Robotic arm and electric gripper control methods, devices, equipment and storage media

Abstract

This application discloses a method, device, equipment, and storage medium for controlling a robotic arm and an electric gripper, belonging to the field of robotic arm technology. The method includes: when the robotic arm moves to a standby position, determining whether the mass of the material already grasped has reached the target grasping mass; if so, controlling the robotic arm and electric gripper to remain in standby mode and issuing a grasping completion signal; if not, determining the current grasping mass and controlling the robotic arm to move the electric gripper to the grasping position based on visual image recognition; calculating the descent distance of the electric gripper based on the current grasping mass and the material density of the material to be grasped, controlling the robotic arm to make the electric gripper descend according to the descent distance, controlling the electric gripper to close and grasp the material; controlling the robotic arm to move the electric gripper to the release position based on visual image recognition; controlling the electric gripper to open and release the grasped material; and controlling the robotic arm to move to the standby position. This invention can improve the precision and efficiency of the robotic arm and electric gripper.

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 movement 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", manually controls the mechanical arm, and moves 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, which takes a long time to stop production. 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:

[0006] The first aspect of the present application provides a mechanical arm and electric claw control method, comprising:

[0007] When the mechanical arm moves to the standby position, it is judged whether the grabbed material quality reaches the target grabbed material quality;

[0008] If it reaches, the mechanical arm and the electric claw are controlled to remain in the standby state, and a grabbing completion signal is sent;

[0009] If it does not reach, 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;

[0010] based on the current grabbing quality and the material density of the material to be grabbed, calculating a descending distance of the electric claw, controlling the mechanical arm to make the electric claw descend by the descending distance, and controlling the electric claw to close and grab the material;

[0011] after the electric claw finishes grabbing the material, identifying a center position of a second material vessel in which the released material is located based on the visual image, and controlling the mechanical arm to move the electric claw to a release position; wherein the release position is above the center position of the second material vessel;

[0012] after the electric claw moves to the release position, controlling the electric claw to open and release the grabbed material;

[0013] after the electric claw finishes releasing the material, controlling the mechanical arm to move to the standby position, and repeating the step of judging whether the grabbed material quality reaches the target grabbing material quality when the mechanical arm moves to the standby position.

[0014] The method provided by the application can not only execute a preset path, but also can perceive external environment (material position and 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 identification, grabbing, transfer to release does not need manual participation; through visual identification, the method can adapt to changes of material vessel position and scattered placement of the material itself, can easily cope with small changes on a production line, and reduces design difficulty of a clamp and a tool; combination of vision and force sense greatly reduces the probability of grabbing failure, and guarantees continuity of a production process; the robot system realizes self-perception, autonomous decision and precise execution, not only guarantees high precision and high reliability of a material grabbing task, but also endows the system with strong adaptability and flexibility to cope with complex and changing environment.

[0015] In a possible implementation manner, the step of identifying the center position of the first material vessel and the three-dimensional contour of the material to be grabbed based on the visual image, and controlling the mechanical arm to move the electric claw to a grabbing position comprises:

[0016] identifying the center position of the first material vessel through the visual image, and controlling the mechanical arm 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;

[0017] The mechanical arm is controlled to move the electric claw from the starting position, and a three-dimensional profile of the material to be grabbed is recognized through a visual image to gradually determine a 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 move the electric claw to the grabbing position according to the first dynamic path.

[0018] In a possible implementation, the calculation of the falling distance of the electric claw based on the current grabbing quality and the material density of the material to be grabbed includes:

[0019] The first distance between the closing center point of the electric claw and the vertical highest point of the material to be grabbed is calculated based on the current grabbing quality and the material density.

[0020] The second distance between the grabbing position and the vertical highest point of the material to be grabbed is obtained.

[0021] The first distance and the second distance are summed to obtain the falling distance.

[0022] In a possible implementation,

[0023] The control of the mechanical arm to move the electric claw to the releasing position based on the center position of the second material container in which the released material is located includes:

[0024] The mechanical arm is controlled to move the electric claw to the grabbing position.

[0025] The mechanical arm is controlled to move the electric claw from the grabbing position, and the center position of the second material container is recognized through a visual image, a second dynamic path is generated based on the center position of the second material container, and the mechanical arm is controlled to move the electric claw to the releasing position according to the second dynamic path.

[0026] In a possible implementation, before the control of the mechanical arm to move the electric claw to the releasing position based on the center position of the second material container in which the released material is located, the method further includes:

[0027] If the mass of the material in the electric claw exceeds the current grabbing quality, the mechanical arm is controlled to move the electric claw to a shaking-off position, the electric claw is controlled to vibrate and shake off the excess material, during the vibration of the electric claw, the overweight mass is obtained in real time, the vibration intensity is adjusted in real time based on a first relationship formula between the overweight mass and the vibration intensity, and the vibration opening degree and the vibration frequency are adjusted 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.

[0028] In a possible implementation, the first relationship formula is:

[0029] ;

[0030] In the formula, is an excess mass, is a vibration intensity, t is a vibration duration; and / or,

[0031] The second relationship formula is:

[0032] ;

[0033] In the formula, is a vibration intensity, f is a vibration frequency, A is a vibration opening, and k is a coefficient related to a vibration waveform.

[0034] In a possible implementation, the determining of the current grasping quality comprises:

[0035] determining a required grasping quality based on a difference between the grasped material quality and a target grasping quality;

[0036] if the required grasping quality exceeds a maximum grasping quality of the electric claw, determining the maximum grasping quality as the current grasping quality;

[0037] if the required grasping quality does not exceed the maximum grasping quality of the electric claw, determining the required grasping quality as the current grasping quality.

[0038] The second aspect of the present application provides a mechanical arm and electric claw control device, comprising:

[0039] a judging module configured to judge whether a grasped material quality reaches a target grasping quality when a mechanical arm moves to a standby position;

[0040] a signal sending module configured to, if the grasped material quality reaches the target grasping quality, control the mechanical arm and the electric claw to keep a standby state and send a grasping completion signal;

[0041] a first moving module configured to, if the grasped material quality does not reach the target grasping quality, determine a current grasping quality based on a difference between the grasped material quality and the target grasping quality and a maximum grasping quality of the electric claw, and control the mechanical arm to move the electric claw to a grasping position based on a center position of a first material container where a material to be grasped is located and a three-dimensional contour of the material to be grasped, wherein the grasping position is above a highest point in a vertical direction of the material to be grasped.

[0042] A descending grabbing module is configured to calculate a descending distance of the electric claw based on the current grabbing quality and a material density of the material to be grabbed, control the mechanical arm to make the electric claw descend by the descending distance, and control the electric claw to close and grab the material;

[0043] A second movement module is configured to, after the electric claw finishes grabbing the material, control the mechanical arm to move the electric claw to a release position based on a center position of a second material container where the released material is located, wherein the release position is above the center position of the second material container.

[0044] A release module is configured to, after the electric claw moves to the release position, control the electric claw to open and release the grabbed material.

[0045] A third movement module is configured to, after the electric claw finishes releasing the material, control the mechanical arm to move to the standby position, and repeat the step of judging whether the grabbed material quality reaches the target grabbing material quality when the mechanical arm moves to the standby position.

[0046] The third aspect of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the mechanical arm and electric claw control method provided in the first aspect of the present application when executing the program.

[0047] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the mechanical arm and electric claw control method provided in the first aspect of the present application.

[0048] The second aspect to the fourth aspect of the present application and the specific description of various implementation manners thereof can refer to the detailed description in the first aspect and various implementation manners thereof, and the beneficial effects of the second aspect to the fourth aspect and various implementation manners thereof can refer to the beneficial effect analysis in the first aspect and various implementation manners thereof, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0049] The above and other objects, features and advantages of the exemplary embodiments of the present application will be readily understood through reading the following detailed description in conjunction with the drawings, in which several embodiments of the present application are illustrated in example, not limitation, and in which the same or similar reference numerals and characters refer to the same or similar parts throughout the drawings. In the drawings:

[0050] Figure 1 is a flowchart of a mechanical arm and electric claw control method according to an embodiment of the present application;

[0051] Figure 2 is a material quality loss curve diagram according to an embodiment of the present application;

[0052] Figure 3 is a mechanical arm and electric claw control device structure block diagram of an embodiment of the application;

[0053] Figure 4 is an internal structure block diagram of an electronic device of an embodiment of the application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0055] The embodiment of the present application provides a mechanical arm and electric claw control method, which can be executed by an electronic device. The electronic device can be a server or a terminal device. The server can be a stand-alone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, a wearable device, etc., but is not limited thereto.

[0056] Figure 1 is a flowchart of a mechanical arm and electric claw control method provided by the embodiment. As shown in Figure 1 , the main flow of the method is described as follows (steps S101-S107):

[0057] Step S101, when the mechanical arm moves to the standby position, it is determined whether the grasped material quality reaches the target grasped material quality; if yes, step S102 is executed, otherwise step S103 is executed;

[0058] Step S102, control the mechanical arm and the electric claw to keep standby state, and send a grasping completion signal;

[0059] Step S103, if not, determine the current grasping quality, and based on the visual image, identify the center position of the first material vessel where the grasped material is located and the three-dimensional contour of the grasped material, control the mechanical arm to move the electric claw to the grasped position;

[0060] Step S104, based on the current grasping quality and the material density of the grasped material, calculate the descending distance of the electric claw, control the mechanical arm to make the electric claw descend according to the descending distance, and control the electric claw to close and grasp the material;

[0061] Step S105, after the electric claw finishes grabbing the material, the center position of the second material container where the released material is located is recognized based on the visual image, and the electric claw is controlled to move to the release position by the mechanical arm;

[0062] Step S106, after the electric claw moves to the release position, the electric claw is controlled to open and release the grabbed material.

[0063] Step S107, after the electric claw finishes releasing the material, the mechanical arm is controlled to move to the standby position, and the step S101 is repeated.

[0064] In this embodiment, after the power-on self-test is completed, the mechanical arm is controlled to move to the standby position, and the electric claw is in a fully open state at this time. When the material grabbing operation is needed, i.e., the electric claw needs to transport the material to be grabbed in the first material container to the second material container, the material stored in the second material container is the grabbed material, and the system automatically performs the judgment operation whether the quality of the grabbed material reaches the target grabbing material quality. Since the maximum grabbing material quality of the electric claw has an upper limit, when the target grabbing material quality is large, the electric claw may need to grab multiple times.

[0065] For the case that the quality of the grabbed material reaches the target grabbing material quality, the mechanical arm and the electric claw are kept in the standby state, and a grabbing completion signal can be issued through voice, screen display, etc. to remind the staff that the material grabbing is completed.

[0066] For whether the quality of the grabbed material reaches the target grabbing material quality, if the electric claw is self-equipped with a weighing sensor, the quality of the material grabbed by the electric claw each time can be obtained through the weighing sensor, and as long as the accumulated material quality does not reach the target grabbing material quality, the grabbing operation is performed again. Of course, if the electric claw is not self-equipped with a weighing sensor, the quality of the grabbed material can be obtained by adding a weighing sensor to the second material container, which is not limited in this embodiment.

[0067] In some optional embodiments, after it is determined that the quality of the grabbed material does not reach the target grabbing material quality, the quality of the material that still needs to be transported, i.e., the demand grabbing quality, can be determined through the difference between the target grabbing material quality and the quality of the grabbed material. If the demand grabbing quality exceeds the maximum grabbing quality of the electric claw, the maximum grabbing quality is determined as the current grabbing quality, otherwise the demand grabbing quality is determined as the current grabbing quality. The current grabbing quality is the quality of the material that needs to be grabbed in this material grabbing operation.

[0068] In this embodiment, the mechanical arm is first controlled to move from the standby position to the position to be grabbed, and then the electric claw is controlled to descend along the vertical direction from the position to be grabbed to grab the material to be grabbed in the first material container.

[0069] In some optional embodiments, the morphology of the material before and after each grabbing changes, so the center position of the first material vessel is identified through visual image recognition, the mechanical arm is controlled to move to the center position of the first material vessel, and then the mechanical arm is controlled to move to the starting position; wherein the starting position is located 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 starting position is set by an input instruction, for example, the starting position is located 15-20 cm above the first material vessel.

[0070] Subsequently, the mechanical arm is controlled to move the electric claw from the starting position, and the three-dimensional profile of the material to be grabbed is identified through visual image recognition 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 move the electric claw to the grabbing position according to the first dynamic path. Wherein the grabbing position is set by an input instruction, which is located above the vertical highest point of the material to be grabbed, and is apart from h0, for example, h0 is set to 2-3 cm.

[0071] It should be noted that in the process of planning the first dynamic path, the vertical highest point of the material to be grabbed can be gradually obtained through the visual sensor set on the mechanical arm and / or the electric claw through visual image recognition technology, and then combined with the set h0, the electric claw can be finally moved to the grabbing position.

[0072] In some optional embodiments, the descending distance of the electric claw refers to the distance that the electric claw needs to descend from the grabbing position to perform the closing and grabbing operation. The descending distance of the electric claw is related to the characteristics of the material to be grabbed in the first material vessel and the current grabbing quality. Specifically, first, based on the current grabbing quality and the material density, the first distance h between the closing center point of the electric claw and the vertical highest point of the material to be grabbed is calculated; and the second distance h0 between the grabbing position and the vertical highest point of the material to be grabbed is obtained; then the first distance h and the second distance h0 are summed to obtain the final descending distance.

[0073] Further, the first distance h can be solved according to the following formula:

[0074] ;

[0075] In the formula, p is the material density, k1 is the cone similarity ratio coefficient determined according to the material profile obtained through machine learning in the early stage, and m is the current grabbing quality.

[0076] During the descending process of the electric claw, the descending distance of the electric claw can be judged in real time according to the area change As of the material area occupying the image pixels ​, k is a coefficient of camera field of view and imaging distance), combined with the first distance h, dynamically control the robot arm to move downward until the electric claw closing center point is at the designated position below the highest point of the material, that is .

[0077] In some optional embodiments, after the electric claw has finished grabbing the material, the robot arm is first controlled to move the electric claw to the to-be-grabbed position; then the robot arm is controlled to move the electric claw from the to-be-grabbed position, and the center position of the second material vessel is identified through visual image recognition, a second dynamic path is generated based on the center position of the second material vessel, and the robot arm is controlled to move the electric claw to the to-be-released position according to the second dynamic path. The to-be-released position is set by an input instruction, for example, the to-be-released position is located 15-20 cm above the second material vessel. Finally, according to the proportion of the material in the second material vessel to the image pixels, the height of the electric claw from the material is judged in real time, the robot arm is controlled to move downward to approach the vessel, and finally the electric claw is moved to the release position, that is, the electric claw closing center point is a certain distance (for example, 3-5 cm) from the material in the second material vessel.

[0078] It should be noted that the planning method of the second dynamic path can refer to the planning method of the first dynamic path, and the principles are the same, which will not be described here.

[0079] In some optional embodiments, before the robot arm is controlled to move to the release position, if the mass of the material in the electric claw exceeds the current grabbing mass, the robot arm is controlled to move the electric claw to the shaking-off position, the electric claw is controlled to vibrate and shake off the excess material, in the process of electric claw vibration, the overweight mass is acquired in real time, and the vibration intensity is adjusted in real time based on a first relationship formula of the overweight mass and the vibration intensity, and the vibration opening and the vibration frequency are adjusted in real time based on a second relationship formula of the vibration intensity, the vibration opening and the vibration frequency, until the mass of the material in the electric claw is equal to the current grabbing mass.

[0080] The shaking-off position is located above the first material vessel, and after the electric claw has finished closing and grabbing the material, it is raised by a certain distance (for example, 3-5 cm), that is, the shaking-off position.

[0081] The first relationship formula is:

[0082] ;

[0083] In the formula, is the overweight mass, is the vibration intensity, and t is the vibration time length; and / or

[0084] The second relationship formula is:

[0085] ;

[0086] In the formula, is the vibration strength, f is a vibration frequency, A is a vibration opening, and k is a coefficient related to a vibration waveform.

[0087] As shown in Figure 2 an ideal state, the vibration strength varies in a trapezoidal manner to achieve that the material mass loss rate also varies in a trapezoidal manner (blue dotted line in the figure), in the vibration process, the material mass in the electric claw is measured in real time, the vibration strength is dynamically adjusted (strengthened, weakened or stopped) according to the change trend of the material weight (red curve in the figure), until the material mass in the electric claw reaches the requirement.

[0088] It should be noted that if the mass of the material in the electric claw does not exceed the current grabbing mass, step S105 is directly executed. Finally, after the electric claw releases the material, the mechanical arm is first controlled to move the electric claw to the release position, and then the mechanical arm is controlled to move to the standby position.

[0089] Based on the same inventive concept, the embodiment of the present application provides a mechanical arm and electric claw control device. Figure 3 A structural block diagram of a mechanical arm and electric claw control device 300 provided by the embodiment of the present application is shown in Figure 3 As shown in the figure, the mechanical arm and electric claw control device 300 mainly includes:

[0090] A judgment module 301 is configured to judge whether the grabbed material mass reaches the target grabbed material mass when the mechanical arm moves to the standby position;

[0091] A signal sending module 302 is configured to control the mechanical arm and the electric claw to keep in the standby state and send a grabbing completion signal if the target grabbed material mass is reached.

[0092] A first movement module 303 is configured to determine the current grabbing mass based on the difference between the grabbed material mass and the target grabbed material mass and the maximum grabbing mass of the electric claw, and control the mechanical arm to move the electric claw to the grabbing position based on the visual image recognition of 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, wherein the grabbing position is above the highest point of the material to be grabbed in the vertical direction.

[0093] A descending grabbing module 304 is configured to calculate the descending distance of the electric claw based on the current grabbing mass and the material density of the material to be grabbed, control the mechanical arm to make the electric claw descend according to the descending distance, and control the electric claw to close and grab the material.

[0094] A second movement module 305 is configured to control the mechanical arm to move the electric claw to the release position based on the visual image recognition of the center position of the second material vessel where the released material is located after the electric claw finishes grabbing the material, wherein the release position is above the center position of the second material vessel.

[0095] The releasing module 306 is configured to control the electric claw to open and release the grabbed material after the electric claw moves to the releasing position.

[0096] The third movement module 307 is configured to control the robot arm to move to the standby position after the electric claw finishes releasing the material, and repeat the step of judging whether the grabbed material quality reaches the target grabbed material quality when the robot arm moves to the standby position.

[0097] In some optional embodiments, the first movement module 303 is specifically configured to identify the center position of the first material container through the visual image, and control the robot arm to move the electric claw to the starting position; 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 robot arm to move the electric claw from the starting position, and gradually determine the vertical highest point of the material to be grabbed by identifying the three-dimensional contour of the material to be grabbed through the visual image, generate a first dynamic path based on the vertical highest point of the material to be grabbed, and control the robot arm to move the electric claw to the grabbing position according to the first dynamic path.

[0098] In some optional embodiments, the descending grabbing module 304 is specifically configured to calculate a first distance between the closed center point of the electric claw and the vertical highest point of the material to be grabbed based on the current grabbing quality and the material density; obtain a second distance between the grabbing position and the vertical highest point of the material to be grabbed; and sum the first distance and the second distance to obtain the descending distance.

[0099] In some optional embodiments, the second movement module 305 is specifically configured to control the robot arm to move the electric claw to the grabbing position; control the robot arm to move the electric claw from the grabbing position, and identify the center position of the second material container through the visual image, generate a second dynamic path based on the center position of the second material container, and control the robot arm to move the electric claw to the releasing position according to the second dynamic path.

[0100] In some optional embodiments, the robot arm and electric claw control device 300 further comprises:

[0101] The shaking-off module is configured to, before controlling the robot arm to move the electric claw to the releasing position based on the center position of the second material container in which the released material is located, if the quality of the material in the electric claw exceeds the current grabbing quality, control the robot arm to move the electric claw to a shaking-off position, control the electric claw to vibrate and shake off the excess material, in the process of vibrating the electric claw, real-time acquire the overweight quality, real-time adjust the vibration intensity based on a first relationship formula between the overweight quality and the vibration intensity, and real-time adjust the vibration opening degree and the vibration frequency based on a second relationship formula between the vibration intensity, the vibration opening degree and the vibration frequency, until the quality of the material in the electric claw is equal to the current grabbing quality.

[0102] Further, the first relationship formula is:

[0103] ;

[0104] In the formula, is an excess mass, is a vibration intensity, t is a vibration duration; and / or,

[0105] The second relationship formula is:

[0106] ;

[0107] In the formula, is a vibration intensity, f is a vibration frequency, A is a vibration opening degree, and k is a coefficient related to a vibration waveform.

[0108] In some optional embodiments, the first motion module 303 is specifically configured to determine a required grabbing mass based on a difference between the grabbed mass and the target grabbed mass; if the required grabbing mass exceeds the maximum grabbing mass of the electric claw, the maximum grabbing mass is determined as the current grabbing mass; if the required grabbing mass does not exceed the maximum grabbing mass of the electric claw, the required grabbing mass is determined as the current grabbing mass.

[0109] The various functional modules in the embodiments of the present application can be integrated together to form an independent unit, for example, integrated in a processing unit, or can be physically present as individual modules, or two or more modules can be integrated to form an independent unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. If the functions are realized in the form of a software functional module and sold or used as an independent product, the software functional module can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing an electronic device (which can be a personal computer, a server or a network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0110] The various variations and specific examples in the method provided by the embodiments of the present application are also applicable to the mechanical arm and electric claw control device provided by the embodiments of the present application. Through the foregoing detailed description of the mechanical arm and electric claw control method, those skilled in the art can clearly understand the implementation method of the mechanical arm and electric claw control device in the embodiments of the present application. For the sake of brevity of the description, the implementation method of the mechanical arm and electric claw control device will not be described in detail here.

[0111] Figure 4 A structural block diagram of an electronic device 400 is provided for an embodiment of the present application. 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. Figure 4

[0112] The memory 401 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 401 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the mechanical arm and electric claw control method provided in the above embodiments, etc.; the data storage area can store data involved in the mechanical arm and electric claw control method provided in the above embodiments, etc.

[0113] The processor 402 can include one or more processing cores. The processor 402 executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 401, calling data stored in the memory 401. The processor 402 can be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It can be understood that, for different devices, the electronic device used to implement the functions of the processor 402 described above can also be other devices, and the embodiments of the present application are not limited specifically.

[0114] The communication bus 403 can include a path for transmitting information between the above components. The communication bus 403 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) 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 only one double-headed arrow is used in the figure, but it does not mean that there is only one bus or only one type of bus.​Figure 4 The electronic device shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0115] The embodiments of the present application also provide a computer readable storage medium storing a computer program capable of being loaded and executed by a processor to perform the mechanical arm and electric claw control method provided by the above embodiments.

[0116] In the embodiments, the computer readable storage medium can be a tangible device that maintains and stores instructions for use by an instruction execution device. The computer readable storage medium can be, but is not limited to, an electronic 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 diskette, a hard disk, a U disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical encoding device, and any combination thereof.

[0117] The computer program in the embodiments includes program codes for performing the method shown, and the program codes can include instructions corresponding to the method steps provided by the above embodiments. The computer program can be downloaded from the computer readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device through a network (such as the Internet, a local area network, a wide area network, and / or a wireless network). The computer program can be executed entirely on a user computer, as a separate software package. Figure 1 In the embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other means. For example, the device embodiments described above are merely illustrative, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed ones can be through some interfaces, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0118]

[0119] ​In addition, the terms "first" or "second" or the like used in the present application are terms used to refer to numbers or ordinal numbers only for the purpose of description and do not imply or indicate relative importance or implicitly indicate the number of technical features indicated. Thus, a feature defined with "first" or "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise explicitly specified.

[0120] While the present application has been shown and described with reference to various embodiments thereof, it will be understood that such embodiments are by way of example only. Numerous changes, modifications and alternatives can be suggested to one skilled in the art that do not depart from the spirit and scope of the application. It should be understood that in the process of practicing the present application, various alternatives to the embodiments described herein can be employed. The appended claims are intended to cover such alternatives and equivalents.

Claims

1. A method of controlling a mechanical arm and an electric claw, characterized by, The method comprises the following steps: When the mechanical arm moves to the standby position, it is determined whether the mass of the grabbed material reaches the target mass of the grabbed material; If it reaches, the mechanical arm and the electric claw are controlled to remain in the standby state, and a signal of completion of grabbing is sent out; If it does not reach, the current grabbing quality is determined based on the difference between the mass of the grabbed material and the target mass of the grabbed material and the maximum grabbing quality of the electric claw, the center position of the first material vessel where the material to be grabbed is located and the three-dimensional profile of the material to be grabbed are identified based on the visual image, and the mechanical arm is controlled to move the electric claw to a position to be grabbed; wherein the position to be grabbed is located above the highest point of the material to be grabbed in the vertical direction; Based on the current grabbing quality and the material density of the material to be grabbed, the falling distance of the electric claw is calculated, the mechanical arm is controlled to make the electric claw fall by the falling 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 the second material vessel where the released material is located is identified 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 determining whether the mass of the grabbed material reaches the target mass of the grabbed material when the mechanical arm moves to the standby position is repeated; The calculation of the falling distance of the electric claw based on the current grabbing quality and the material density of the material to be grabbed comprises: Based on the current grabbing quality and the material density, the first distance between the closing center point of the electric claw and the highest point of the material to be grabbed in the vertical direction is calculated; The second distance between the position to be grabbed and the highest point of the material to be grabbed in the vertical direction is obtained; The first distance and the second distance are summed to obtain the falling distance.

2. The method of claim 1, wherein, The control of the mechanical arm to move the electric claw to the position to be grabbed based on the visual image identification of the center position of the first material vessel where the material to be grabbed is located and the three-dimensional profile of the material to be grabbed comprises: The center position of the first material vessel is identified through the visual image, and the mechanical arm is controlled to move the electric claw to a starting position; wherein the starting position is located 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 profile of the material to be grabbed is identified through the visual image to gradually determine the highest point of the material to be grabbed in the vertical direction, a first dynamic path is generated based on the highest point of the material to be grabbed in the vertical direction, and the mechanical arm is controlled to make the electric claw move to the position to be grabbed according to the first dynamic path.

3. The method of claim 1, wherein the robot arm and electric gripper control method is characterized by, The control of the mechanical arm to move the electric claw to the release position based on the visual image identification of the center position of the second material vessel where the released material is located comprises: controlling the mechanical arm to move the electric claw to the to-be-grabbed position; controlling the mechanical arm to move the electric claw from the to-be-grabbed position, identifying the center position of the second material vessel through a visual image, generating a second dynamic path based on the center position of the second material vessel, and controlling the mechanical arm to move the electric claw to the release position according to the second dynamic path.

4. The method of claim 1, 2 or 3, wherein, Before the step of controlling the mechanical arm to move the electric claw to the release position based on the center position of the second material vessel where the released material is located through a visual image, the method further comprises: if the mass of the material in the electric claw exceeds the current grabbing mass, 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, in the process of vibrating the electric claw, acquiring the overweight mass in real time, 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 mass.

5. The method of claim 4, wherein, The first relationship formula is: Δm = Θt; wherein, Δm is the overweight mass, Θ is the vibration intensity, and t is the vibration time length; and / or The second relationship formula is: Θ = k(fA)2; wherein, Θ 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.

6. The method of claim 1, 2, or 3, wherein, The determination of the current grabbing mass comprises: determining a required grabbing mass based on the difference between the grabbed material mass and the target grabbing material mass; if the required grabbing mass exceeds the maximum grabbing mass of the electric claw, determining the maximum grabbing mass as the current grabbing mass; if the required grabbing mass does not exceed the maximum grabbing mass of the electric claw, determining the required grabbing mass as the current grabbing mass.

7. A mechanical arm and electric claw control device characterized by comprising: The method comprises: a judgment module for judging whether the grabbed material mass reaches the target grabbing material mass when the mechanical arm moves to the standby position; a signal sending module for controlling the mechanical arm and the electric claw to remain in the standby state and sending a grabbing completion signal if the grabbed material mass reaches the target grabbing material mass; a first movement module for determining a current grabbing mass based on the difference between the grabbed material mass and the target grabbing material mass and the maximum grabbing mass of the electric claw, and controlling the mechanical arm to move the electric claw to a to-be-grabbed position based on the center position of a first material vessel where the to-be-grabbed material is located and the three-dimensional profile of the to-be-grabbed material through a visual image, wherein the to-be-grabbed position is above the highest point in the vertical direction of the to-be-grabbed material; a descending grabbing module for calculating a descending distance of the electric claw based on the current grabbing mass and the material density of the to-be-grabbed material, controlling the mechanical arm to make the electric claw descend according to the descending distance, and controlling the electric claw to close and grab the material; A second movement module is configured to, after the electric claw finishes grabbing the material, control the mechanical arm to move the electric claw to a release position based on a center position of a second material container where the released material is located, wherein the release position is above the center position of the second material container. A release module is configured to, after the electric claw moves to the release position, control the electric claw to open and release the grabbed material. A third movement module is configured to, after the electric claw finishes releasing the material, control the mechanical arm to move to the standby position, and repeat the step of judging whether the grabbed material quality reaches the target grabbed material quality when the mechanical arm moves to the standby position. The lowering grabbing module is specifically configured to calculate a first distance between a closed 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; acquire a second distance between the position to be grabbed and the vertical highest point of the material to be grabbed; and sum the first distance and the second distance to obtain the lowering distance.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the mechanical arm and electric claw control method in any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the mechanical arm and electric claw control method in any one of claims 1 to 6.

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