Cabinet door opening control method based on double arms and robot thereof

Abstract

The invention provides a double-arm-based cabinet door opening control method and a robot thereof. The double-arm-based cabinet door opening control method comprises the steps that S1, the position of the robot is calibrated; s2, the movement radius of a mechanical arm end effector of the robot relative to a first hinge is calculated; s3, a preset opening angle of the first cabinet door is set, and a motion arc line, corresponding to the preset opening angle, of a mechanical arm end effector in the two-dimensional plane is calculated; s4, calculating a motor rotation angle of a first mechanical arm according to the target road point coordinates corresponding to the motion arc, controlling the first mechanical arm to execute motion according to the target road point coordinates and the motor rotation angle, and controlling a second mechanical arm to perform following motion on a rebound path of the first cabinet door; s5, opening of the first cabinet door is completed; and S6, returning the mirror image to open the second cabinet door. According to the invention, the efficient cabinet door opening control method can be realized by utilizing two-arm cooperation and interrelated steps, and the cabinet door opening accuracy and reliability of the robot are effectively improved.

Description

Technical Field

[0001] The present invention relates to a control method for a robot to open a cabinet door, in particular to a double-arm based control method for opening a cabinet door, and further provides a robot adopting the double-arm based control method for opening a cabinet door. Background Art

[0002] In the field of automation and robotics, realizing the automatic opening and closing of equipment such as lockers or storage cabinets is an important technical challenge. For example, in various application environments where double doors need to be opened frequently, such as wards or medical equipment storage cabinets, if the accuracy and reliability of door opening can be effectively improved, it will undoubtedly effectively reduce manual operation and improve work efficiency. However, traditional door opening methods often rely on a single robotic arm or a simple automation device, which has limitations when dealing with double doors or scenes that require precise control. Especially in the application environment where double doors need to be opened frequently, manual operation is not only inefficient but also costly. In addition, the operation of a single robotic arm is also difficult to meet the growing demand for industrial automation in terms of accuracy and reliability. Therefore, developing a dual-arm-based door opening control method to improve the efficiency and accuracy of double door opening operations and reduce manual intervention has become one of the technical problems that need to be solved in this field. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a cabinet door opening control method based on double arms, aiming to realize an efficient cabinet door opening control method by utilizing the cooperation of double arms, realize the double door opening operation of a locker or storage cabinet, and reasonably optimize the steps in the process of opening the cabinet door, thereby improving the accuracy and reliability of cabinet door opening. On this basis, a robot adopting the cabinet door opening control method based on double arms is further provided.

[0004] In this regard, the present invention provides a cabinet door opening control method based on double arms, comprising the following steps:

[0005] Step S1, calibrating the robot position through robot vision so that the center line of the robot is aligned with the center line of the double doors of the cabinet;

[0006] Step S2, obtaining a first horizontal distance of the first handle of the cabinet relative to the first hinge, and obtaining a first vertical distance between the top of the first handle and the cabinet surface, and calculating a motion radius of the manipulator end effector of the first manipulator relative to the first hinge according to the first horizontal distance and the first vertical distance;

[0007] Step S3, setting a preset opening angle of the first cabinet door, and calculating a motion arc of the end effector of the robotic arm corresponding to the preset opening angle in a two-dimensional plane according to the motion radius and in combination with the starting position of the first robotic arm;

[0008] Step S4, calculating the motor rotation angle of the first mechanical arm according to the target waypoint coordinates corresponding to the motion arc, controlling the first mechanical arm for grasping to move according to the target waypoint coordinates and the motor rotation angle, and controlling the second mechanical arm to follow the rebound path of the first cabinet door during the movement of the first mechanical arm;

[0009] Step S5, when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first mechanical arm releases the first handle, and the second mechanical arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door;

[0010] Step S6, return to step S1, mirror the process from step S2 to step S5, exchange the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0011] A further improvement of the present invention is that in step S1, a cabinet model corresponding to the cabinet is pre-trained, and the initial position of the robot when the cabinet door is opened is calibrated through robot vision so that the robot faces forward and ensures that the center line of the robot is directly in front of the center line between the first cabinet door and the second cabinet door.

[0012] A further improvement of the present invention is that in step S2, by formula The motion radius actionRadius of the end effector of the first robotic arm relative to the first hinge is calculated, wherein hingeDis represents the first horizontal distance of the first handle relative to the first hinge, and verticalDis represents the first vertical distance between the top of the first handle and the cabinet surface.

[0013] A further improvement of the present invention is that step S3 includes the following sub-steps:

[0014] Step S301, setting the preset opening angle theta of the first cabinet door, taking the starting position of the first robotic arm as the origin, defining the direction of the robot facing the cabinet as the positive direction of the x-axis, defining the left side of the robot as the positive direction of the y-axis, and obtaining the robotic arm base coordinate system; the first robotic arm is the robotic arm that performs grasping;

[0015] Step S302, calculating the offset between the robot arm base coordinate tfBase and the first hinge coordinate tfHinge of the first robot arm, and calculating the motion arc of the robot arm end effector in the robot arm base coordinate system.

[0016] A further improvement of the present invention is that in step S302, by formula x t =x0+rcos(ωt) and y t=y0+rsin(ωt) to calculate the motion arc of the end effector of the robot arm in the robot arm base coordinate system, where x t and t is the coordinate of the target waypoint corresponding to time t; x0 and y0 are the coordinates corresponding to the initial position of the end effector of the manipulator; r is the radius of the motion arc, θ is the current opening angle of the cabinet; ω is the angular velocity, T is the total exercise time.

[0017] A further improvement of the present invention is that step S4 includes the following sub-steps:

[0018] Step S401: the first mechanical arm is a three-axis mechanical arm, and the three-axis mechanical arm steering angle is set The corresponding arm lengths of the three-axis manipulator are L1, L2, and L3, and the current target waypoint coordinates are (x, y);

[0019] Step S402, by formula Calculate the first motor rotation angle z1 of the three-axis robot arm through the formula The second motor rotation angle z2 of the three-axis robot arm is calculated, and the third motor rotation angle z3 of the three-axis robot arm is calculated by the formula z3=endGamma-z1-z2.

[0020] A further improvement of the present invention is that the preset opening angle is defined as theta, wherein:

[0021] A further improvement of the present invention is that in step S6, during the process of mirroring steps S2 to S5, if the first door and the second door of the cabinet are completely symmetrical, step S2 is skipped, the positive direction of the y-axis in step S3 is modified to the right direction of the robot, and the movements of the first robotic arm and the second robotic arm are exchanged; otherwise, return to step S2 for recalculation.

[0022] The present invention also provides a robot, which adopts the dual-arm based cabinet door opening control method as described above, and includes: a base module, a frame module, a Z-axis module, a dual robotic arm module, a display module and a visual module. The Z-axis module is arranged on the base module through the frame module, the dual robotic arm module is arranged at the front end of the robot through the Z-axis module, and the visual module is arranged above the mechanical claws of the dual robotic arm module; the display module is arranged on the frame module through a downwardly inclined mounting bracket, and is arranged at the rear end of the robot, and the tops of the mounting bracket and the display module are both lower than the bottom of the dual robotic arm module.

[0023] A further improvement of the present invention is that it also includes a visual module bracket, which adopts a Z-shaped bracket, the fixed bottom limit of the Z-shaped bracket is set on the mechanical claw, and the mounting top of the Z-shaped bracket is used to fix the visual module; the driving motor of the mechanical claw is set on the back of the Z-shaped bracket and below the mounting top of the Z-shaped bracket; the visual module maintains synchronous movement with the mechanical claw through the visual module bracket.

[0024] Compared with the prior art, the beneficial effects of the present invention are: first, the robot position is calibrated through robot vision so that the center line of the robot is directly opposite to the center line of the double doors of the cabinet, so as to provide a basis for the optimization control of the subsequent cabinet door opening process, and there is no need to move the base module; then, the movement radius of the robot end effector of the first robot arm relative to the first hinge is calculated based on the acquired first horizontal distance and first vertical distance; then, combined with the starting position of the first robot arm, the movement arc of the robot end effector corresponding to the preset opening angle in the two-dimensional plane is calculated; then, according to the target waypoint coordinates corresponding to the movement arc, the motor rotation angle of the first robot arm is calculated to control the execution of the grasping The first robotic arm is taken to perform movement according to the target waypoint coordinates and the motor rotation angle, and during the movement, the second robotic arm is controlled to perform follow-up movement on the rebound path of the first cabinet door to prevent the first cabinet door from rebounding and ensure the reliability of opening the cabinet door; when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle, and the first cabinet door is pushed at the preset opening angle by the second robotic arm to complete the opening action of the first cabinet door, so as to fully ensure the accurate and reliable opening of the first cabinet door; finally, return to step S1, mirror the process of steps S2 to S5, and exchange the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0025] Therefore, the present invention can realize an efficient cabinet door opening control method by utilizing dual-arm collaboration, realizes the double-door opening operation of a locker or storage cabinet through interrelated steps, and reasonably optimizes its steps in the process of opening the cabinet door, effectively improves the accuracy and reliability of the robot cabinet door opening, and can well adapt to various application environments that require frequent double-door opening to take things, effectively reduces labor costs, and improves work efficiency. On this basis, a robot using the dual-arm cabinet door opening control method is further provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the working process of an embodiment of the present invention;

[0027] Figure 2 is a structural schematic diagram of another embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the assembly structure of a Z-axis module of another embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the assembly structure of a visual module according to another embodiment of the present invention.

[0030] Figure identification: 1-base module; 2-frame module; 3-Z-axis module; 4-dual robotic arm module; 401-mechanical claw; 402-driving motor; 5-display module; 6-vision module; 7-mounting bracket; 8-vision module bracket; 801-fixed bottom; 802-mounting top. DETAILED DESCRIPTION

[0031] In the description of the present invention, if it involves a description of orientation, for example, the orientation or position relationship indicated by "upper", "lower", "front", "back", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. If a certain technical feature is referred to as "set", "fixed", "connected", or "installed" on another technical feature, it can be directly set, fixed, or connected to the other technical feature, or it can be indirectly set, fixed, connected, or installed on the other technical feature.

[0032] In the description of the present invention, if "several" is involved, it means more than one; if "multiple" is involved, it means more than two; if "greater than", "less than", or "exceed" is involved, it should be understood as not including the number itself; if "above", "below", or "within" is involved, it should be understood as including the number itself. If "first", "second", etc. are involved, they should be understood as being used only to distinguish the names of the same or similar technical features, and should not be understood as implying / indicating the relative importance of the technical features, the number of the technical features, or the order of the technical features.

[0033] The preferred embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, this embodiment provides a cabinet door opening control method based on double arms, comprising the following steps:

[0035] Step S1, calibrating the robot position through robot vision so that the center line of the robot is aligned with the center line of the double doors of the cabinet;

[0036] Step S2, obtaining a first horizontal distance of the first handle of the cabinet relative to the first hinge, and obtaining a first vertical distance between the top of the first handle and the cabinet surface, and calculating a motion radius of the manipulator end effector of the first manipulator relative to the first hinge according to the first horizontal distance and the first vertical distance;

[0037] Step S3, setting a preset opening angle of the first cabinet door, and calculating a motion arc of the end effector of the robotic arm corresponding to the preset opening angle in a two-dimensional plane according to the motion radius and in combination with the starting position of the first robotic arm;

[0038] Step S4, calculating the motor rotation angle of the first mechanical arm according to the target waypoint coordinates corresponding to the motion arc, controlling the first mechanical arm for grasping to move according to the target waypoint coordinates and the motor rotation angle, and controlling the second mechanical arm to follow the rebound path of the first cabinet door during the movement of the first mechanical arm;

[0039] Step S5, when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first mechanical arm releases the first handle, and the second mechanical arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door;

[0040] Step S6, return to step S1, mirror the process from step S2 to step S5, exchange the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0041] The step S1 described in this embodiment is used to realize the calibration of the robot position, and the robot's own visual module 6 provides a data basis, so that the robot's center line is directly opposite to the center line of the double cabinet doors of the cabinet. The advantage of this design is that it can provide a better basis for the subsequent optimization control of the cabinet door opening process. In step S1, the robot position when opening the cabinet door is calibrated, so that when opening the cabinet door with two arms in collaboration, it is no longer necessary to move or control the base module 1, thereby effectively simplifying the overall control difficulty of the robot, and at the same time, it is also convenient for the second mechanical arm to follow the movement, and it is also convenient to realize the process from step S2 to step S5 by mirroring, making the overall control method more reasonable and efficient, and on the basis of reducing the control difficulty, it also effectively guarantees the accuracy of the control.

[0042] Preferably, in step S1, a cabinet model corresponding to the cabinet is pre-trained, and based on the cabinet model, the initial position of the robot when the cabinet door is opened can be calibrated more quickly and accurately by robot vision, so that the robot faces forward and the center line of the robot is directly in front of the center line between the first cabinet door and the second cabinet door. Of course, the process of pre-training the cabinet model corresponding to the cabinet is a preferred process of this embodiment, which can be achieved through existing deep learning and modeling methods.

[0043] In this embodiment, step S2 is used to calculate the movement radius of the end effector of the robot arm performing the grasping relative to the corresponding hinge. When the robot arm performing the grasping is the first robot arm, the formula The motion radius actionRadius of the end effector of the first manipulator relative to the first hinge is calculated, where hingeDis represents the first horizontal distance of the first handle relative to the first hinge, and verticalDis represents the first vertical distance between the top of the first handle and the cabinet surface. The cabinet surface refers to the plane of the cabinet door where the handle is installed.

[0044] In this embodiment, the first robotic arm refers to the robotic arm on one side of the robot, such as the left robotic arm; then, the corresponding second robotic arm refers to the robotic arm on the other side, such as the right robotic arm. The first handle refers to the handle on the cabinet door on one side of the cabinet, such as the left handle; the first hinge refers to the hinge on one side of the cabinet, such as the left hinge; correspondingly, the second handle refers to the handle on the cabinet door on the other side, such as the right handle, and the second hinge refers to the hinge on the other side of the cabinet, such as the right hinge. Through the above formula, this embodiment can calculate the motion radius actionRadius of the robotic arm end effector of the first robotic arm relative to the first hinge.

[0045] In this embodiment, step S3 is used to calculate the motion arc of the end effector of the robot arm corresponding to the preset opening angle. In step S3, preferably, the preset opening angle of the first cabinet door is set first. The preset opening angle refers to the preset cabinet door opening angle, which can be set according to actual conditions and needs. By default, the preset opening angle in this embodiment is defined as theta, where To ensure that the cabinet door will not rebound after opening, and the equipment will not be damaged due to excessive opening angle. Then, according to the movement radius, that is, according to the first horizontal distance and the first vertical distance, combined with the starting position of the first mechanical arm, the movement arc of the mechanical arm end effector corresponding to the preset opening angle in the two-dimensional plane is calculated.

[0046] Specifically, step S3 in this embodiment includes the following sub-steps:

[0047] Step S301, setting the preset opening angle theta of the first cabinet door, taking the starting position of the first robotic arm as the origin, defining the direction in which the robot faces the cabinet as the positive direction of the x-axis, defining the left side of the robot as the positive direction of the y-axis, and obtaining the robotic arm base coordinate system; the first robotic arm is the robotic arm that performs grasping, that is, the robotic arm used to open the current cabinet door (the first cabinet door);

[0048] Step S302, calculating the offset between the robot base coordinate tfBase and the first hinge coordinate tfHinge of the first robot arm to determine the current precise position of the first robot arm relative to the first hinge, and then calculating the motion arc of the robot end effector in the robot base coordinate system.

[0049] More specifically, in step S302 of this embodiment, by formula x t =x0+rcos(ωt) and y t =y0+rsin(ωt) to calculate the motion arc of the end effector of the robot arm in the robot arm base coordinate system, where x t and t is the coordinate of the target waypoint corresponding to time t, which can be expressed as (x t ,y t ); through the coordinates of the target waypoints corresponding to each time, a complete motion arc can be formed. x0 and y0 are the coordinates corresponding to the initial position of the end effector of the robot arm, which can be expressed as (x0, y0); r is the radius of the motion arc, θ is the current opening angle of the cabinet; ω is the angular velocity, T is the total exercise time.

[0050] In step S3 of the present embodiment, the motion arc of the end effector of the manipulator in the coordinate system of the manipulator base is calculated. However, in the actual cabinet door opening control method, for the continuity of the motion, it is also necessary to take some of the motion waypoints and provide them to the manipulator motion for performing the grasping to obtain the inverse solution. Therefore, in step S4, the motor rotation angle of the first manipulator is calculated according to the target waypoint coordinates corresponding to the motion arc, and the first manipulator performing the grasping is controlled to perform the motion according to the target waypoint coordinates and the motor rotation angle to ensure the continuity and accuracy of the motion.

[0051] Assume that the current opening angle θ, the positive direction of the y-axis is 0 rad, and the clockwise direction is the positive direction. The step S4 in this embodiment preferably includes the following sub-steps:

[0052] Step S401: the first mechanical arm is a three-axis mechanical arm, and the three-axis mechanical arm steering angle is set The corresponding arm lengths of the three-axis manipulator are L1, L2 and L3, which are parameters determined when the manipulator is designed. The current target waypoint coordinates are (x, y). The target waypoint coordinates (x, y) correspond to the motion arc described in step S3, that is, the target waypoint coordinates (x, y) at time t refer to the target waypoint coordinates (x) calculated in step S302. t ,y t );

[0053] Step S402, by formula Calculate the first motor rotation angle z1 of the three-axis robot arm through the formula The second motor rotation angle z2 of the three-axis robot arm is calculated, and the third motor rotation angle z3 of the three-axis robot arm is calculated by the formula z3=endGamma-z1-z2.

[0054] When calculating the three motor rotation angles z1, z2 and z3 of the three-axis robot arm, the formulas x = L1*sin(z1)+L2*sin(z1+z2)+L3*sin(z1+z2+z3), y = L1*cos(z1)+L2*cos(z1+z2)+L3*cos(z1+z2+z3) and After solving the equations, the angles corresponding to the three motor rotation angles z1, z2 and z3 are sent to the control motors of the three-axis manipulator to achieve the inverse kinematic solution, and the end effector of the manipulator can be controlled to reach the target waypoint.

[0055] It is worth noting that in the step S4 of the present embodiment, during the movement of the first mechanical arm, the second mechanical arm is also controlled to perform a follow-up movement on the rebound path of the first cabinet door. Since the movement process of the first mechanical arm is actually the process of the first mechanical arm grabbing the first handle and opening the first cabinet door, the rebound path of the first cabinet door actually refers to the movement path of the first mechanical arm. This movement path can be sent to the second mechanical arm during the movement of the first mechanical arm, so as to realize the follow-up movement of the second mechanical arm and prevent the rebound of the first cabinet door, so as to ensure the reliability of the cabinet door opening. In other words, during the opening process of the first cabinet door, the present embodiment not only grabs and opens the first cabinet door by the first mechanical arm, but also performs a follow-up movement by the second mechanical arm to resist the rebound path of the grabbed first cabinet door. Then, the existing movement path of the first mechanical arm can be used to effectively reduce the design accuracy requirements for the first mechanical arm and the mechanical claw 401, and reduce the cost of the robot.

[0056] In step S5 described in this embodiment, when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first mechanical arm releases the first handle. The reason for designing this embodiment is that when the first mechanical arm is opened, if the first cabinet door is fully opened directly by the first mechanical arm, the volume of the dual mechanical arm module 4 required by the robot will be relatively large, and a large space will be required during operation, which not only has the problem of high cost, but also brings limitations to the usage scenario. In order to avoid this problem, and to further ensure that the first cabinet door completes the opening action, this embodiment preferably uses the second mechanical arm to push the first cabinet door again at a preset opening angle, that is, another mechanical arm pushes the first cabinet door, and the second mechanical arm that follows the movement completes the last pushing action, thereby completing the opening action of the first cabinet door.

[0057] Step S6 in this embodiment is used to implement the mirroring process. That is, the second cabinet door is opened by the second mechanical arm, and the first mechanical arm is used to implement the following motion. In step S6, first return to step S1, mirror the process from step S2 to step S5, and exchange the motions of the first mechanical arm and the second mechanical arm to complete the opening action of the second cabinet door. The specific control method is the same as the above.

[0058] It should be noted that in step S6 of the present embodiment, during the process of implementing step S2 to step S5 by mirroring, if the first door and the second door of the cabinet are completely symmetrical, then some data are the same and can be shared, then step S2 is skipped, the positive direction of the y-axis in step S3 is modified to the right direction of the robot, and the movement of the first mechanical arm and the second mechanical arm are exchanged; this is suitable for symmetrical double-door cabinets currently on the market. Otherwise, that is, the data of the first door and the second door are not completely stacked, then return to step S2 for recalculation, and the same principle is used to complete the subsequent steps.

[0059] like Figures 2 to 4 As shown, the present embodiment also provides a robot, which adopts the double-arm based cabinet door opening control method as described above, and includes: a base module 1, a frame module 2, a Z-axis module 3, a dual robotic arm module 4, a display module 5 and a visual module 6, wherein the Z-axis module 3 is arranged on the base module 1 through the frame module 2, the dual robotic arm module 4 is arranged at the front end of the robot through the Z-axis module 3, and the visual module 6 is arranged above the mechanical claw 401 of the dual robotic arm module 4; the display module 5 is arranged on the frame module 2 through a downwardly inclined mounting bracket 7, and is arranged at the rear end of the robot, and the tops of the mounting bracket 7 and the display module 5 are both lower than the bottom of the dual robotic arm module 4.

[0060] It should be noted that the robot described in this embodiment is a robot realized based on dual-arm collaboration, and its first mechanical arm and second mechanical arm, that is, independently controlled and also work together, then, during the debugging or movement process, it is inevitable that the mechanical arm will move to the rear side, especially when the debugging process is not controlled, the movement trajectory of the mechanical arm is uncertain. Therefore, in order to effectively avoid the dual mechanical arm module 4 from colliding with or damaging the display module 5, and to facilitate the operator to better view the content on the display module 5, the display module 5 of this embodiment is arranged on the rack module 2 through a downwardly inclined mounting bracket 7, and is arranged at the rear end of the robot away from the dual mechanical arm module 4. In this way, it can be staggered in space through an efficient and reasonable design, which is convenient for the operator to view, and can effectively avoid the dual mechanical arm module 4 from colliding with the mounting bracket 7 and the display module 5 under any circumstances, so as to ensure the reliable performance of the robot and facilitate the upgrade and maintenance of the robot.

[0061] The base module 1, the frame module 2 and the Z-axis module 3 in this embodiment are all independent modules. The base module 1 is used to realize the overall motion control; the frame module 2 is used to install the battery pack, the control mainboard and the display module 5, etc.; and the Z-axis module 3 is used to provide the installation of the dual-mechanical arm module 4 and the Z-axis up and down movement basis to meet the requirements of opening cabinet doors at different heights; the first and second mechanical arms of the dual-mechanical arm module 4 are symmetrically arranged on both sides of the Z-axis module 3. Such a design obviously makes the robot highly flexible and controllable.

[0062] More preferably, Figures 2 to 4 As shown, the present embodiment also includes a vision module bracket 8, and the vision module bracket 8 adopts a Z-shaped bracket, and the fixed bottom 801 of the Z-shaped bracket is limitedly set on the mechanical claw 401, that is, the fixed bottom 801 of the Z-shaped bracket is directly limited and clamped on the mechanical claw 401 to ensure the reliability of its assembly; the mounting top 802 of the Z-shaped bracket is used to fix the vision module 6; the driving motor 402 of the mechanical claw 401 is arranged on the back of the Z-shaped bracket and is arranged below the mounting top 802 of the Z-shaped bracket, so that the back space of the Z-shaped bracket can be efficiently utilized to realize the installation of the driving motor 402, so as to control the grasping and releasing of the mechanical claw 401, which can not only effectively reduce the volume of the mechanical claw 401, but also realize the support and limiting effect of the Z-shaped bracket; the vision module 6 maintains synchronous movement with the mechanical claw 401 through the vision module bracket 8.

[0063] Therefore, it is also worth noting that the visual module 6 described in this embodiment is not installed on the robot body or the Z-axis module 3 like other robots in the prior art, but is installed on the mechanical claw 401 of the dual-arm module 4, and keeps synchronous movement with the mechanical claw 401 through the visual module bracket 8. The advantage of this design of this embodiment is that the data of the visual module 6 is actually the synchronous data during the movement of the mechanical claw 401, corresponding to the movement path data of the first mechanical arm or the second mechanical arm, and the synchronization performance is very good, without the need for complex conversion and processing again, thereby effectively simplifying the control of the robot and facilitating implementation.

[0064] To summarize, first, this embodiment calibrates the robot position through robot vision so that the center line of the robot is directly opposite to the center line of the double doors of the cabinet, so as to provide a basis for the optimization control of the subsequent cabinet door opening process, and there is no need to move the base module 1; then, the motion radius of the robot end effector of the first robot arm relative to the first hinge is calculated based on the first horizontal distance and the first vertical distance obtained; then, combined with the starting position of the first robot arm, the motion arc of the robot end effector corresponding to the preset opening angle in the two-dimensional plane is calculated; then, according to the target waypoint coordinates corresponding to the motion arc, the motor rotation angle of the first robot arm is calculated to control the first robot arm to perform grasping. The robotic arm moves according to the target waypoint coordinates and the motor rotation angle, and controls the second robotic arm to follow the rebound path of the first cabinet door during the movement to prevent the first cabinet door from rebounding and ensure the reliability of opening the cabinet door; when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle, and the first cabinet door is pushed at the preset opening angle by the second robotic arm to complete the opening action of the first cabinet door, so as to fully ensure the accurate and reliable opening of the first cabinet door; finally, return to step S1, mirror the process from step S2 to step S5, and exchange the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0065] Therefore, this embodiment can use the cooperation of two arms to realize an efficient cabinet door opening control method, realize the double cabinet door opening operation of the locker or storage cabinet through interrelated steps, and reasonably optimize its steps in the process of opening the cabinet door, effectively improve the accuracy and reliability of the robot cabinet door opening, and can well adapt to various application environments that require frequent double cabinet door opening to take things, effectively reduce labor costs, and improve work efficiency. On this basis, a robot using the cabinet door opening control method based on two arms is further provided.

[0066] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A door opening control method based on double arms, characterized in that: The following steps are involved: Step S1, calibrating the robot position through robot vision so that the center line of the robot is aligned with the center line of the double doors of the cabinet; Step S2, obtaining a first horizontal distance of the first handle of the cabinet relative to the first hinge, and obtaining a first vertical distance between the top of the first handle and the cabinet surface, and calculating a motion radius of the manipulator end effector of the first manipulator relative to the first hinge according to the first horizontal distance and the first vertical distance; Step S3, setting a preset opening angle of the first cabinet door, and calculating a motion arc of the end effector of the robotic arm corresponding to the preset opening angle in a two-dimensional plane according to the motion radius and in combination with the starting position of the first robotic arm; Step S4, calculating the motor rotation angle of the first mechanical arm according to the target waypoint coordinates corresponding to the motion arc, controlling the first mechanical arm for grasping to move according to the target waypoint coordinates and the motor rotation angle, and controlling the second mechanical arm to follow the rebound path of the first cabinet door during the movement of the first mechanical arm; Step S5, when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first mechanical arm releases the first handle, and the second mechanical arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door; Step S6, return to step S1, mirror the process from step S2 to step S5, exchange the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

2. The double-arm door opening control method according to claim 1 is characterized in that: In step S1, a cabinet model corresponding to the cabinet is pre-trained, and the initial position of the robot when the cabinet door is opened is calibrated through robot vision so that the robot faces forward and the center line of the robot is located directly in front of the center line between the first cabinet door and the second cabinet door.

3. The double-arm door opening control method according to claim 1 is characterized in that: In step S2, the formula The motion radius actionRadius of the end effector of the first robotic arm relative to the first hinge is calculated, wherein hingeDis represents the first horizontal distance of the first handle relative to the first hinge, and verticalDis represents the first vertical distance between the top of the first handle and the cabinet surface.

4. The double-arm door opening control method according to claim 3 is characterized in that: The step S3 comprises the following sub-steps: Step S301, setting the preset opening angle theta of the first cabinet door, taking the starting position of the first robotic arm as the origin, defining the direction of the robot facing the cabinet as the positive direction of the x-axis, defining the left side of the robot as the positive direction of the y-axis, and obtaining the robotic arm base coordinate system; the first robotic arm is the robotic arm that performs grasping; Step S302, calculating the offset between the robot arm base coordinate tfBase and the first hinge coordinate tfHinge of the first robot arm, and calculating the motion arc of the robot arm end effector in the robot arm base coordinate system.

5. The double-arm door opening control method according to claim 4 is characterized in that: In step S302, by formula x t =x0+rcos(ωt) and y t =y0+rsin(ωt) to calculate the motion arc of the end effector of the robot arm in the robot arm base coordinate system, where x t and t is the coordinate of the target waypoint corresponding to time t; x0 and y0 are the coordinates corresponding to the initial position of the end effector of the manipulator; r is the radius of the motion arc, θ is the current opening angle of the cabinet; ω is the angular velocity, T is the total exercise time.

6. The double-arm door opening control method according to claim 5, characterized in that: The step S4 comprises the following sub-steps: Step S401: the first mechanical arm is a three-axis mechanical arm, and the three-axis mechanical arm steering angle is set The corresponding arm lengths of the three-axis manipulator are L1, L2, and L3, and the current target waypoint coordinates are (x, y); Step S402, by formula Calculate the first motor rotation angle z1 of the three-axis robot arm through the formula The second motor rotation angle z2 of the three-axis robot arm is calculated, and the third motor rotation angle z3 of the three-axis robot arm is calculated by the formula z3=endGamma-z1-z2.

7. The double-arm door opening control method according to any one of claims 1 to 6, characterized in that: The preset opening angle is defined as theta, where 8. The double-arm door opening control method according to any one of claims 1 to 6, characterized in that: In step S6, during the process of mirroring steps S2 to S5, if the first door and the second door of the cabinet are completely symmetrical, skip step S2, modify the positive direction of the y-axis in step S3 to the right direction of the robot, and exchange the movements of the first robotic arm and the second robotic arm; otherwise, return to step S2 for recalculation.

9. A robot, characterized in that: The dual-arm based cabinet door opening control method as described in any one of claims 1 to 8 is adopted, and includes: a base module, a frame module, a Z-axis module, a dual robotic arm module, a display module and a vision module, wherein the Z-axis module is arranged on the base module through the frame module, the dual robotic arm module is arranged at the front end of the robot through the Z-axis module, and the vision module is arranged above the mechanical claws of the dual robotic arm module; the display module is arranged on the frame module through a downwardly inclined mounting bracket, and is arranged at the rear end of the robot, and the tops of the mounting bracket and the display module are both lower than the bottom of the dual robotic arm module.

10. The robot according to claim 9, characterized in that: It also includes a visual module bracket, the visual module bracket adopts a Z-shaped bracket, the fixed bottom limit of the Z-shaped bracket is set on the mechanical claw, and the mounting top of the Z-shaped bracket is used to fix the visual module; the driving motor of the mechanical claw is set on the back of the Z-shaped bracket and is set below the mounting top of the Z-shaped bracket; The vision module keeps synchronous movement with the mechanical claw through the vision module bracket.

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