A control method and system of a double-robot archival access robot

Abstract

The application belongs to the technical field of unmanned archive room management, and provides a control method and system of a double-mechanical-arm archive access robot, which changes the state of a target archive at a determined work position through the control of a first mechanical arm; and when the state of the target archive reaches a preset state, the second mechanical arm is controlled to clamp the target archive; the operation of the first mechanical arm on the archive at the work position makes the state of the target archive meet the direct clamping of the second mechanical arm, achieving the purpose of clamping the target archive after separating it from the adjacent archives, avoiding the problem of the mechanical arm clamping jaw extending into the spacing between the adjacent archives, and solving the problems of archive damage and modification of archive equipment.

Description

Technical Field

[0001] This invention belongs to the field of unmanned archive storage technology, and particularly relates to a control method and system for a dual-arm robotic archive storage and retrieval robot. Background Technology

[0002] Unmanned archive storage management technology is gradually emerging, involving key aspects such as automated storage and retrieval of archives and classification management. While existing technologies have achieved a certain degree of automation, there is still room for improvement in the efficiency and accuracy of archive storage and retrieval.

[0003] Traditional technologies typically employ composite robots or gantry robots with single robotic arms for file storage and retrieval. These robotic arms often use grippers or suction cups, resulting in relatively simple grasping logic. However, sufficient spacing between files is required for the grippers to reach the files. In densely packed file scenarios, the small gaps and high friction make it difficult for a single robotic arm to directly grasp the target file, easily leading to file damage or retrieval failures. In some cases, to accommodate single-arm robotic applications, modifications to the file storage racks are necessary, such as adding partitions and increasing file spacing, thereby reducing the file storage capacity of the racks. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a control method and system for a dual-arm file retrieval robot. The invention segments a first contour corresponding to the target file from an image of the file shelf, and determines a second contour by cropping the region of interest based on the first contour. A first straight line at a preset position on the target file is selected from the first contour, and a second straight line meeting preset requirements is selected from the second contour. The working position of the first robotic arm is determined between the first and second straight lines. The first robotic arm is controlled to perform state-changing operations on the target file at the determined working position. When the target file reaches a preset state, the second robotic arm is controlled to grasp the target file. Through the operation of the first robotic arm on the file within the working position, the state of the target file satisfies the direct grasping capability of the second robotic arm, achieving the goal of grasping the target file after it is separated from adjacent files. This avoids the problem of the robotic arm gripper extending into the gap between adjacent files, and solves the problems of file damage and modification of file storage equipment.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: In a first aspect, the present invention provides a control method for a dual-arm file retrieval robot, the robot comprising a first robotic arm and a second robotic arm; the method comprising: Identify the target file from the acquired images of the file shelf; In the image of the file shelf, the first contour corresponding to the target file is segmented, and the second contour is determined by cropping the region of interest based on the first contour; a first straight line at a preset position on the target file is selected from the first contour, and a second straight line that meets the preset requirements is selected from the second contour; the working position of the first robotic arm is determined between the first straight line and the second straight line. The first robotic arm is controlled to change the state of the target file at a determined working position; when the state of the target file reaches the preset state, the second robotic arm is controlled to pick up the target file.

[0006] Furthermore, the first robotic arm includes multiple fingers, and the end of the second robotic arm is a gripper with the gripping surface covered with an anti-slip material.

[0007] Furthermore, the gripping of the target file includes: controlling the finger at the end of the first robotic arm to extend into the operating position through the gap at the upper edge of the file box, extending a preset first distance, and then applying downward force with the finger while controlling the finger to retract towards the robot body, causing the upper end of the target file to warp to a preset angle and separate from the adjacent file; when the upper edge has disengaged to a preset second distance, the gripper of the second robotic arm is used to grip the warped part and pull the target file outward; when the target file has been pulled out to a preset third distance, the angle of the target file is adjusted to make the angle of the file box vertical; controlling the second robotic arm to release the target file, then adjusting the end position, and using the gripper of the second robotic arm to grip the target file again, completely pulling the target file out of the file shelf.

[0008] Furthermore, identifying the target archives includes: using optical character recognition algorithms to identify the archive information on the spine of the archive, including the archive title, archive number, and / or personnel name information.

[0009] Furthermore, the spine contour of the target file is segmented using an image segmentation algorithm as the first contour. After image segmentation, the coordinate center point of the first contour is defined as (x... c y c ); Select the outermost straight line on the upper plane of the target file as the first straight line from the first contour.

[0010] Furthermore, based on the location information of the spine outline in the archive, the region of interest is cropped to obtain the region of interest image, which serves as the second outline; the coordinates of the upper left corner of the region of interest are (x... left y up The coordinates of the lower right corner are (x right y down ): x left =x c -250, y up =y c -240; x right =x c +250, y down =y c +200; Line detection is performed in the region of interest image. Lines that meet the angle and length requirements at the upper edge of the filing cabinet are selected as the second line.

[0011] Furthermore, the space between the top edge of the file and the corresponding top edge of the filing cabinet is used as the work location.

[0012] Furthermore, the robot also includes a storage frame. The storage frame opens laterally, causing the door panel to tilt outwards, revealing the file storage compartment inside the storage frame and forming an inclined entrance. The second robotic arm adjusts its end effector posture, flips it to the angle corresponding to the file storage compartment, and then tilts the target file into it.

[0013] Secondly, the present invention also provides a control system for a dual-arm file retrieval robot, the robot comprising a first robotic arm and a second robotic arm; the system comprising: The target file identification module is configured to: identify the target file in the acquired file shelf image; The job position determination module is configured to: segment out a first contour corresponding to the target file in the file shelf image, and determine a second contour by cropping the region of interest based on the first contour; select a first straight line at a preset position on the target file in the first contour, and select a second straight line that meets the preset requirements in the second contour; and determine the job position of the first robotic arm between the first straight line and the second straight line. The robotic arm control module is configured to: control the first robotic arm to perform a state change operation on the target file at a determined working position; and control the second robotic arm to pick up the target file when the target file reaches a preset state.

[0014] Thirdly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for the dual-arm file retrieval robot described in the first aspect.

[0015] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the control method for the dual-arm file retrieval robot described in the first aspect.

[0016] Fifthly, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the control method for the dual-arm file retrieval robot described in the first aspect.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention innovatively proposes a control method for a dual-arm file storage and retrieval robot. In the image of the file shelf, a first contour corresponding to the target file is segmented, and a region of interest is cropped based on the first contour to determine a second contour. A first straight line at a preset position on the target file is selected from the first contour, and a second straight line meeting preset requirements is selected from the second contour. The working position of the first robotic arm is determined between the first and second straight lines. By controlling the first robotic arm at the determined working position, the target file's state is changed. When the target file's state reaches a preset state, the second robotic arm is controlled to grasp the target file. Through the operation of the first robotic arm on the file within the working position, the target file's state meets the requirements for direct grasping by the second robotic arm, achieving the purpose of grasping the target file after it is separated from adjacent files. This avoids the problem of the robotic arm's gripper extending into the gap between adjacent files, and solves the problems of file damage and modification of file storage equipment.

[0018] This invention innovatively designs a tilting and opening storage frame. By storing files in the storage frame, the purpose of file confidentiality is achieved, and the space occupied by the robot body is reduced. When the storage compartment door is tilted, a guide slope is naturally formed to assist the files to slide in and avoid hard collisions. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a schematic diagram of the control method flow of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure and working state of the first and second robotic arms in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram showing the positions of the contours and lines in a real-world scenario according to Embodiment 1 of the present invention. Figure 4 This is a schematic diagram of the storage frame structure according to Embodiment 1 of the present invention; Figure 5 This is a flowchart illustrating the file retrieval and file storage process of Embodiment 1 of the present invention; Among them, 101 is the first robotic arm; 1011 is the finger; 102 is the second robotic arm; 1021 is the gripper; 1022 is the gripping surface; and 103 is the storage box. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] Example 1: As described in the background section, currently, single-arm composite robots or gripper-type gantry robots are mostly used for file storage and retrieval. To meet the needs of robot file storage and retrieval and to avoid damage to the files by the robotic arm, file shelves need to be installed, and space must be reserved between the shelves for the gripper to enter and exit, which affects the storage capacity of the file shelves. In addition, there is currently a lack of confidentiality measures during the transportation of files by robots, and there is a risk of loss or leakage during transportation.

[0024] To solve the above problems, such as Figure 1 and Figure 2 As shown, this embodiment provides a control method for a dual-arm file retrieval robot, the robot including a first robotic arm 101 and a second robotic arm 102; the method includes: S1. Identify the target file from the acquired image of the file shelf; S2. In the image of the file rack, segment out the first contour corresponding to the target file, and determine the second contour by cropping the region of interest based on the first contour; select the first straight line at a preset position on the target file in the first contour, and select the second straight line that meets the preset requirements in the second contour; determine the working position of the first robotic arm between the first straight line and the second straight line. S3. Control the first robotic arm to perform a state change operation on the target file at the determined working position; when the state of the target file reaches the preset state, control the second robotic arm to pick up the target file.

[0025] In some embodiments, such as Figure 2 As shown, the dual-arm file storage robot in this embodiment includes at least a first robotic arm 101, a second robotic arm 102, and a vision system capable of acquiring images of the file rack.

[0026] By manipulating the file within the working position using the first robotic arm 101, the target file is positioned such that it can be directly gripped by the second robotic arm. This achieves the goal of gripping the target file after it is separated from adjacent files, avoiding the problem of the robotic arm gripper extending into the gap between adjacent files and solving the problems of file damage and modification of file storage equipment.

[0027] Optionally, the first robotic arm 101 is a hand-like robotic arm, such as a finger-like robotic arm with five fingers. The first robotic arm 101 includes multiple freely movable fingers 1011, which can flexibly extend into a defined working position to achieve flexible operation of changing the state of the target file, avoiding the inconvenience caused by limited space in the working position.

[0028] Optionally, the end of the first robotic arm 101 is designed with a five-finger dexterity hand, with the fingers having a flexible contact surface and torque feedback. The first robotic arm 101 is mainly used to assist the second robotic arm 102 in gripping files.

[0029] The second robotic arm 102 has an adaptive gripper 1021 at its end. The gripping surface 1022 of the gripper 1021 can be made of a non-slip material to improve the gripping stability of the file. By opening and closing the gripper 1021, files of different thicknesses can be gripped. Specifically, when the first robotic arm 101 operates the target file to a preset state, the second robotic arm 102 can quickly and stably grip the target file with the help of the gripper 1021.

[0030] The vision system can be a camera or other device capable of capturing or scanning images, such as a camera mounted on the robot's chest.

[0031] Step S1 may include: S1.1 Acquire images of the filing cabinet using a vision system. It is understood that the images of the filing cabinet include the filing cabinet itself, the files stored in the filing cabinet, and other image elements that can be captured.

[0032] S1.1 Target File Determination: Optionally, the robot automatically navigates to the target file shelf, scans the shelf using a vision system, and uses an Optical Character Recognition (OCR) algorithm to identify the file information on the spine of the file, recognizing the file title, file number (e.g., for ordinary files), and / or personnel name (e.g., for personnel files), thus confirming that the file is the target file to be retrieved. Understandably, the target file is the file to be retrieved, which may include file boxes, file bags, and / or other devices used to hold files, as well as the file materials contained within them; during robotic arm operation, it generally acts directly on the file boxes, file bags, and / or other devices used to hold files.

[0033] Step S2 may include: S2.1 Determine the first contour: like Figure 3 As shown, the spine contour of the target file is segmented as the first contour using an image segmentation algorithm. The image segmentation algorithm can use the YOLOv11+Mask R-CNN model. After image segmentation, the coordinate center point of the first contour is defined as (x... c y c The first straight line is selected from the outermost line of the upper plane of the target file (the upper edge of the file box) in the first contour. When the first robotic arm 101 changes the state of the file, the fingers need to be inserted into the upper plane of the target file to perform the operation. Therefore, the outermost line of the upper plane of the target file is selected as the first straight line to avoid damage caused by accidental operation of the fingers on the spine of the file.

[0034] S2.2 Determine the second contour: like Figure 3 As shown, the region of interest (ROI) is cropped based on the location information of the spine outline in the archive, resulting in image I of the ROI. ROI This serves as the second contour. The coordinates of the upper left corner of the region of interest are (x...). left y up The coordinates of the lower right corner are (x right y down ): x left =x c -250, y up =y c -240; x right =x c +250, y down =y c +200; The region of interest (ROI) image resolution is 500×440 pixels. In the ROI image I... ROIIn the process, line detection is performed. The line detection algorithm can be the Canny edge detection + Hough transform line detection algorithm. On the upper edge of the filing cabinet, lines that meet the requirements of angle (horizontal) and length (length within the range of all files) are selected as the second line.

[0035] On the upper edge of the filing cabinet, straight lines that meet the angle and length requirements are selected as a second straight line, thus avoiding problems such as damage to the robotic arm caused by accidental finger operation on the outer shell of the filing cabinet.

[0036] S2.3 Determine the second contour: like Figure 3 As shown, the working position of the first robotic arm is determined between the first straight line and the second straight line; optionally, the space between the upper edge of the file and the upper edge of the corresponding filing cabinet is used as the working position, and the image coordinates are converted into robotic arm coordinates to calculate the working area position of the first robotic arm 101 fingers.

[0037] The space between the upper edge of the file and the upper edge of the corresponding filing cabinet is detected as the working position, which can accurately determine the operating position of the fingers in the first robotic arm 101. While ensuring the accuracy of the operating position, it avoids the first robotic arm 101 from misoperating the spine of the file and the outer shell of the filing cabinet.

[0038] Step S3 may include: The finger at the end of the first robotic arm 101 extends into the operating position through the gap at the upper edge of the file box. After extending a preset first distance (4cm~5cm), the finger applies downward force and retracts towards the robot body, causing the upper part of the target file to warp to a preset angle (20°~30°), separating it from the adjacent file. When the upper edge has separated to approximately a preset second distance (5cm), the gripper 1021 of the second robotic arm 102 grasps the warped part and pulls the target file outward. When the target file has been pulled out to a preset third distance (12cm), the angle of the target file is adjusted to make the file box vertical. The second robotic arm 102 releases the target file, then adjusts its end effector position, and uses the gripper 1021 of the second robotic arm 102 to re-grab the target file, completely removing it from the file shelf. Through the above, by operating the file in the working position by the first robotic arm 101, the state of the target file is made to meet the direct gripping of the second robotic arm. This achieves the purpose of gripping the target file after it is separated from the adjacent files, avoids the problem of the robotic arm gripper extending into the gap between adjacent files, solves the problem of file damage and modification of file storage, and ensures the vertical state of the target file after it is taken out.

[0039] In some embodiments, such as Figure 4As shown, the robot also includes a storage frame 103, which is hinged to the robot body. The storage frame 103 is equipped with a motor and other driving devices to realize its movements. This can be achieved using existing technology, which will not be detailed here. During operation, the storage frame 103 is opened laterally. The storage frame 103 is connected to a base plate and other components via a hinge. A push rod or other components can tilt the door of the storage frame 103 outwards, revealing the file storage compartment inside, forming an inclined entrance. The second robotic arm 102 adjusts its end effector posture, flips to an angle corresponding to the file storage compartment, and tilts the target file into place. The file is assisted by gravity during placement. After the storage action is completed, the push rod retracts, thereby driving the file storage compartment to retract and store the file.

[0040] Finally, the robot carries the file to the designated location for the staff. The staff verifies their identity via facial recognition using the camera on the robot's chest, or by using a password. After successful verification, the storage box 103 automatically opens. The staff then retrieves the file and clicks "confirm" on the control panel on the robot's chest. The storage box 103 automatically closes, and the robot returns to its initial docking position. Facial recognition and password verification can both be implemented using existing technologies and will not be detailed here.

[0041] This embodiment provides a dual-arm file storage robot and proposes a control method for it. It solves the problem of modifying file shelves by adding partitions, achieving automated file storage and retrieval while ensuring storage capacity. This embodiment innovatively designs a tilting, secure file storage frame, reducing the robot's space requirements. The tilted door panel naturally forms a guide slope, assisting files in sliding in and avoiding hard collisions. Different push rod extension and door panel tilting angle strategies are designed to accommodate files of different sizes.

[0042] Example 2: This embodiment provides a control system for a dual-arm file retrieval robot, the robot including a first robotic arm 101 and a second robotic arm 102; the system includes: The target file identification module is configured to: identify the target file in the acquired file shelf image; The job position determination module is configured to: segment out a first contour corresponding to the target file in the file shelf image, and determine a second contour by cropping the region of interest based on the first contour; select a first straight line at a preset position on the target file in the first contour, and select a second straight line that meets the preset requirements in the second contour; and determine the job position of the first robotic arm between the first straight line and the second straight line. The robotic arm control module is configured to: control the first robotic arm 101 to perform a state change operation on the target file at a determined working position; and control the second robotic arm 102 to pick up the target file when the state of the target file reaches a preset state.

[0043] The working method of the system is the same as the control method of the dual-arm file retrieval robot in Embodiment 1, and will not be repeated here.

[0044] Example 3: This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for the dual-arm file retrieval robot described in Embodiment 1.

[0045] Example 4: This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, it implements the steps of the control method for the dual-arm file retrieval robot described in Embodiment 1.

[0046] Example 5: This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the control method for the dual-arm file retrieval robot described in Embodiment 1.

[0047] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A control method for a dual-arm file retrieval robot, characterized in that, The robot includes a first robotic arm and a second robotic arm; the method includes: Identify the target file from the acquired images of the file shelf; In the image of the file shelf, the first contour corresponding to the target file is segmented, and the second contour is determined by cropping the region of interest based on the first contour; a first straight line at a preset position on the target file is selected from the first contour, and a second straight line that meets the preset requirements is selected from the second contour; the working position of the first robotic arm is determined between the first straight line and the second straight line. The first robotic arm is controlled to change the state of the target file at a determined working position; when the state of the target file reaches a preset state, the second robotic arm is controlled to grasp the target file; the first robotic arm includes multiple fingers, and the end of the second robotic arm is a gripper, the gripping surface of which is covered with a non-slip material. The process of gripping the target file includes: controlling the finger at the end of the first robotic arm to extend into the operating position through the gap at the upper edge of the file box, extending it a preset first distance, and then applying downward force with the finger while controlling the finger to retract towards the robot body, causing the upper part of the target file to warp to a preset angle and separate from the adjacent file; when the upper edge has disengaged to a preset second distance, the gripper of the second robotic arm is used to grip the warped part and pull the target file outward; when the target file has been pulled out a preset third distance, the angle of the target file is adjusted to make the angle of the file box vertical; controlling the second robotic arm to release the target file, then adjusting the end-effector pose, and using the gripper of the second robotic arm to grip the target file again, completely pulling the target file out of the file shelf.

2. The control method for a dual-arm file retrieval robot as described in claim 1, characterized in that, Identifying the target archives includes: using optical character recognition algorithms to identify the archive information on the spine of the archive, including the archive title, archive number, and / or personnel name information.

3. The control method for a dual-arm file retrieval robot as described in claim 1, characterized in that, The spine contour of the target file was segmented using an image segmentation algorithm as the first contour. After image segmentation, the center point of the first contour was defined as (x...). c y c ); Select the outermost straight line on the upper plane of the target file as the first straight line from the first contour.

4. The control method for a dual-arm file retrieval robot as described in claim 3, characterized in that, Based on the location information of the spine outline in the archive, the region of interest (ROI) is cropped to obtain the ROI image, which serves as the second outline; the coordinates of the upper left corner of the ROI are (x...). left y up The coordinates of the lower right corner are (x right y down ): x left =x c -250, and up =and c -240; x right =x c +250, and down =and c +200; Line detection is performed in the region of interest image. Lines that meet the angle and length requirements at the upper edge of the filing cabinet are selected as the second line.

5. The control method for a dual-arm file retrieval robot as described in claim 1, characterized in that, The space between the top edge of the file and the top edge of the corresponding filing cabinet is used as the work location.

6. The control method for a dual-arm file retrieval robot as described in claim 1, characterized in that, The robot also includes a storage frame. The storage frame opens laterally, causing the door panel to tilt outwards, revealing the file storage compartment inside the storage frame and forming an inclined entrance. The second robotic arm adjusts its end effector posture, flips it to the angle corresponding to the file storage compartment, and then tilts the target file into it.

7. A control system for a dual-arm file retrieval robot, characterized in that, The control method for the dual-arm file retrieval robot as described in any one of claims 1-6 is implemented; the robot includes a first robotic arm and a second robotic arm; the system includes: The target file identification module is configured to: identify the target file in the acquired file shelf image; The job position determination module is configured to: segment out a first contour corresponding to the target file in the file shelf image, and determine a second contour by cropping the region of interest based on the first contour; select a first straight line at a preset position on the target file in the first contour, and select a second straight line that meets the preset requirements in the second contour; and determine the job position of the first robotic arm between the first straight line and the second straight line. The robotic arm control module is configured to: control the first robotic arm to perform a state change operation on the target file at a determined working position; and control the second robotic arm to pick up the target file when the target file reaches a preset state.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the control method for the dual-arm file retrieval robot as described in any one of claims 1-6.

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