Grabbing method suitable for box body in non-horizontal state

Abstract

The invention discloses a grabbing method suitable for a box body in a non-horizontal state, and belongs to the technical field of vehicle safeguard.The grabbing method comprises the following steps that image information of four butt joint holes in the four corners of the top end face of the box body is collected; center position coordinates of the four butt joint holes are obtained according to the image information of the four butt joint holes; constructing a position matrix of the centers of the docking holes relative to the center point of the top end surface of the box body according to the center position coordinates of the four docking holes; calculating the pose T of the box body according to the position matrix; according to the pose of the tail end of the six-axis mechanical arm, the pose of the sling framework is obtained; and the six-axis mechanical arm is controlled to move according to the control quantity of the lifting appliance framework until the lifting appliance framework locks the butt joint hole. The grabbing method can adapt to boxes with different placement postures, accurate recognition of the postures of the boxes can be achieved, grabbing of the boxes can be adjusted on the basis of the postures of the boxes, and therefore the grabbing efficiency is remarkably improved while the box grabbing stability is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle guarantee, and particularly relates to a grabbing method suitable for a box in a non-horizontal state. BACKGROUND

[0002] Containers are widely used in the transportation field, and the transfer of the box plays a particularly key role in the container transportation process. Whether the transfer of the box is accurate not only affects the time required for the transfer of the box, but also affects the transportation efficiency of the box transportation. Moreover, if the box cannot be placed in a stable posture, there is a risk of the container falling during the transportation process.

[0003] In related technologies, the box grabbing method of the vehicle is mainly in the form of manual hoisting grabbing. This method not only requires high human resources, but also has the problem of low transfer efficiency. Especially when the box placement plane is uneven, the manual operation and grabbing method has high requirements for personnel operation and high difficulty in hoisting and grabbing. If the grabbing is not accurate, the problem of box swinging caused by gravity will be more serious, and there is a safety hazard. SUMMARY

[0004] In view of one or more of the above defects or improvement needs of the prior art, the present application provides a grabbing method suitable for a box in a non-horizontal state. The method can adapt to boxes in different placement postures, accurately identify the posture of the box, adjust the grabbing of the box based on the posture of the box, and significantly improve the grabbing efficiency of the box while ensuring the stability of the grabbing of the box.

[0005] To achieve the above purpose, the present application provides a grabbing method suitable for a box in a non-horizontal state, comprising the following steps: S1, acquiring image information of four butt joint holes at four corner positions of a top end surface of a box; S2, obtaining four butt joint hole center position coordinates according to the image information of the four butt joint holes; Among them, the four butt joint hole center position coordinates are (x a , y a , z a ), (x b , y b , z b ), (x c , y c , z c ) and (x d , y d , z d ); S3, constructing a position matrix of the butt joint hole center relative to the center point of the top end surface of the box according to the four butt joint hole center position coordinates; S4, calculating a box pose T according to the position matrix; Wherein, the box pose T = [x_temp T , y_temp T , n T , O_temp T ]; S5, obtaining a spreader skeleton pose according to a six-axis robot end pose; Wherein, the six-axis robot comprises a first robot arm, a second robot arm, a third robot arm, a fourth robot arm, a fifth robot arm and a base; A first motion joint is arranged between the first robot arm and the spreader skeleton; a second motion joint is arranged between the first robot arm and the second robot arm; a third motion joint is arranged between the second robot arm and the third robot arm; a fourth motion joint is arranged between the third robot arm and the fourth motion joint; a fifth motion joint is arranged between the fourth robot arm and the fifth robot arm; and a sixth motion joint is arranged between the fifth robot arm and the base; S6, calculating a spreader skeleton control amount according to the spreader skeleton pose and the box pose T, and controlling the six-axis robot to move according to the spreader skeleton control amount until the spreader skeleton locks the docking holes.

[0006] As a further preferred embodiment of the present application, the S1 comprises the following steps: S11, adjusting the attitude of the hoisting skeleton to a horizontal state, and transporting the hoisting skeleton to the top of the box; Wherein, the end of the six-axis robot is rotatably connected with the hoisting skeleton, and a 3D camera is arranged on one side of the hoisting skeleton, and the field of view of the 3D camera can simultaneously cover two adjacent docking holes; S12, collecting image information of the first docking hole and the second docking hole on one side; S13, controlling the hoisting skeleton to rotate 180 degrees, and collecting image information of the third docking hole and the fourth docking hole on one side.

[0007] As a further preferred embodiment of the present application, the image information comprises multiple groups of graphic data at different angles.

[0008] As a further preferred embodiment of the present application, the S2 comprises the following steps: S21, obtaining the spatial coordinates and the projection ray direction of the 3D camera when each group of graphic data is taken; S22, extracting the feature points of each docking hole from each group of graphic data; S23, calculating the three-dimensional spatial coordinates of each docking hole in sequence according to the spatial coordinates of the 3D camera corresponding to each docking hole, the projection ray direction and the feature points through a triangulation algorithm.

[0009] As a further preferred embodiment of the present application, the S3 comprises the following steps: S31, calculating the coordinates of the center position O_temp of the top end surface of the box; S32, calculating the vector of the center position of each docking hole relative to the center position O of the top end surface of the box; S33, constructing the position matrix of the center of the docking hole relative to the center point of the top end surface of the box; As a further preferred embodiment of the present application, the center position O_temp of the top end surface of the box is (xo, yo, zo) = ((xa+xb+xc+xd) / 4, (ya+yb+yc+yd) / 4, (za+zb+zc+zd) / 4).

[0010] As a further preferred embodiment of the present application, the position matrix A of the center of the docking hole relative to the center point of the top end surface of the box is:

[0011] In the formula, the center point of the first docking hole is a, and its coordinates are (x a , y a , z a ); the center point of the second docking hole is b, and its coordinates are (x b , y b , z b ); the center point of the third docking hole is c, and its coordinates are (x c , y c , z c ); and the center point of the fourth docking hole is d, and its coordinates are (x d , y d , z d ).

[0012] As a further preferred embodiment of the present application, the S4 comprises the following steps: S41, singular value decomposition is performed on the position matrix A: A=USVT In the formula, U and V are orthogonal matrices; S is a diagonal matrix; and the normal vector n corresponds to the last column of V; S42, the normal vector n is the z-axis on the upper surface of the box; S43, the midpoint O ab of the center position (x a , y a , z a ) of the first docking hole a and the center position (x b , y b , z b ) of the docking hole 4b is ((x a +x b) / 2, (y a +y b ) / 2, (z a +z b ) / 2); S44. Choose O Oab as the x-axis of the upper plane of the box, and its vector is x_temp; S45, The box pose can be represented as T=[x_temp] T y_temp T n T O_temp T ].

[0013] As a further preferred embodiment of the present invention, S6 includes the following steps: S61. Control the movement of the third motion joint according to [x_tempT, y_tempT]; S62, Based on attitude coordinates n T Control the movement of the first motor joint; S63. Based on the position coordinates O_tempT, adjust the movements of all joints except the first, second, fourth, fifth, and sixth joints to lower and lock the lifting frame to each docking hole.

[0014] As a further preferred embodiment of the present invention, the lifting frame includes an I-shaped truss and four locking components disposed at the four corners of the I-shaped truss.

[0015] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: (1) The method for gripping a box in a non-horizontal state according to the present invention includes the following steps: S1, acquiring image information of four docking holes at the four corners of the top surface of the box; S2, obtaining the center coordinates of the four docking holes based on the image information of the four docking holes. Wherein, the center coordinates of the four docking holes are respectively (x... a y a , z a ), (x b y b , z b ), (x c y c , z c ) and (x d y d , z d S3. Construct a position matrix relative to the center point of the top surface of the housing based on the coordinates of the four docking hole centers. S4. Calculate the housing pose T based on the position matrix. Wherein, housing pose T = [x_temp] T y_temp T nT O_temp T S5. Obtain the pose of the lifting frame based on the end effector pose of the six-axis robotic arm. The six-axis robotic arm includes a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a base. A first motion joint is provided between the first robotic arm and the lifting frame. A second motion joint is provided between the first and second robotic arms. A third motion joint is provided between the second and third robotic arms. A fourth motion joint is provided between the third and fourth robotic arms. A fifth motion joint is provided between the fourth and fifth robotic arms. A sixth motion joint is provided between the fifth robotic arm and the base. S6. Calculate the control quantity of the lifting frame based on the pose of the lifting frame and the pose T of the box, and control the movement of the six-axis robotic arm according to the control quantity of the lifting frame until the lifting frame locks the docking hole. This method for gripping boxes in non-horizontal states can adapt to boxes with different placement postures. It can not only accurately identify the posture of the box, but also adjust the gripping of the box based on the posture of the box, thereby significantly improving the gripping efficiency while ensuring the stability of the box gripping.

[0016] (2) The method for gripping boxes in non-horizontal states according to the present invention has good adaptability, accurate identification, and high efficiency. By rotating the hoisting frame, a single 3D camera can acquire images of all docking holes, which not only ensures the clarity of image acquisition but also reduces the equipment cost of setting up multiple 3D cameras. Furthermore, when the 3D camera captures the position of the docking holes, the camera's field of view can simultaneously cover two adjacent docking holes while minimizing the distance between the 3D camera and the box, thereby further improving the clarity of the image. At the same time, it accurately calculates the box pose based on the spatial position matrix of the docking holes and the real-time position of the six-axis robotic arm, and then accurately controls the movement of each joint based on the box pose and the real-time position of the six-axis robotic arm, thereby enabling the six-axis robotic arm to drive the rotating hoist to achieve stable gripping of the box. It has high promotional value and application prospects. Attached Figure Description

[0017] Figure 1 This is a flowchart of a gripping method for a box in a non-horizontal state, as described in this embodiment of the invention. Figure 2 This is a schematic diagram of the overall structure of the box gripping method applicable to a non-horizontal state when taking pictures from one side in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the gripping method for a box in a non-horizontal state, as shown in the embodiment of the present invention, when taken from the other side. Figure 4 This is a schematic diagram of the gripping state structure of the gripping method for a box in a non-horizontal state, as described in an embodiment of the present invention.

[0018] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. First motion joint; 2. Second motion joint; 3. Third motion joint; 4. Fourth motion joint; 5. Fifth motion joint; 6. Sixth motion joint; 7. First docking hole; 8. Second docking hole; 9. Third docking hole; 10. Fourth docking hole; 11. Box body; 12. Camera field of view; 13. Lifting frame; 14. 3D camera. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] Example: Please see Figures 1-4 The preferred embodiment of the present invention provides a gripping method for boxes in non-horizontal states that can adapt to boxes 11 with different placement postures. It can not only accurately identify the posture of the box 11, but also adjust the gripping of the box 11 based on the posture of the box 11, thereby significantly improving the gripping efficiency of the box 11 while ensuring the gripping stability of the box 11.

[0025] Specifically, in the preferred embodiments of this application, such as Figure 1 As shown, the gripping method for boxes in non-horizontal states includes the following steps: S1. Collect image information of the four docking holes located at the four corners of the top surface of the housing 11; S2. Obtain the center coordinates of the four docking holes based on the image information of the four docking holes; Preferably, the coordinates of the center positions of the four mating holes are (x, y ... a y a , z a ), (x b y b , z b ), (x c y c , z c ) and (x d y d , z d ); S3. Construct a position matrix of the center of the four docking holes relative to the center point of the top surface of the box 11 based on the coordinates of the center positions of the four docking holes. S4. Calculate the 11th pose T of the box based on the position matrix; Preferably, the pose of the box 11 is T=[x_temp] T y_temp T n T O_temp T ]; S5. Obtain the pose of the lifting frame based on the pose of the end effector of the six-axis robotic arm; Preferably, such as Figures 2-4 As shown, the six-axis robotic arm includes a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a base; A first motion joint 1 is provided between the first robotic arm and the crane frame; a second motion joint 2 is provided between the first robotic arm and the second robotic arm; a third motion joint 3 is provided between the second robotic arm and the third robotic arm; a fourth motion joint 4 is provided between the third robotic arm and the fourth motion joint 4; a fifth motion joint 5 is provided between the fourth robotic arm and the fifth robotic arm; and a sixth motion joint 6 is provided between the fifth robotic arm and the base.

[0026] More preferably, the first, third, and sixth movable joints are all rotational joints about an axis. Correspondingly, the second, fourth, and fifth movable joints are all pitch-rotational joints.

[0027] S6. Calculate the control quantity of the spreader frame based on the position and orientation of the box 11, and control the movement of the six-axis robotic arm based on the control quantity of the spreader frame until the spreader frame locks the docking hole.

[0028] Furthermore, in a preferred embodiment of this application, step S1 further includes the following steps: S11. Adjust the attitude of the hoisting frame 13 to a horizontal state, and transport the hoisting frame 13 to the top of the box 11; S12. Acquire image information of the first docking hole 7 and the second docking hole 8 on one side; S13. Control the hoisting frame 13 to rotate 180 degrees and collect image information of the third docking hole 9 and the fourth docking hole 10 on one side.

[0029] Further preferably, in the preferred embodiment of this application, the end of the six-axis robotic arm is rotatably connected to a hoisting frame 13, and a 3D camera 14 is provided on one side of the hoisting frame 13. The field of view 12 of the 3D camera 14 can simultaneously cover two adjacent docking holes.

[0030] In practical use, by rotating the hoisting frame 13, a single 3D camera 14 can acquire images of all the docking holes. This not only ensures the clarity of the acquired images but also reduces the equipment cost of setting up multiple 3D cameras 14.

[0031] More preferably, when the 3D camera 14 captures the position of the docking hole, the camera field of view 12 of the 3D camera 14 can simultaneously cover two adjacent docking holes while the distance between the 3D camera 14 and the housing 11 is as small as possible, so as to further improve the clarity of the image.

[0032] More specifically, in a preferred embodiment of this application, the image information includes multiple sets of graphic data from different perspectives, so as to accurately calculate the spatial coordinates of the docking hole using the graphic data of the same docking hole at different angles.

[0033] Furthermore, in a preferred embodiment of this application, S2 includes the following steps: S21. Acquire the spatial coordinates and projection ray direction when the 3D camera 14 captures each set of graphic data; S22. Extract the feature points of each docking hole from each set of graphic data; S23. Based on the spatial coordinates, projection ray direction, and feature points of the 3D camera 14 corresponding to each docking hole, the three-dimensional spatial coordinates of each docking hole are calculated sequentially using a triangulation algorithm.

[0034] Furthermore, in a preferred embodiment of this application, S3 includes the following steps: S31. Calculate the coordinates of the center position O_temp on the top surface of box 11; S32. Calculate the vector of the center position of each docking hole relative to the center position O of the top surface of the box 11; S33. Construct the position matrix of the center of the docking hole relative to the center point of the top surface of the box 11; Furthermore, in a preferred embodiment of this application, the center position O_temp of the top surface of the box 11 is (xo, yo, zo) = ((xa+xb+xc+xd) / 4, (ya+yb+yc+yd) / 4, (za+zb+zc+zd) / 4).

[0035] Further preferably, in the preferred embodiment of this application, the position matrix A of the center of the mating hole relative to the center point of the top surface of the housing 11 is:

[0036] In the formula, the center point of the first mating hole 7 is a, and its coordinates are (x, y, y). a y a , z a The center point of the second mating hole 8 is b, and its coordinates are (x, y). b y b , z b The center point of the third mating hole 9 is c, and its coordinates are x. c y c , z c The center point of the fourth mating hole 10 is d, and its coordinates are (x, y). d y d , z d ).

[0037] Furthermore, in a preferred embodiment of this application, S4 includes the following steps: S41. Perform singular value decomposition on the position matrix A: A=USVT In the formula, U and V are orthogonal matrices; S is a diagonal matrix; and the normal vector n corresponds to the last column of V. S42. Let the normal vector n be the z-axis of the upper plane of box 11; S43, Center position of the first mating hole 7a (x) a y a , z a ) and the center position of the mating hole 4b (x b y b , z b The midpoint O of ) ab For ((x) a +x b ) / 2, (y a +y b ) / 2, (z a +z b ) / 2); S44. Select O Oab as the x-axis of the upper plane of box 11, and its vector is x_temp; S45, the pose of box 11 can be represented as T=[x_temp T y_temp T n T O_temp T ].

[0038] Furthermore, in a preferred embodiment of this application, S6 includes the following steps: S61. Control the movement of the third motion joint 3 according to [x_tempT, y_tempT]; S62, Based on attitude coordinates n T Control the movement of the first joint 1; S63. Based on the position coordinates O_tempT, adjust the movements of all joints except the first joint 1, the second joint 2, the fourth joint 4, the fifth joint 5, and the sixth joint 6 to lower and lock the lifting frame to each docking hole.

[0039] More preferably, in a preferred embodiment of this application, the lifting frame includes an I-shaped truss and four locking components disposed at the four corners of the I-shaped truss.

[0040] The box-grabbing method of this invention, applicable to non-horizontal states, is highly adaptable, accurate in identification, and efficient. By rotating the hoisting frame 13, a single 3D camera 14 can acquire images of all docking holes, ensuring image clarity and reducing the equipment cost associated with multiple 3D cameras 14. Furthermore, when the 3D camera 14 captures the position of the docking holes, its field of view 12 can simultaneously cover two adjacent docking holes while minimizing the distance between the 3D camera 14 and the box 11, further enhancing image clarity. Simultaneously, by using a position matrix based on the spatial position of the docking holes and accurately calculating the pose of the box 11, and then accurately controlling the movement of each joint based on the pose of the box 11 and the real-time position of the six-axis robotic arm, the six-axis robotic arm can drive the rotating hoist to stably grasp the box 11. This method has high promotional value and application prospects.

[0041] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for gripping a box in a non-horizontal state, characterized in that, Includes the following steps: S1. Collect image information of the four docking holes located at the four corners of the top surface of the box; S2. Obtain the center coordinates of the four docking holes based on the image information of the four docking holes; The coordinates of the center positions of the four docking holes are respectively (x a y a , z a ), (x b y b , z b ), (x c y c , z c ) and (x d y d , z d ); S3. Construct a position matrix of the center of the docking hole relative to the center point of the top surface of the box body based on the coordinates of the center positions of the four docking holes; S4. Calculate the box pose T based on the position matrix; Where, box pose T=[x_temp T y_temp T n T O_temp T ]; S5. Obtain the pose of the lifting frame based on the pose of the end effector of the six-axis robotic arm; The six-axis robotic arm includes a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a base. A first motion joint is provided between the first robotic arm and the crane frame; a second motion joint is provided between the first robotic arm and the second robotic arm; a third motion joint is provided between the second robotic arm and the third robotic arm; a fourth motion joint is provided between the third robotic arm and the fourth motion joint; a fifth motion joint is provided between the fourth robotic arm and the fifth robotic arm; and a sixth motion joint is provided between the fifth robotic arm and the base. S6. Calculate the control amount of the lifting frame based on the position of the lifting frame and the position of the box T, and control the movement of the six-axis robotic arm based on the control amount of the lifting frame until the lifting frame locks the docking hole.

2. The gripping method for boxes in a non-horizontal state according to claim 1, characterized in that, S1 includes the following steps: S11. Adjust the posture of the hoisting frame to a horizontal state and transport the hoisting frame to the top of the box; The six-axis robotic arm is rotatably connected to a hoisting frame at its end, and a 3D camera is installed on one side of the hoisting frame. The field of view of the 3D camera can simultaneously cover two adjacent docking holes. S12. Acquire image information of the first and second docking holes on one side; S13. Control the hoisting frame to rotate 180 degrees and collect image information of the third and fourth docking holes on one side.

3. The gripping method for boxes in a non-horizontal state according to claim 2, characterized in that, The image information includes multiple sets of graphic data from different perspectives.

4. The method for gripping a box in a non-horizontal state according to claim 3, characterized in that, S2 includes the following steps: S21. Obtain the spatial coordinates and projection ray direction when the 3D camera captures each set of graphic data; S22. Extract each set of graphic data and find the feature points of each of the said docking holes; S23. Based on the spatial coordinates of the 3D camera corresponding to each docking hole, the direction of the projection ray, and the feature points, the three-dimensional spatial coordinates of each docking hole are calculated sequentially using a triangulation algorithm.

5. The method for gripping a box in a non-horizontal state according to claim 4, characterized in that, S3 includes the following steps: S31. Calculate the coordinates of the center position O_temp on the top surface of the box; S32. Calculate the vector of the center position of each of the said docking holes relative to the center position O of the top surface of the box; S33. Construct the position matrix of the center of the docking hole relative to the center point of the top surface of the box.

6. The method for gripping a box in a non-horizontal state according to claim 5, characterized in that, The center position of the top surface of the box is O_temp = (xo, yo, zo) = ((xa+xb+xc+xd) / 4, (ya+yb+yc+yd) / 4, (za+zb+zc+zd) / 4).

7. The gripping method for a box in a non-horizontal state according to claim 6, characterized in that, The position matrix A of the center of the docking hole relative to the center point of the top surface of the housing is: In the formula, the center point of the first mating hole is a, and its coordinates are (x, y, y). a y a , z a The center point of the second mating hole is b, and its coordinates are (x, y). b y b , z b The center point of the third mating hole is c, and its coordinates are x. c y c , z c The center point of the fourth mating hole is d, and its coordinates are (x, y). d y d , z d ).

8. The gripping method for a box in a non-horizontal state according to claim 7, characterized in that, S4 includes the following steps: S41. Perform singular value decomposition on the position matrix A: A=USVT In the formula, U and V are orthogonal matrices; S is a diagonal matrix; and the normal vector n corresponds to the last column of V. S42. Let the normal vector n be the z-axis of the upper plane of the box; S43, Center position of the first mating hole a (x) a y a , z a ) and the center position of the mating hole 4b (x b y b , z b The midpoint O of ) ab For ((x) a +x b ) / 2, (y a +y b ) / 2, (z a +z b ) / 2); S44. Select O Oab as the x-axis of the upper plane of the box, and its vector is x_temp; S45, The box pose can be represented as T=[x_temp] T y_temp T n T O_temp T ].

9. The method for gripping a box in a non-horizontal state according to claim 8, characterized in that, S6 includes the following steps: S61. Control the movement of the third motion joint according to [x_tempT, y_tempT]; S62, Based on attitude coordinates n T Control the movement of the first motor joint; S63. Based on the position coordinates O_tempT, adjust the movements of all joints except the first, second, fourth, fifth, and sixth joints to lower and lock the lifting frame to each docking hole.

10. The gripping method for a box in a non-horizontal state according to claim 2, characterized in that, The lifting frame includes an I-shaped truss and four locking components located at the four corners of the I-shaped truss.

Images