Mechanical arm and electric claw control method, device and equipment and storage medium

Abstract

The invention discloses a mechanical arm and electric claw control method and device, equipment and a storage medium, and belongs to the technical field of mechanical arms. The method comprises the steps that when a mechanical arm moves to a standby position, whether the mass of grabbed materials reaches the mass of target grabbed materials or not is judged; if yes, the mechanical arm and the electric claw are controlled to be kept in a standby state, and a grabbing completion signal is sent out; if not, the current grabbing quality is determined, and the mechanical arm is controlled to move the electric claw to the to-be-grabbed position based on visual image recognition; based on the current grabbing mass and the material density of the to-be-grabbed material, the descending distance of the electric claw is calculated, the mechanical arm is controlled to enable the electric claw to descend according to the descending distance, and the electric claw is controlled to be closed to grab the material; controlling a mechanical arm to move an electric claw to a release position based on visual image recognition; an electric claw is controlled to be opened, and grabbed materials are released; and the mechanical arm is controlled to move to the standby position. Accurate control and efficiency of the mechanical arm and the electric claw can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of mechanical hand. More particularly, the present application relates to a mechanical arm and electric claw control method, device, equipment and storage medium. BACKGROUND

[0002] The mechanical hand, including a mechanical arm and an electric claw, is a key functional component in a robot system. Among them, the mechanical arm simulates the action of a human arm to complete positioning and motion tasks in space; the electric claw, as the "end effector" of the mechanical arm, is used for grabbing, carrying, assembling and other operations.

[0003] At present, the control programming of the traditional mechanical arm and electric claw relies on fixed positions, that is, an engineer holds a "teaching device" and manually controls the mechanical arm to move to the correct position point by point, and then records (saves) the coordinates of the points. For example, in the program, the movement of the mechanical arm is executed in turn: move to point A -> move to point B -> move to point C..., and each time the material and target position must appear exactly at the preset points A, B and C.

[0004] However, if part of the material is taken away, the height of the pile decreases, and the mechanical arm will also descend to the original depth, resulting in empty grabbing; if the material is replaced or the layout is adjusted, the engineer needs to perform the tedious teaching programming again, resulting in long downtime. It can be seen that this scheme is not conducive to the precise control and efficiency guarantee of the mechanical arm and the electric claw. SUMMARY

[0005] In order to solve one or more technical problems mentioned above, the present application provides a mechanical arm and electric claw control method, device, equipment and storage medium. The technical problem to be solved by the present application is realized by the following technical scheme: The first aspect of the present application provides a mechanical arm and electric claw control method, comprising: When the mechanical arm moves to the standby position, it is judged whether the grabbed material quality reaches the target grabbed material quality; If so, the mechanical arm and the electric claw are controlled to remain in the standby state, and a grabbing completion signal is sent; If not, the current grabbing quality is determined based on the difference between the grabbed material quality and the target grabbed material quality and the maximum grabbing quality of the electric claw, and the center position of the first material vessel where the to-be-grabbed material is located and the three-dimensional contour of the to-be-grabbed material are recognized based on the visual image, and the mechanical arm is controlled to move the electric claw to a to-be-grabbed position; wherein the to-be-grabbed position is located above the highest point of the to-be-grabbed material in the vertical direction; Based on the current grabbing quality and the material density of the material to be grabbed, the descending distance of the electric claw is calculated, the mechanical arm is controlled to make the electric claw descend by the descending distance, and the electric claw is controlled to close and grab the material; After the electric claw finishes grabbing the material, the center position of a second material vessel where the released material is located is recognized based on the visual image, and the mechanical arm is controlled to move the electric claw to a release position; wherein the release position is above the center position of the second material vessel; After the electric claw moves to the release position, the electric claw is controlled to open and release the grabbed material; After the electric claw finishes releasing the material, the mechanical arm is controlled to move to the standby position, and the step of judging whether the grabbed material quality reaches the target grabbing material quality when the mechanical arm moves to the standby position is repeated.

[0006] The method provided by the application can not only perform a preset path, but also can perceive the external environment (material position, contour) and internal state (grabbed weight), and make real-time decisions (whether to grab again, how much to grab, and how to grab) based on the information, so that the whole process from recognition, grabbing, transfer to release does not need human participation; through visual recognition, the method can adapt to the change of material vessel position and the scattered placement of the material itself, can easily cope with the slight changes on the production line, and reduces the design difficulty of the clamp and tooling; the combination of vision and force sensation greatly reduces the probability of grabbing failure, and guarantees the continuity of the production process; the robot system realizes self-perception, autonomous decision and precise execution, not only guarantees high precision and high reliability of the material grabbing task completion, but also endows the system with strong adaptability and flexibility to cope with complex and changing environment.

[0007] In a possible implementation manner, the control of the mechanical arm to move the electric claw to a grabbing position based on the center position of the first material vessel where the material to be grabbed is located and the three-dimensional contour of the material to be grabbed comprises: The center position of the first material vessel is recognized through a visual image, and the mechanical arm is controlled to move the electric claw to a starting position; wherein the starting position is above the first material vessel, and the starting position and the center position of the first material vessel are in the same vertical direction; The mechanical arm is controlled to move the electric claw from the starting position, and the three-dimensional contour of the material to be grabbed is recognized through a visual image to gradually determine the vertical highest point of the material to be grabbed, a first dynamic path is generated based on the vertical highest point of the material to be grabbed, and the mechanical arm is controlled to make the electric claw move to the grabbing position according to the first dynamic path.

[0008] In a possible implementation, the calculating the falling distance of the electric claw based on the current grabbing quality and the material density of the material to be grabbed comprises: calculating a first distance between a closing center point of the electric claw and a vertical highest point of the material to be grabbed based on the current grabbing quality and the material density; obtaining a second distance between the position to be grabbed and the vertical highest point of the material to be grabbed; performing summation calculation on the first distance and the second distance to obtain the falling distance.

[0009] In a possible implementation, the controlling the mechanical arm to move the electric claw to the release position based on the center position of the second material container in which the released material is located comprises: controlling the mechanical arm to move the electric claw to the position to be grabbed; controlling the mechanical arm to move the electric claw from the position to be grabbed, identifying the center position of the second material container through a visual image, generating a second dynamic path based on the center position of the second material container, and controlling the mechanical arm to move the electric claw to the release position according to the second dynamic path.

[0010] In a possible implementation, before the controlling the mechanical arm to move the electric claw to the release position based on the center position of the second material container in which the released material is located, the method further comprises: if the mass of the material in the electric claw exceeds the current grabbing quality, controlling the mechanical arm to move the electric claw to a shaking-off position, controlling the electric claw to vibrate and shake off the excess material, obtaining the overweight mass in real time during the vibration of the electric claw, adjusting the vibration intensity in real time based on a first relationship formula between the overweight mass and the vibration intensity, adjusting the vibration opening degree and the vibration frequency in real time based on a second relationship formula between the vibration intensity and the vibration opening degree and the vibration frequency, until the mass of the material in the electric claw is equal to the current grabbing quality.

[0011] In a possible implementation, the first relationship formula is: ; In the formula, is the overweight mass, is the vibration intensity, and t is the vibration duration; and / or the second relationship formula is: ; In the formula, is the vibration intensity, f is the vibration frequency, A is the vibration opening degree, and k is a coefficient related to the vibration waveform.

[0012] In one possible implementation, determining the current crawl quality includes: The required grabbing quality is determined based on the difference between the quality of the already grabbed material and the quality of the target grabbed material. If the required gripping quality exceeds the maximum gripping quality of the electric gripper, then the maximum gripping quality is determined as the current gripping quality; If the required gripping quality does not exceed the maximum gripping quality of the electric gripper, then the required gripping quality is determined as the current gripping quality.

[0013] A second aspect of the present invention provides a control device for a robotic arm and an electric gripper, comprising: The judgment module is used to determine whether the quality of the grasped material has reached the target grasped material quality when the robotic arm moves to the standby position. The signal transmitting module is used to control the robotic arm and electric gripper to remain in standby mode and send a signal indicating that the grasping is complete if the condition is met. The first motion module is used to determine the current gripping quality based on the difference between the quality of the already gripped material and the target gripping material, as well as the maximum gripping quality of the electric gripper, if the target material is not reached. It then controls the robotic arm to move the electric gripper to the gripping position based on visual image recognition of the center position of the first material container where the material to be gripped is located and the three-dimensional contour of the material to be gripped. The gripping position is located above the highest point in the vertical direction of the material to be gripped. The descent gripping module is used to calculate the descent distance of the electric gripper based on the current gripping mass and the material density of the material to be gripped, control the robotic arm to make the electric gripper descend according to the descent distance, and control the electric gripper to close and grip the material; The second motion module is used to control the robotic arm to move the electric gripper to the release position after the electric gripper has finished grasping the material, based on visual image recognition of the center position of the released material in the second material container; wherein, the release position is above the center position of the second material container; The release module is used to control the electric gripper to open and release the gripped material after the electric gripper moves to the release position; The third motion module is used to control the robotic arm to move to the standby position after the electric gripper has finished releasing the material, and repeat the step of determining whether the quality of the material grasped has reached the target material grasping quality when the robotic arm moves to the standby position.

[0014] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a robotic arm and electric gripper control method provided in the first aspect of the present invention.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a robotic arm and electric gripper control method provided in the first aspect of the present invention.

[0016] For a detailed description of the second to fourth aspects of the present invention and their various implementations, please refer to the detailed description in the first aspect and its various implementations; and for a detailed description of the beneficial effects of the second to fourth aspects and their various implementations, please refer to the beneficial effect analysis in the first aspect and its various implementations, which will not be repeated here. Attached Figure Description

[0017] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein: Figure 1 This is a flowchart illustrating a robotic arm and electric gripper control method according to an embodiment of the present invention; Figure 2 This is a material quality loss curve diagram according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a robotic arm and electric gripper control device according to an embodiment of the present invention; Figure 4 This is a block diagram of the internal structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0019] This invention provides a method for controlling a robotic arm and an electric gripper. This method can be executed by an electronic device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet computer, desktop computer, wearable device, etc., but is not limited to these.

[0020] Figure 1 This is a flowchart illustrating a control method for a robotic arm and an electric gripper provided in this embodiment. Figure 1 As shown, the main process of this method is described below (steps S101 to S107): Step S101: When the robotic arm moves to the standby position, determine whether the mass of the material already grasped has reached the target mass of the material grasped; if it has, proceed to step S102; otherwise, proceed to step S103. Step S102: Control the robotic arm and electric gripper to remain in standby mode and send a signal indicating that the gripping is complete; Step S103: If the desired grasping quality is not achieved, determine the current grasping quality and, based on visual image recognition, identify the center position of the first material container where the material to be grasped is located and the three-dimensional contour of the material to be grasped, and control the robotic arm to move the electric gripper to the grasping position. Step S104: Based on the current gripping quality and the material density of the material to be gripped, calculate the descent distance of the electric gripper, control the robotic arm to make the electric gripper descend according to the descent distance, and control the electric gripper to close and grip the material. Step S105: After the electric gripper finishes grasping the material, based on visual image recognition, the center position of the released material in the second material container is identified, and the robotic arm is controlled to move the electric gripper to the release position. Step S106: After the electric gripper moves to the release position, control the electric gripper to open and release the gripped material; Step S107: After the electric gripper finishes releasing the material, control the robotic arm to move to the standby position and repeat step S101.

[0021] In this embodiment, after the power-on self-test is completed, the robotic arm moves to the standby position, at which point the electric gripper is fully open. When a material gripping operation is required, the electric gripper transports the material to be gripped from the first material container to the second material container. The material stored in the second material container is the gripped material. The system automatically determines whether the weight of the gripped material meets the target weight. Since the maximum weight of material that the electric gripper can grip is limited, when the target weight of the gripped material is large, the electric gripper may need to perform multiple gripping operations.

[0022] When the material quality has reached the target level, the robotic arm and electric gripper will remain in standby mode and can issue a signal indicating that the material has been grasped through voice, display, or other means to remind the staff that the material has been grasped.

[0023] To determine whether the weight of the grasped material has reached the target weight, if the electric gripper has a built-in weighing sensor, the weight of the material grasped each time can be obtained through this sensor. If the accumulated weight does not reach the target weight, the grasping operation must be performed again. Alternatively, if the electric gripper does not have a built-in weighing sensor, a weighing sensor can be added to the second material container to obtain the weight of the grasped material; this embodiment does not specifically limit this method.

[0024] In some optional embodiments, after determining that the quality of the already grasped material has not reached the target grasped material quality, the difference between the target grasped material quality and the already grasped material quality can be used to determine the remaining material quality, i.e., the required grasping quality. If the required grasping quality exceeds the maximum grasping quality of the electric gripper, the maximum grasping quality is determined as the current grasping quality; otherwise, the required grasping quality is determined as the current grasping quality. The current grasping quality is the material quality that needs to be grasped in this material grasping operation.

[0025] In this embodiment, the robotic arm is first controlled to move from the standby position to the grasping position, and then the electric gripper is controlled to descend vertically from the grasping position to grasp the material to be grasped in the first material container.

[0026] In some optional embodiments, since the shape and characteristics of the material change before and after each grasping, the center position of the first material container is first identified through visual image recognition, and the robotic arm is controlled to move to the center position of the first material container. Then, the robotic arm is controlled to move to the starting position; wherein, the starting position is located above the first material container, and the starting position and the center position of the first material container are in the same vertical direction. The starting position is set by input command, for example, the starting position is located 15 to 20 centimeters above the first material container.

[0027] Subsequently, the robotic arm is controlled to move the electric gripper from its starting position. By visually recognizing the three-dimensional contour of the material to be gripped, the highest vertical point of the material is gradually determined. Based on this highest vertical point, a first dynamic path is generated, and the robotic arm is controlled to move the electric gripper along this path to the desired gripping position. This gripping position is set by an input command and is located above the highest vertical point of the material, at a distance h0, for example, h0 is set to 2-3 centimeters.

[0028] It should be noted that during the planning of the first dynamic path, by setting vision sensors on the robotic arm and / or electric gripper, the highest vertical point of the material to be grasped can be gradually obtained through visual image recognition technology. Then, combined with the set h0, the electric gripper can eventually move to the grasping position.

[0029] In some optional embodiments, the descent distance of the electric gripper refers to how far the gripper needs to descend from the grasping position before performing the closing and grasping operation. The descent distance of the electric gripper is related to the characteristics of the material to be grasped in the first material container and the current grasping mass. Specifically, based on the current grasping mass and material density, a first distance h between the closing center point of the electric gripper and the highest point in the vertical direction of the material to be grasped is first calculated; and a second distance h0 between the grasping position and the highest point in the vertical direction of the material to be grasped is obtained; then the first distance h and the second distance h0 are summed to obtain the final descent distance.

[0030] Furthermore, the first distance h can be solved using the following formula: ; In the formula, ρ is the material density, k1 is the cone similarity ratio coefficient determined based on the material profile obtained through machine learning in the early stage, and m is the current grasping quality.

[0031] During the descent of the electric gripper, the descent distance can be determined in real time based on the change Δs in the area of ​​the material relative to the image pixels. ( (where k is a coefficient between the camera's field of view and the imaging distance), combined with the first distance h, the robotic arm is dynamically controlled to move downwards until the center point of the electric gripper's closure is at a specified position below the highest point of the material, i.e. .

[0032] In some optional embodiments, after the electric gripper finishes grasping the material, the robotic arm is first controlled to move the electric gripper to the desired grasping position; then, the robotic arm is controlled to make the electric gripper start moving from the desired grasping position, and the center position of the second material container is identified through visual image recognition. Based on the center position of the second material container, a second dynamic path is generated, and the robotic arm is controlled to make the electric gripper move along the second dynamic path to the desired release position. The desired release position is set by input commands, for example, 15-20 cm above the second material container. Finally, based on the proportion of image pixels occupied by the material inside the second material container, the height of the electric gripper from the material is determined in real time, and the robotic arm is controlled to move downwards towards the container, ultimately moving the electric gripper to the release position, i.e., the center point of the electric gripper's closure is a certain distance (e.g., 3-5 cm) from the material inside the second material container.

[0033] It should be noted that the planning method for the second dynamic path can refer to the planning method for the first dynamic path, as the principles are the same, and will not be elaborated here.

[0034] In some optional embodiments, if the mass of the material in the electric gripper exceeds the current grasping mass before the robotic arm moves to the release position, the robotic arm is controlled to move the electric gripper to the shake-off position, and the electric gripper is controlled to vibrate and shake off the excess material. During the vibration of the electric gripper, the excess mass is acquired in real time, and the vibration intensity is adjusted in real time based on the first relationship formula between the excess mass and the vibration intensity. Then, the vibration opening and vibration frequency are adjusted in real time based on the second relationship formula between the vibration intensity and the vibration opening and vibration frequency, until the mass of the material in the electric gripper is equal to the current grasping mass.

[0035] The shaking position is located above the first material container. After the electric gripper closes and finishes grasping the material, it rises a certain distance (e.g., 3-5 cm) to the top, which is the shaking position.

[0036] The first relation formula is: ; In the formula, For overweight, The vibration intensity is t, and the vibration duration is t; and / or, The second relation formula is: ; In the formula, denoted as vibration intensity, f as vibration frequency, A as vibration opening, and k as a coefficient related to the vibration waveform.

[0037] like Figure 2 As shown, under ideal conditions, the vibration intensity changes in a trapezoidal shape, thereby causing the material mass loss rate to also change in a trapezoidal shape (blue broken line in the figure). During the vibration process, the material mass inside the electric gripper is measured in real time, and the vibration intensity is dynamically adjusted (strengthened, weakened, or stopped) according to the trend of material weight change (red curve in the figure) until the material mass inside the electric gripper reaches the required level.

[0038] It should be noted that if the mass of the material in the electric gripper does not exceed the current gripping mass, step S105 is executed directly. Finally, after the electric gripper releases the material, the robotic arm is first controlled to move the electric gripper to the release position, and then the robotic arm is controlled to move to the standby position.

[0039] Based on the same inventive concept, embodiments of the present invention provide a robotic arm and electric gripper control device. Figure 3 This is a structural block diagram of a robotic arm and electric gripper control device 300 provided in an embodiment of the present invention. Figure 3 As shown, the robotic arm and electric gripper control device 300 mainly includes: The judgment module 301 is used to determine whether the quality of the grasped material has reached the target grasped material quality when the robotic arm moves to the standby position. The signal transmitting module 302 is used to control the robotic arm and electric gripper to remain in standby mode and send a signal indicating that the grasping is complete if the condition is met. The first motion module 303 is used to determine the current gripping quality based on the difference between the quality of the already gripped material and the target gripping material and the maximum gripping quality of the electric gripper if the target quality is not achieved. It also controls the robotic arm to move the electric gripper to the gripping position based on visual image recognition of the center position of the first material container where the material to be gripped is located and the three-dimensional contour of the material to be gripped. The gripping position is located above the highest point in the vertical direction of the material to be gripped. The descent gripping module 304 is used to calculate the descent distance of the electric gripper based on the current gripping quality and the material density of the material to be gripped, control the robotic arm to make the electric gripper descend according to the descent distance, and control the electric gripper to close and grip the material. The second motion module 305 is used to control the robotic arm to move the electric gripper to the release position after the electric gripper has finished grasping the material, based on visual image recognition of the center position of the released material in the second material container; wherein, the release position is above the center position of the second material container. Release module 306 is used to control the electric gripper to open and release the gripped material after the electric gripper moves to the release position; The third motion module 307 is used to control the robotic arm to move to the standby position after the electric gripper has finished releasing the material, and repeat the step of judging whether the quality of the grasped material has reached the target grasped material quality when the robotic arm moves to the standby position.

[0040] In some optional embodiments, the first motion module 303 is specifically used to identify the center position of the first material container through visual image recognition and control the robotic arm to move the electric gripper to the starting position; wherein, the starting position is located above the first material container and the starting position and the center position of the first material container are in the same vertical direction; control the robotic arm to move the electric gripper from the starting position, and gradually determine the vertical highest point of the material to be grasped by identifying the three-dimensional contour of the material to be grasped through visual image recognition, generate a first dynamic path based on the vertical highest point of the material to be grasped, and control the robotic arm to make the electric gripper move to the grasping position according to the first dynamic path.

[0041] In some optional embodiments, the descent gripping module 304 is specifically used to calculate a first distance between the closing center point of the electric gripper and the highest point of the vertical direction of the material to be gripped, based on the current gripping mass and material density; obtain a second distance between the gripping position and the highest point of the vertical direction of the material to be gripped; and sum the first distance and the second distance to obtain the descent distance.

[0042] In some optional embodiments, the second motion module 305 is specifically used to control the robotic arm to move the electric gripper to the position to be grasped; control the robotic arm to make the electric gripper start moving from the position to be grasped, and identify the center position of the second material container through visual image, generate a second dynamic path based on the center position of the second material container, and control the robotic arm to make the electric gripper move to the release position according to the second dynamic path.

[0043] In some optional embodiments, the robotic arm and electric gripper control device 300 further includes: The shaking module is used to control the robotic arm to move the electric gripper to the release position before the center position of the released material in the second material container is identified based on visual image recognition. If the mass of the material in the electric gripper exceeds the current grasping mass, the robotic arm will control the electric gripper to move to the shaking position and control the electric gripper to vibrate and shake off the excess material. During the vibration of the electric gripper, the excess mass is acquired in real time, and the vibration intensity is adjusted in real time based on the first relationship formula between the excess mass and the vibration intensity. Then, the vibration opening and vibration frequency are adjusted in real time based on the second relationship formula between the vibration intensity, the vibration opening, and the vibration frequency until the mass of the material in the electric gripper is equal to the current grasping mass.

[0044] Furthermore, the first relational formula is: ; In the formula, For overweight, The vibration intensity is t, and the vibration duration is t; and / or, The second relation formula is: ; In the formula, denoted as vibration intensity, f as vibration frequency, A as vibration opening, and k as a coefficient related to the vibration waveform.

[0045] In some optional embodiments, the first motion module 303 is specifically used to determine the required gripping quality based on the difference between the quality of the already gripped material and the target gripping material; if the required gripping quality exceeds the maximum gripping quality of the electric gripper, then the maximum gripping quality is determined as the current gripping quality; if the required gripping quality does not exceed the maximum gripping quality of the electric gripper, then the required gripping quality is determined as the current gripping quality.

[0046] The functional modules in the embodiments of this invention can be integrated together to form an independent unit, such as integrated into a processing unit, or each module can exist physically separately, or two or more modules can be integrated to form an independent unit. The integrated unit can be implemented in hardware or as a software functional unit. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0047] Various variations and specific examples of the methods provided in the embodiments of the present invention are also applicable to the robotic arm and electric gripper control device provided in this embodiment. Through the foregoing detailed description of the robotic arm and electric gripper control method, those skilled in the art can clearly understand the implementation method of the robotic arm and electric gripper control device in this embodiment. For the sake of brevity, it will not be described in detail here.

[0048] Figure 4 This is a structural block diagram of an electronic device 400 provided in an embodiment of the present invention. (See diagram below.) Figure 4 As shown, the electronic device 400 includes a memory 401, a processor 402, and a communication bus 403; the memory 401 and the processor 402 are connected through the communication bus 403.

[0049] The memory 401 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 401 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the robotic arm and electric gripper control method provided in the above embodiments, etc. The data storage area may store data involved in the robotic arm and electric gripper control method provided in the above embodiments, etc.

[0050] Processor 402 may include one or more processing cores. Processor 402 executes instructions, programs, code sets, or instruction sets stored in memory 401, and calls data stored in memory 401 to perform various functions and process data as described in this application. Processor 402 may be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic devices used to implement the functions of processor 402 may also be other types, and this embodiment of the invention does not specifically limit the specific devices used.

[0051] The communication bus 403 may include a path for transmitting information between the aforementioned components. The communication bus 403 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 403 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The symbol is represented by only one double arrow, but this does not indicate that there is only one bus or one type of bus. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0052] This invention also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described in the above embodiments for controlling the robotic arm and electric gripper.

[0053] In this embodiment, the computer-readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. The computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer-readable storage medium can be a portable computer disk, a hard disk, a USB flash drive, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), staging random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical encoding device, or any combination thereof.

[0054] The computer program in this embodiment includes functions for executing... Figure 1 The program code for the method shown may include instructions corresponding to the execution of the method steps provided in the above embodiments. The computer program may be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded via a network (e.g., the Internet, local area network, wide area network, and / or wireless network) to an external computer or external storage device. The computer program may be executed entirely on the user's computer as a standalone software package.

[0055] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0056] Furthermore, the terms "first" or "second," etc., used in this application to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as explicitly or implicitly indicating relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0057] While numerous embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A control method for a robotic arm and an electric gripper, characterized in that, include: When the robotic arm moves to the standby position, it determines whether the quality of the material already grasped has reached the target material grasping quality; If the desired result is achieved, the robotic arm and electric gripper are kept in standby mode, and a signal indicating that the grasping is complete is sent. If the target material mass is not reached, the current gripping mass is determined based on the difference between the mass of the already gripped material and the mass of the target material, as well as the maximum gripping mass of the electric gripper. Based on visual image recognition of the center position of the first material container where the material to be gripped is located and the three-dimensional contour of the material to be gripped, the robotic arm is controlled to move the electric gripper to the gripping position; wherein, the gripping position is located above the highest point in the vertical direction of the material to be gripped. Based on the current gripping mass and the material density of the material to be gripped, the descent distance of the electric gripper is calculated, the robotic arm is controlled to make the electric gripper descend according to the descent distance, and the electric gripper is controlled to close and grip the material. After the electric gripper finishes grasping the material, the robotic arm is controlled to move the electric gripper to the release position based on visual image recognition of the center position of the released material in the second material container; wherein, the release position is above the center position of the second material container; After the electric gripper moves to the release position, the electric gripper is controlled to open and release the gripped material; After the electric gripper finishes releasing the material, the robotic arm is controlled to move to the standby position, and the step of determining whether the mass of the material grasped has reached the target mass of the material grasped when the robotic arm moves to the standby position is repeated.

2. The robotic arm and electric gripper control method as described in claim 1, characterized in that, The step of controlling the robotic arm to move the electric gripper to the grasping position based on visual image recognition of the center position of the first material container where the material to be grasped is located and the three-dimensional contour of the material to be grasped includes: The center position of the first material container is identified by visual image, and the robotic arm is controlled to move the electric gripper to the starting position; wherein, the starting position is located above the first material container, and the starting position and the center position of the first material container are in the same vertical direction; The robotic arm is controlled to move the electric gripper from the starting position, and the three-dimensional contour of the material to be gripped is identified by visual image recognition to gradually determine the highest point of the material in the vertical direction. A first dynamic path is generated based on the highest point of the material in the vertical direction, and the robotic arm is controlled to make the electric gripper move to the gripping position according to the first dynamic path.

3. The robotic arm and electric gripper control method as described in claim 1 or 2, characterized in that, The calculation of the descent distance of the electric gripper based on the current gripping mass and the material density of the material to be gripped includes: Based on the current gripping mass and material density, calculate the first distance between the closing center point of the electric gripper and the highest point in the vertical direction of the material to be gripped; Obtain the second distance between the position to be grasped and the highest point in the vertical direction of the material to be grasped; The descent distance is obtained by summing the first distance and the second distance.

4. The robotic arm and electric gripper control method as described in claim 1, characterized in that, The step of recognizing the center position of the released material in the second material container based on visual image recognition and controlling the robotic arm to move the electric gripper to the release position includes: Control the robotic arm to move the electric gripper to the position to be grasped; The robotic arm is controlled to make the electric gripper start moving from the position to be gripped, and the center position of the second material container is identified through visual image. A second dynamic path is generated based on the center position of the second material container, and the robotic arm is controlled to make the electric gripper move to the release position according to the second dynamic path.

5. The robotic arm and electric gripper control method as described in claim 1, 2, or 4, characterized in that, Before controlling the robotic arm to move the electric gripper to the release position based on visual image recognition of the center position of the released material in the second material container, the method further includes: If the mass of the material in the electric gripper exceeds the current gripping mass, the robotic arm is controlled to move the electric gripper to the shaking position, and the electric gripper is controlled to vibrate and shake off the excess material. During the vibration of the electric gripper, the excess mass is acquired in real time, and the vibration intensity is adjusted in real time based on the first relationship formula between the excess mass and the vibration intensity. Then, the vibration opening and vibration frequency are adjusted in real time based on the second relationship formula between the vibration intensity and the vibration opening and vibration frequency, until the mass of the material in the electric gripper is equal to the current gripping mass.

6. The robotic arm and electric gripper control method as described in claim 5, characterized in that, The first relational formula is: ； In the formula, For overweight, The vibration intensity is t, and the vibration duration is t; and / or, The second relational formula is: ； In the formula, denoted as vibration intensity, f as vibration frequency, A as vibration opening, and k as a coefficient related to the vibration waveform.

7. The robotic arm and electric gripper control method as described in claim 1, 2, or 4, characterized in that, Determining the current crawling quality includes: The required grabbing quality is determined based on the difference between the quality of the already grabbed material and the quality of the target grabbed material. If the required gripping quality exceeds the maximum gripping quality of the electric gripper, then the maximum gripping quality is determined as the current gripping quality; If the required gripping quality does not exceed the maximum gripping quality of the electric gripper, then the required gripping quality is determined as the current gripping quality.

8. A control device for a robotic arm and an electric gripper, characterized in that, include: The judgment module is used to determine whether the quality of the grasped material has reached the target grasped material quality when the robotic arm moves to the standby position. The signal transmitting module is used to control the robotic arm and electric gripper to remain in standby mode and send a signal indicating that the grasping is complete if the condition is met. The first motion module is used to determine the current gripping quality based on the difference between the quality of the already gripped material and the target gripping material, as well as the maximum gripping quality of the electric gripper, if the target material is not reached. It then controls the robotic arm to move the electric gripper to the gripping position based on visual image recognition of the center position of the first material container where the material to be gripped is located and the three-dimensional contour of the material to be gripped. The gripping position is located above the highest point in the vertical direction of the material to be gripped. The descent gripping module is used to calculate the descent distance of the electric gripper based on the current gripping mass and the material density of the material to be gripped, control the robotic arm to make the electric gripper descend according to the descent distance, and control the electric gripper to close and grip the material; The second motion module is used to control the robotic arm to move the electric gripper to the release position after the electric gripper has finished grasping the material, based on visual image recognition of the center position of the released material in the second material container; wherein, the release position is above the center position of the second material container; The release module is used to control the electric gripper to open and release the gripped material after the electric gripper moves to the release position; The third motion module is used to control the robotic arm to move to the standby position after the electric gripper has finished releasing the material, and repeat the step of determining whether the quality of the material grasped has reached the target material grasping quality when the robotic arm moves to the standby position.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the robotic arm and electric gripper control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the robotic arm and electric gripper control method according to any one of claims 1 to 7.

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