction nozzle is not the last suction nozzle, return to the step of obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle, until the current suction nozzle is the last suction nozzle, and the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result.

[0113] The current nozzle is not the last nozzle, that is, the current nozzle is not the nozzle , it means that there are still nozzles that have not been assigned, so the current nozzle can be used as the previous nozzle, and the current material to be sucked can be used as the previous material to be sucked, and the process returns to execute the step of obtaining the physical coordinates of the previous material to be sucked assigned by the previous nozzle, until the current nozzle is the last nozzle, it can be said that all current nozzles have been assigned, and there is no need to determine the current virtual point subsequently, so the nozzles can be controlled to start grabbing and transporting according to the corresponding assignment results.

[0114] This embodiment can first determine the physical coordinates of each material to be sucked, and obtain the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle, and then determine the virtual point coordinates of the current virtual point according to the preset suction nozzle spacing and the physical coordinates of the previous material to be sucked. The virtual point coordinates can be understood as the position coordinates of the current suction nozzle, and then determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and the physical coordinates of each material to be sucked, that is, the relative distance between the current suction nozzle and each remaining material to be sucked, and select the current material to be sucked from them according to each relative distance and assign it to the current suction nozzle, and finally grab the material to be sucked through each suction nozzle according to the corresponding allocation result. Compared with the existing method of allocating materials to the next suction nozzle in the order of matching scores, which leads to reciprocating motion, this embodiment can allocate materials according to the relative distance between each remaining material to be sucked, reducing the reciprocating motion and thus reducing the grabbing cycle.

[0115] refer to Figure 6 , Figure 6 The second embodiment of the material grabbing method of the present application is a flow chart of the second embodiment of the material grabbing method of the present application. Based on the above first embodiment, the second embodiment of the material grabbing method of the present application is proposed.

[0116] Considering that in order to ensure that all suction nozzles can grab the materials to be sucked in one transport, in this embodiment, it should be ensured that the amount of materials to be sucked on the target vibration plate is at least not less than the number of suction nozzles. Figure 6 As shown, in this embodiment, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0117] Step S11: determining the area occupied by each material to be sucked according to the captured image;

[0118] Step S12: when the occupied area reaches a preset area threshold, the physical coordinates of each material to be sucked are determined according to the captured image.

[0119] It should be noted that the above-mentioned preset area threshold may be the product value of the area of ​​a single material to be sucked and the number of suction nozzles, which may be set according to actual conditions, and this embodiment does not impose any limitation on this.

[0120] For ease of understanding, refer to Figure 7 , Figure 7 This is a schematic diagram of the operation flow in the second embodiment of the material grabbing method of this application. Figure 7 As shown, the above device can first use a camera to photograph the target vibration plate (i.e. Figure 7 The camera takes a picture), obtains a captured image, and then performs image recognition on the captured image to determine the sum of the areas of all the materials to be sucked therein as the above-mentioned occupied area;

[0121] Then determine whether the occupied area reaches the preset area threshold (i.e. Figure 7 whether the area occupied by the target vibration plate reaches the preset area threshold); if not, it means that there is insufficient material on the target vibration plate, so you can add material first (i.e. Figure 7 If the target vibration plate is filled with material, the camera will take another shot. If the target vibration plate is filled with material, the subsequent step can be performed, that is, the physical coordinates of each material to be sucked can be determined according to the shot image.

[0122] Furthermore, considering that the position of the material to be sucked in the image captured by the camera is not the position of the material to be sucked relative to the suction nozzle, coordinate conversion is required in this embodiment. Specifically, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0123] Step S121: identifying the captured image to determine a material image of the material in the captured image;

[0124] Step S122: comparing each of the material images with a preset matching template, and selecting a material to be sucked from each of the existing materials according to the comparison result;

[0125] Step S123: Determine the physical coordinates of the material to be sucked.

[0126] It is understandable that the material image may be an image corresponding to the material in the obtained captured image. The preset matching template may be a template used to determine whether the material is allowed to be grabbed.

[0127] In actual use, after the target vibration plate is photographed, the above-mentioned device can identify the photographed image. Specifically, after determining that the material therein reaches a preset area threshold, the material image of the material present in the photographed image can be determined;

[0128] Then, each material image is compared with the preset matching template (i.e. Figure 7 The template matching method is used to determine the matching score between each material and the preset matching template, and the material with a matching score higher than the preset matching score threshold is used as the material to be sucked. If the matching score is higher than the preset matching score threshold, it can be said that the material is qualified for processing and is allowed to be grabbed. The above preset matching score threshold can be set according to actual conditions, and this embodiment does not limit this.

[0129] After the material to be sucked is obtained, the physical coordinates of the material to be sucked can be determined according to the captured image.

[0130] Furthermore, considering that the position of the material to be sucked in the image captured by the camera is not consistent with the position in the coordinate system where the suction nozzle is located, it is necessary to perform coordinate transformation to obtain the physical coordinates of each material to be sucked. In this embodiment, the step of determining the physical coordinates of each material to be sucked according to the captured image includes:

[0131] The pixel coordinates of each material to be sucked are determined according to the captured image; and the pixel coordinates are converted according to a preset conversion relationship to obtain the physical coordinates of each material to be sucked.

[0132] It should be noted that the above pixel coordinates may be the coordinates of the material to be sucked in the captured image. The above preset coordinate conversion relationship may be the conversion relationship between the pixel coordinates and the physical coordinates, which may be obtained in advance by calibration, specifically by a nine-point calibration method or a twelve-point calibration method, etc., which is not limited in this embodiment.

[0133] In actual use, after the device photographs the target vibration plate through a camera, specifically when executing the above step S123, the pixel coordinates of each material to be sucked can be first determined according to the photographed image, and then the pixel coordinates can be converted according to the preset coordinate conversion relationship, so as to obtain the physical coordinates of each material to be sucked.

[0134] Furthermore, considering that after the material to be sucked is determined, in order to ensure that all suction nozzles can distribute the material to be sucked, in this embodiment, the step of obtaining the physical coordinates of the last material to be sucked distributed by the last suction nozzle includes:

[0135] Step S13: determining the quantity of the materials to be sucked according to the physical coordinates of each of the materials to be sucked;

[0136] Step S14: when the number of the materials is greater than the number of the suction nozzles, obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle.

[0137] In actual use, after the above-mentioned device obtains the physical coordinates of each material to be sucked, the material quantity of the material to be sucked can be determined according to the number of the physical coordinates of the material to be sucked, and the material quantity is compared with the number of suction nozzles of all suction nozzles (i.e. Figure 7 Whether the number of grippable items is greater than the number of nozzles);

[0138] When the number of materials is greater than the number of nozzles, it means that all nozzles can be assigned to the materials to be sucked in this grabbing. Therefore, the physical coordinates of the last material to be sucked assigned by the last nozzle can be obtained later. Specifically, the above step S15 can be executed. After all nozzles are assigned, the grabbing path (i.e. Figure 7Determine the crawling path in ), and crawl according to the crawling path (i.e. Figure 7 to fetch products);

[0139] When the number of materials is not higher than the number of suction nozzles, it means that the amount of materials that can be sucked may not be enough for all suction nozzles to distribute. This may be due to the incorrect posture of some materials that cannot be grasped. Therefore, the target vibration plate can be controlled to vibrate, thereby adjusting the posture of some materials and shooting again.

[0140] In addition, an embodiment of the present application further proposes a storage medium, on which a material grabbing program is stored. When the material grabbing program is executed by a processor, the steps of the material grabbing method described above are implemented.

[0141] Reference Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the material grabbing device of the present application.

[0142] like Figure 8 As shown, the material grabbing device proposed in the embodiment of the present application includes:

[0143] The material shooting module 801 is used to shoot the target vibration plate, determine the physical coordinates of each material to be sucked according to the shot image, and obtain the physical coordinates of the last material to be sucked assigned by the last suction nozzle;

[0144] A coordinate determination module 802 is used to obtain a preset nozzle spacing, and determine the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the last material to be sucked;

[0145] A distance determination module 803 is used to determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate;

[0146] A nozzle allocation module 804 is used to select a current material to be sucked from the remaining materials to be sucked according to the relative distance, and allocate the current material to be sucked to the current nozzle;

[0147] The material grabbing module 805 is used to grab the material to be sucked through each suction nozzle according to the corresponding allocation result.

[0148] This embodiment can first determine the physical coordinates of each material to be sucked, and obtain the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle, and then determine the virtual point coordinates of the current virtual point according to the preset suction nozzle spacing and the physical coordinates of the previous material to be sucked. The virtual point coordinates can be understood as the position coordinates of the current suction nozzle, and then determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and the physical coordinates of each material to be sucked, that is, the relative distance between the current suction nozzle and each remaining material to be sucked, and select the current material to be sucked from them according to each relative distance and assign it to the current suction nozzle, and finally grab the material to be sucked through each suction nozzle according to the corresponding allocation result. Compared with the existing method of allocating materials to the next suction nozzle in the order of matching scores, which leads to reciprocating motion, this embodiment can allocate materials according to the relative distance between each remaining material to be sucked, reducing the reciprocating motion and thus reducing the grabbing cycle.

[0149] As an embodiment, the material shooting module 801 is also used to determine whether the current suction nozzle is the first suction nozzle; when the current suction nozzle is the first suction nozzle, the first material to be sucked is selected from the materials to be sucked according to the physical coordinates of each material to be sucked, and the first material to be sucked is assigned to the first suction nozzle, the first suction nozzle is used as the previous suction nozzle, and the physical coordinates of the first material to be sucked are used as the physical coordinates of the previous material to be sucked; when the current suction nozzle is not the first suction nozzle, the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle are obtained.

[0150] As an implementation mode, the material grabbing module 805 is also used to determine whether the current suction nozzle is the last suction nozzle; when the current suction nozzle is the last suction nozzle, the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result; when the current suction nozzle is not the last suction nozzle, it returns to execute the step of obtaining the physical coordinates of the previous material to be sucked allocated by the previous suction nozzle, until the current suction nozzle is the last suction nozzle, and the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result.

[0151] Based on the above-mentioned first embodiment of the material grabbing device of the present application, a second embodiment of the material grabbing device of the present application is proposed.

[0152] In this embodiment, the material shooting module 801 is also used to determine the area occupied by each material to be sucked according to the shot image; when the occupied area reaches a preset area threshold, the physical coordinates of each material to be sucked are determined according to the shot image.

[0153] As an implementation mode, the material shooting module 801 is also used to identify the captured image and determine the material image of the material existing in the captured image; compare each of the material images with a preset matching template, and select the material to be sucked from each of the existing materials according to the comparison result; and determine the physical coordinates of the material to be sucked.

[0154] As an implementation mode, the material shooting module 801 is further used to determine the pixel coordinates of each material to be sucked according to the shot image; and to convert each pixel coordinate according to a preset conversion relationship to obtain the physical coordinates of each material to be sucked.

[0155] As an embodiment, the material shooting module 801 is also used to determine the material quantity of the material to be sucked according to the physical coordinates of each material to be sucked; when the material quantity is higher than the number of suction nozzles of the suction nozzle, the physical coordinates of the previous material to be sucked assigned by the previous suction nozzle are obtained.

[0156] Other embodiments or specific implementations of the material grabbing device of the present application can refer to the above-mentioned method embodiments and will not be described in detail here.

[0157] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0158] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0159] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0160] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A material grabbing method, characterized in that: The method is applied to a material grabbing device provided with at least two suction nozzles, and the method comprises: The target vibration plate is photographed, the physical coordinates of each material to be sucked are determined according to the photographed image, and the physical coordinates of the last material to be sucked assigned by the last suction nozzle are obtained; Obtaining a preset nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the last material to be sucked; Determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate, wherein the remaining material to be sucked is the remaining material to be sucked on the target vibration plate except for the material that has been distributed; Selecting the current material to be sucked from the remaining materials to be sucked according to the relative distance, and distributing the current material to be sucked to the current suction nozzle; Grab the material to be sucked by each suction nozzle according to the corresponding distribution result; The step of selecting the current material to be sucked from the remaining materials to be sucked according to the relative distance comprises: Selecting a material to be compared from the remaining materials to be absorbed according to the relative distance, and determining the virtual point coordinates of the virtual point to be compared corresponding to the material to be compared, wherein the material to be compared is the material to be absorbed that is closest to the current virtual point in the remaining materials to be absorbed, and the virtual point to be compared is the virtual point corresponding to the physical coordinates of the material to be compared; Determine the relative distance between each virtual point to be compared and each remaining material to be sucked based on the virtual point coordinates of the virtual point to be compared and the physical coordinates of each remaining material to be sucked; The current material to be absorbed is selected from the materials to be compared according to the relative distance between each virtual point to be compared and each remaining material to be absorbed.

2. The method according to claim 1, characterized in that The step of obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle includes: Determine whether the current nozzle is the first nozzle; When the current suction nozzle is the first suction nozzle, the first material to be sucked is selected from the materials to be sucked according to the physical coordinates of the materials to be sucked, the first material to be sucked is assigned to the first suction nozzle, the first suction nozzle is used as the previous suction nozzle, and the physical coordinates of the first material to be sucked are used as the physical coordinates of the previous material to be sucked; When the current suction nozzle is not the first suction nozzle, the physical coordinates of the last material to be sucked allocated by the last suction nozzle are obtained.

3. The method according to claim 1, characterized in that The step of grabbing the material to be sucked by each suction nozzle according to the corresponding distribution result includes: Determine whether the current nozzle is the last nozzle; When the current suction nozzle is the last suction nozzle, the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result; When the current suction nozzle is not the last suction nozzle, return to execute the step of obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle, until the current suction nozzle is the last suction nozzle, and the material to be sucked is grabbed by each suction nozzle according to the corresponding allocation result.

4. The method according to claim 1, characterized in that The step of determining the physical coordinates of each material to be sucked according to the captured image includes: Determine the area occupied by each material to be sucked according to the captured image; When the occupied area reaches a preset area threshold, the physical coordinates of each material to be sucked are determined according to the captured image.

5. The method according to claim 4, characterized in that The step of determining the physical coordinates of each material to be sucked according to the captured image includes: Recognize the captured image to determine a material image of the material in the captured image; Comparing each of the material images with a preset matching template, and selecting a material to be sucked from each of the existing materials according to the comparison result; The physical coordinates of the material to be sucked are determined.

6. The method according to claim 1, characterized in that The step of determining the physical coordinates of each material to be sucked according to the captured image includes: Determine the pixel coordinates of each material to be sucked according to the captured image; The pixel coordinates are converted according to a preset conversion relationship to obtain the physical coordinates of the material to be sucked.

7. The method according to claim 1, characterized in that The step of obtaining the physical coordinates of the last material to be sucked allocated by the last suction nozzle includes: Determine the quantity of the material to be absorbed according to the physical coordinates of each of the materials to be absorbed; When the number of the materials is greater than the number of the suction nozzles, the physical coordinates of the last material to be sucked allocated by the last suction nozzle are obtained.

8. A material grabbing device, characterized in that: The device comprises: The material shooting module is used to shoot the target vibration plate, determine the physical coordinates of each material to be sucked according to the shot image, and obtain the physical coordinates of the last material to be sucked assigned by the last suction nozzle; A coordinate determination module, used for obtaining a preset nozzle spacing, and determining the virtual point coordinates of the current virtual point based on the preset nozzle spacing and the physical coordinates of the last material to be sucked; A distance determination module, used to determine the relative distance between the current virtual point and each remaining material to be sucked according to the virtual point coordinates and each physical coordinate, wherein the remaining material to be sucked is the remaining material to be sucked on the target vibration plate except for the material that has been distributed; A nozzle allocation module, used for selecting a current material to be sucked from the remaining materials to be sucked according to the relative distance, and allocating the current material to be sucked to the current nozzle; A material grabbing module, used for grabbing the material to be sucked through each suction nozzle according to the corresponding allocation result; The nozzle allocation module is also used to select a material to be compared from the remaining materials to be sucked according to the relative distance, and determine the virtual point coordinates of the virtual point to be compared corresponding to the material to be compared, the material to be compared is the material to be sucked that is closest to the current virtual point in the remaining materials to be sucked, and the virtual point to be compared is the virtual point corresponding to the physical coordinates of the material to be compared; based on the virtual point coordinates of the virtual point to be compared and the physical coordinates of the remaining materials to be sucked, determine the relative distance between each virtual point to be compared and each remaining material to be sucked; select the current material to be sucked from each material to be compared according to the relative distance between each virtual point to be compared and each remaining material to be sucked.

9. A material grabbing device, characterized in that: The device comprises: a memory, a processor, a material grabbing program stored in the memory and executable on the processor, and at least two suction nozzles. When the material grabbing program is executed by the processor, the steps of the material grabbing method as described in any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores a material grabbing program, and when the material grabbing program is executed by the processor, the steps of the material grabbing method according to any one of claims 1 to 7 are implemented.

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