Dual-arm-based cabinet door opening control method, and robot

Abstract

A dual-arm-based cabinet door opening control method, and a robot. The method comprises: step S1, calibrating the position of a robot; step S2, calculating the motion radius of a robotic arm end effector of the robot relative to a first hinge; step S3, setting a preset opening angle of a first cabinet door, and calculating a motion arc of the robotic arm end effector corresponding to the preset opening angle in a two-dimensional plane; step S4, on the basis of target waypoint coordinates corresponding to the motion arc, calculating an electric motor rotation angle of a first robotic arm, controlling the first robotic arm to execute a motion on the basis of the target waypoint coordinates and the electric motor rotation angle, and controlling a second robotic arm to perform a following motion on a rebound path of the first cabinet door; step S5, completing the opening of the first cabinet door; and step S6, returning to realize the opening of a second cabinet door in a mirrored manner. By means of dual-arm cooperation and interrelated steps, an efficient cabinet door opening control method is realized, thereby effectively improving the accuracy and reliability of a robot opening cabinet doors.

Description

A dual-arm-based cabinet door opening control method and its robot Technical Field

[0001] This invention relates to a control method for a robot to open cabinet doors, and more particularly to a dual-arm-based control method for opening cabinet doors, and further provides a robot using this dual-arm-based control method for opening cabinet doors. Background Technology

[0002] In the fields of automation and robotics, achieving automated opening and closing of devices such as lockers or storage cabinets is a significant technological challenge. For example, in environments requiring frequent double-door opening for retrieval, such as wards or medical equipment storage cabinets, improving the accuracy and reliability of door opening can significantly reduce manual operation and increase efficiency. However, traditional door opening methods often rely on a single robotic arm or simple automated devices, which have limitations when handling double-door openings or scenarios requiring precise control. Especially in retrieval environments requiring frequent double-door openings, manual operation is not only inefficient but also costly. Furthermore, the accuracy and reliability of a single robotic arm are insufficient to meet the growing demands of industrial automation. Therefore, developing a dual-arm-based door opening control method to improve the efficiency and accuracy of double-door opening operations and reduce human intervention has become one of the urgent technical problems to be solved in this field. Summary of the Invention

[0003] The technical problem this invention aims to solve is to provide a dual-arm-based cabinet door opening control method. This method utilizes the cooperation of two arms to achieve efficient cabinet door opening control, enabling the opening of both doors of a storage cabinet or pantry. Furthermore, the steps involved in opening the cabinet doors have been optimized to improve accuracy and reliability. In addition, a robot employing this dual-arm-based cabinet door opening control method is also provided.

[0004] To address this, the present invention provides a cabinet door opening control method based on dual arms, comprising the following steps:

[0005] Step S1: The robot position is calibrated using robot vision so that the robot's centerline is aligned with the centerline of the cabinet's double doors;

[0006] Step S2: Obtain the first horizontal distance between the first handle of the cabinet and the first hinge, and obtain the first vertical distance between the top of the first handle and the cabinet surface. Calculate the motion radius of the end effector of the first robotic arm relative to the first hinge based on the first horizontal distance and the first vertical distance.

[0007] Step S3: Set the preset opening angle of the first cabinet door, and calculate the motion arc of the end effector of the robotic arm in the two-dimensional plane corresponding to the preset opening angle based on the motion radius and the starting position of the first robotic arm.

[0008] Step S4: Calculate the motor rotation angle of the first robotic arm based on the target waypoint coordinates corresponding to the motion arc, control the first robotic arm to perform the grasping motion according to the target waypoint coordinates and the motor rotation angle, and control the second robotic arm to follow the movement on the rebound path of the first cabinet door during the movement of the first robotic arm.

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

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

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

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

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

[0014] Step S301: Set the preset opening angle theta of the first cabinet door. With the starting position of the first robotic arm as the origin, define the direction in which the robot faces the cabinet as the positive x-axis and the left side of the robot as the positive y-axis to obtain the robotic arm base coordinate system; the first robotic arm is the robotic arm that performs the grasping action.

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

[0016] A further improvement of the present invention is that, in step S302, the formula is used... and Calculate the motion arc of the end effector of the robotic arm in the coordinate system of the robotic arm base, where, and Here are the coordinates of the target waypoint at time t; and Here, r represents the coordinates of the initial position of the robotic arm's end effector; r is the radius of the motion arc. , ω represents the current opening angle of the cabinet; ω is the angular velocity. T represents the total motion time.

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

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

[0019] Step S402, using the formula Calculate the rotation angle z1 of the first motor of the three-axis robotic arm using the formula. Calculate the rotation angle z2 of the second motor of the three-axis robotic arm using the formula. Calculate the rotation angle z3 of the third motor of the three-axis robotic arm.

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

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

[0022] The present invention also provides a robot that employs the dual-arm cabinet door opening control method described above, and includes: a base module, a frame module, a Z-axis module, a dual robotic arm module, a display module, and a vision module. The Z-axis module is mounted on the base module via the frame module, the dual robotic arm module is mounted at the front end of the robot via the Z-axis module, and the vision module is mounted above the robotic claws of the dual robotic arm module. The display module is mounted on the frame module via a downwardly tilted mounting bracket and is located at the rear end of the robot. The tops of both the mounting bracket and the display module are lower than the bottom of the dual robotic arm module.

[0023] A further improvement of the present invention is that it also includes a vision module bracket, which is a Z-shaped bracket. The fixed bottom of the Z-shaped bracket is fixedly positioned on the mechanical gripper, and the mounting top of the Z-shaped bracket is used to fix the vision module. The drive motor of the mechanical gripper is located on the back of the Z-shaped bracket and below the mounting top of the Z-shaped bracket. The vision module moves synchronously with the mechanical gripper through the vision module bracket.

[0024] Compared with existing technologies, the advantages of this invention are as follows: First, by calibrating the robot's position through robot vision, the robot's centerline is aligned with the centerline of the cabinet's double doors, providing a basis for optimized control of the subsequent door opening process, and eliminating the need to move the base module; then, the motion radius of the end effector of the first robotic arm relative to the first hinge is calculated based on the acquired first horizontal and first vertical distances; next, combined with the starting position of the first robotic arm, the motion arc of the end effector corresponding to the preset opening angle in the two-dimensional plane is calculated; finally, based on the target waypoint coordinates corresponding to the motion arc, the motor rotation angle of the first robotic arm is calculated, controlling the gripper... The first robotic arm executes its movement based on the target waypoint coordinates and the motor rotation angle. During the movement, it controls the second robotic arm to follow the rebound path of the first cabinet door to prevent the first cabinet door from rebounding and ensure the reliability of opening the cabinet door. When the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle, and the second robotic arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door, so as to fully ensure the accurate and reliable opening of the first cabinet door. Finally, it returns to step S1 and mirrors the process of steps S2 to S5, exchanging the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0025] Therefore, this invention enables a highly efficient cabinet door opening control method using dual-arm collaboration. Through interconnected steps, it achieves the opening of both doors of a storage cabinet or pantry. Furthermore, the steps involved in opening the doors are rationally optimized, effectively improving the accuracy and reliability of the robot's door opening. This method is well-suited to various application environments requiring frequent opening of both cabinet doors for retrieving items, effectively reducing labor costs and improving work efficiency. Based on this, a robot employing this dual-arm-based cabinet door opening control method is further provided. Attached Figure Description

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

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

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

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

[0030] Attached diagram labels: 1-Base module; 2-Frame module; 3-Z-axis module; 4-Dual robotic arm module; 401-Mechanical gripper; 402-Drive motor; 5-Display module; 6-Vision module; 7-Mounting bracket; 8-Vision module bracket; 801-Fixed bottom; 802-Mounted top. Detailed Implementation

[0031] In the description of this invention, if directional descriptions are involved, such as "up," "down," "front," "back," "left," "right," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, it is only for the convenience of describing the invention and simplifying the description, and does 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, and therefore should not be construed as a limitation of the invention. If a technical feature is referred to as "set," "fixed," "connected," or "installed" on another technical feature, it can be directly set, fixed, or connected to the other technical feature, or it can be indirectly set, fixed, connected, or installed on the other technical feature.

[0032] In the description of this invention, the term "several" means one or more; the term "multiple" means two or more; the terms "greater than," "less than," and "exceeding" are all understood to exclude the stated number; and the terms "above," "below," and "within" are all understood to include the stated number. The terms "first," "second," etc., are understood to be used only to distinguish identical or similar technical feature names, and should not be construed as implying / indicating the relative importance of the technical features, the number of technical features, or the sequential relationship between the technical features.

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

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

[0035] Step S1: The robot position is calibrated using robot vision so that the robot's centerline is aligned with the centerline of the cabinet's double doors;

[0036] Step S2: Obtain the first horizontal distance between the first handle of the cabinet and the first hinge, and obtain the first vertical distance between the top of the first handle and the cabinet surface. Calculate the motion radius of the end effector of the first robotic arm relative to the first hinge based on the first horizontal distance and the first vertical distance.

[0037] Step S3: Set the preset opening angle of the first cabinet door, and calculate the motion arc of the end effector of the robotic arm in the two-dimensional plane corresponding to the preset opening angle based on the motion radius and the starting position of the first robotic arm.

[0038] Step S4: Calculate the motor rotation angle of the first robotic arm based on the target waypoint coordinates corresponding to the motion arc, control the first robotic arm to perform the grasping motion according to the target waypoint coordinates and the motor rotation angle, and control the second robotic arm to follow the movement on the rebound path of the first cabinet door during the movement of the first robotic arm.

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

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

[0041] Step S1 in this embodiment is used to calibrate the robot's position. The robot's built-in vision module 6 provides the data foundation, ensuring the robot's centerline aligns with the centerline of the cabinet's double doors. This design provides a better foundation for optimized control of the subsequent door-opening process. By calibrating the robot's position in step S1, it's no longer necessary to move or control the base module 1 when the two arms work together to open the door, effectively simplifying the overall robot control. It also facilitates the second robotic arm's following motion and allows for the mirroring of steps S2 to S5, making the overall control method more reasonable and efficient. While reducing control difficulty, it also effectively ensures control accuracy.

[0042] Preferably, in step S1, a cabinet model corresponding to the cabinet is pre-trained. Based on the cabinet model, the robot's initial position when opening the cabinet door is calibrated using robot vision. This allows for faster and more accurate initial position calibration, ensuring the robot faces forward and that its centerline is directly in front of the centerline between the first and second cabinet doors. Of course, pre-training the cabinet model corresponding to the cabinet is a preferred process in this embodiment and can be implemented using existing deep learning and modeling methods.

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

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

[0045] In this embodiment, step S3 is used to calculate the motion arc of the robotic arm end effector corresponding to the preset opening angle. In step S3, preferably, a preset opening angle for the first cabinet door is first set. This preset opening angle refers to a pre-set cabinet door opening angle, which can be set according to actual conditions and requirements. By default, the preset opening angle in this embodiment is defined as theta, where... This ensures that the cabinet door will not spring back after opening and will not damage the equipment due to an excessive opening angle. Then, based on the motion radius, i.e., based on the first horizontal distance and the first vertical distance, combined with the starting position of the first robotic arm, the motion arc of the robotic arm end effector corresponding to the preset opening angle in the two-dimensional plane is calculated.

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

[0047] Step S301: Set the preset opening angle theta of the first cabinet door. With the starting position of the first robotic arm as the origin, define the direction in which the robot faces the cabinet as the positive x-axis and the left side of the robot as the positive y-axis to obtain the coordinate system of the robotic arm base. The first robotic arm is the robotic arm that performs the grasping action, that is, the robotic arm used to open the current cabinet door (the first cabinet door).

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

[0049] More specifically, in step S302 of this embodiment, the formula is used... and Calculate the motion arc of the end effector of the robotic arm in the coordinate system of the robotic arm base, where, and The coordinates of the target waypoint at time t can be represented as ( , By using the coordinates of the target waypoint at each time point, a complete motion arc can be formed. and ​ The coordinates corresponding to the initial position of the robotic arm's end effector can be represented as ( , r is the radius of the arc of motion. , ω represents the current opening angle of the cabinet; ω is the angular velocity. T represents the total motion time.

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

[0051] Set the current opening angle With the positive y-axis direction defined as 0 rad and clockwise as the positive direction, step S4 in this embodiment preferably includes the following sub-steps:

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

[0053] Step S402, using the formula Calculate the rotation angle z1 of the first motor of the three-axis robotic arm using the formula. Calculate the rotation angle z2 of the second motor of the three-axis robotic arm using the formula. Calculate the rotation angle z3 of the third motor of the three-axis robotic arm.

[0054] When calculating the rotation angles z1, z2, and z3 of the three motors of a three-axis robotic arm, the formula is used. , and The equations are solved. After the solution, the angles corresponding to the rotation angles z1, z2 and z3 of the three motors are sent to the control motors of the three-axis robotic arm to realize the inverse kinematics solution, which can then control the end effector of the robotic arm to reach the target waypoint.

[0055] It is worth noting that in step S4 of this embodiment, during the movement of the first robotic arm, the second robotic arm is also controlled to follow the rebound path of the first cabinet door. Since the movement of the first robotic arm is essentially the process of the first robotic arm grasping the first handle and opening the first cabinet door, the rebound path of the first cabinet door refers to the movement path of the first robotic arm. This movement path can be sent to the second robotic arm during the movement of the first robotic arm to enable the second robotic arm to follow the movement, preventing the first cabinet door from rebounding and ensuring the reliability of the cabinet door opening. In other words, in this embodiment, during the opening of the first cabinet door, not only does the first robotic arm grasp and open the first cabinet door, but the second robotic arm also follows the movement to resist the rebound path of the grasped first cabinet door. Therefore, the existing movement path of the first robotic arm can be utilized, effectively reducing the design precision requirements for the first robotic arm and the robotic gripper 401, and lowering the cost of the robot.

[0056] In step S5 of this embodiment, when the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle. The reason for this design is that if the first robotic arm were to directly open the first cabinet door completely, the required dual-robotic arm module 4 would be quite large, requiring significant space for operation. This would not only be costly but also limit its application scenarios. To avoid this problem and to further ensure the first cabinet door completes the opening action, this embodiment preferably uses a second robotic arm to push the first cabinet door again at the preset opening angle. That is, another robotic arm pushes the first cabinet door, and the second robotic arm, following the movement, completes the final pushing action, thus completing the opening action of the first cabinet door.

[0057] In this embodiment, step S6 is used to implement the mirroring process. That is, the second robotic arm opens the second cabinet door, and the first robotic arm follows suit. In step S6, the process is first returned to step S1, and the process from step S2 to step S5 is mirrored, exchanging the movements of the first and second robotic arms to complete the opening action of the second cabinet door. The specific control method is the same as before.

[0058] It should be noted that in step S6 of this embodiment, during the mirroring process of steps S2 to S5, if the first and second cabinet doors of the cabinet are completely symmetrical, then some data are the same and can be shared. In this case, step S2 is skipped, the positive y-axis direction in step S3 is modified to the right direction of the robot, and the movements of the first and second robotic arms are swapped. This method is suitable for symmetrical double-door cabinets currently on the market. Otherwise, if the data of the first and second cabinet doors are not completely aligned, the process returns to step S2 for recalculation, and the subsequent steps are completed using the same principle.

[0059] As shown in Figures 2 to 4, this embodiment also provides a robot that employs the dual-arm cabinet door opening control method described above, and includes: a base module 1, a frame module 2, a Z-axis module 3, a dual robotic arm module 4, a display module 5, and a vision module 6. The Z-axis module 3 is mounted on the base module 1 via the frame module 2. The dual robotic arm module 4 is mounted at the front end of the robot via the Z-axis module 3. The vision module 6 is mounted above the robotic claw 401 of the dual robotic arm module 4. The display module 5 is mounted on the frame module 2 via a downwardly tilted mounting bracket 7 and is located at the rear end of the robot. The tops of both the mounting bracket 7 and the display module 5 are lower than the bottom of the dual robotic arm module 4.

[0060] It should be noted that the robot described in this embodiment is based on dual-arm collaboration. Its first and second robotic arms are both independently controlled and work collaboratively. Therefore, during debugging or movement, it is inevitable that the robotic arms will move backward, especially when the debugging process is uncontrolled and the trajectory of the robotic arms is uncertain. Therefore, to effectively prevent the dual-arm module 4 from colliding with or damaging the display module 5, and to facilitate better viewing of the content on the display module 5 by the operator, the display module 5 in this embodiment is mounted on the frame module 2 via a downwardly tilted mounting bracket 7, and is positioned at the rear of the robot away from the dual-arm module 4. This efficient and reasonable design allows for spatial offsetting, facilitating operator viewing and effectively preventing the dual-arm module 4 from colliding with the mounting bracket 7 and display module 5 under any circumstances. This ensures the robot's reliable performance and facilitates robot upgrades and maintenance.

[0061] In this embodiment, the base module 1, frame module 2, and Z-axis module 3 are all independent modules. The base module 1 is used to realize the overall motion control; the frame module 2 is used to install the battery pack, control motherboard, and display module 5, etc.; and the Z-axis module 3 is used to provide the mounting base for the dual robotic arm module 4 and the foundation for Z-axis vertical movement to meet the opening requirements of cabinet doors of different heights. The first and second robotic arms of the dual robotic arm module 4 are symmetrically arranged on both sides of the Z-axis module 3. This design clearly results in high flexibility and controllability of the robot.

[0062] More preferably, as shown in Figures 2 to 4, this embodiment further includes a vision module bracket 8. The vision module bracket 8 is a Z-shaped bracket, and the fixed bottom 801 of the Z-shaped bracket is limited and disposed on the mechanical gripper 401. That is, the fixed bottom 801 of the Z-shaped bracket is directly limited and locked onto the mechanical gripper 401 to ensure the reliability of its assembly. The mounting top 802 of the Z-shaped bracket is used to fix the vision module 6. The drive motor 402 of the mechanical gripper 401 is disposed on the back of the Z-shaped bracket and below the mounting top 802 of the Z-shaped bracket. This allows for efficient use of the space on the back of the Z-shaped bracket to install the drive motor 402, so as to control the gripping and releasing of the mechanical gripper 401. This not only effectively reduces the size of the mechanical gripper 401, but also provides support and limitation for the Z-shaped bracket. The vision module 6 moves synchronously with the mechanical gripper 401 through the vision module bracket 8.

[0063] Therefore, it is also worth noting that the vision module 6 described in this embodiment is not mounted on the robot body or Z-axis module 3 as in other robots of the prior art, but is mounted on the mechanical gripper 401 of the dual-arm module 4, and moves synchronously with the mechanical gripper 401 through the vision module bracket 8. The advantage of this design in this embodiment is that the data of the vision module 6 is actually the synchronous data during the movement of the mechanical gripper 401, corresponding to the movement path data of the first or second robotic arm. The synchronization performance is excellent, eliminating the need for complex conversion and processing, thus effectively simplifying the robot's control and facilitating implementation.

[0064] In summary, firstly, this embodiment calibrates the robot's position using robot vision, ensuring the robot's centerline aligns with the centerline of the cabinet's double doors. This provides a foundation for optimized control of the subsequent door-opening process, eliminating the need to move the base module 1. Secondly, based on the acquired first horizontal and first vertical distances, the motion radius of the end effector of the first robotic arm relative to the first hinge is calculated. Next, considering the starting position of the first robotic arm, the motion arc of the end effector corresponding to the preset opening angle in the two-dimensional plane is calculated. Finally, based on the target waypoint coordinates corresponding to the motion arc, the motor rotation angle of the first robotic arm is calculated, controlling the first mechanical arm to perform the grasping action. The robotic arm executes its movement based on the target waypoint coordinates and the motor rotation angle. During the movement, it controls the second robotic arm to follow the rebound path of the first cabinet door to prevent the first cabinet door from rebounding and ensure the reliability of opening the cabinet door. When the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle, and the second robotic arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door, so as to fully ensure the accurate and reliable opening of the first cabinet door. Finally, it returns to step S1 and mirrors the process of steps S2 to S5, exchanging the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

[0065] Therefore, this embodiment utilizes a dual-arm collaborative method to achieve efficient cabinet door opening control. Through interconnected steps, it realizes the opening of both doors of a storage cabinet or pantry. Furthermore, the steps during the opening process are rationally optimized, effectively improving the accuracy and reliability of the robot's cabinet door opening. This method is well-suited to various application environments requiring frequent opening of both cabinet doors for retrieving items, effectively reducing labor costs and improving work efficiency. Based on this, a robot employing this dual-arm-based cabinet door opening control method is further provided.

[0066] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A cabinet door opening control method based on dual arms, characterized in that, Includes the following steps: Step S1: The robot position is calibrated using robot vision so that the robot's centerline is aligned with the centerline of the cabinet's double doors; Step S2: Obtain the first horizontal distance between the first handle of the cabinet and the first hinge, and obtain the first vertical distance between the top of the first handle and the cabinet surface. Calculate the motion radius of the end effector of the first robotic arm relative to the first hinge based on the first horizontal distance and the first vertical distance. Step S3: Set the preset opening angle of the first cabinet door, and calculate the motion arc of the end effector of the robotic arm in the two-dimensional plane corresponding to the preset opening angle based on the motion radius and the starting position of the first robotic arm. Step S4: Calculate the motor rotation angle of the first robotic arm based on the target waypoint coordinates corresponding to the motion arc, control the first robotic arm to perform the grasping motion according to the target waypoint coordinates and the motor rotation angle, and control the second robotic arm to follow the movement on the rebound path of the first cabinet door during the movement of the first robotic arm. Step S5: When the current opening angle of the first cabinet door reaches the preset opening angle, the end effector of the first robotic arm releases the first handle, and the second robotic arm pushes the first cabinet door at the preset opening angle to complete the opening action of the first cabinet door. Step S6: Return to step S1 and mirror the process from step S2 to step S5, swapping the movements of the first robotic arm and the second robotic arm to complete the opening action of the second cabinet door.

2. The cabinet door opening control method based on dual arms according to claim 1, characterized in that, In step S1, the cabinet model corresponding to the cabinet is pre-trained, and the robot's initial position when opening the cabinet door is calibrated by robot vision, so that the robot faces forward and the robot's centerline is located directly in front of the centerline between the first and second cabinet doors.

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

4. The cabinet door opening control method based on dual arms according to claim 3, characterized in that, Step S3 includes the following sub-steps: Step S301: Set the preset opening angle theta of the first cabinet door. With the starting position of the first robotic arm as the origin, define the direction in which the robot faces the cabinet as the positive x-axis and the left side of the robot as the positive y-axis to obtain the robotic arm base coordinate system; the first robotic arm is the robotic arm that performs the grasping action. Step S302: Calculate the offset between the robot arm base coordinate tfBase and the first hinge coordinate tfHinge of the first robot arm, and calculate the motion arc of the robot arm end effector in the robot arm base coordinate system.

5. The cabinet door opening control method based on dual arms according to claim 4, characterized in that, In step S302, the formula is used. and Calculate the motion arc of the end effector of the robotic arm in the coordinate system of the robotic arm base, where, and Here are the coordinates of the target waypoint at time t; and ​ Here, r represents the coordinates of the initial position of the robotic arm's end effector; r is the radius of the motion arc. , ω represents the current opening angle of the cabinet; ω is the angular velocity. T represents the total motion time.

6. The cabinet door opening control method based on dual arms according to claim 5, characterized in that, Step S4 includes the following sub-steps: Step S401, the first robotic arm is a three-axis robotic arm, and the turning angle of the three-axis robotic arm is set. The corresponding arm lengths of the three-axis robotic arm are L1, L2 and L3, and the current target waypoint coordinates are (x, y). Step S402, using the formula Calculate the rotation angle z1 of the first motor of the three-axis robotic arm using the formula. Calculate the rotation angle z2 of the second motor of the three-axis robotic arm using the formula. Calculate the rotation angle z3 of the third motor of the three-axis robotic arm.

7. The cabinet door opening control method based on dual arms according to any one of claims 1 to 6, characterized in that, The preset opening angle is defined as theta, where... .

8. The cabinet door opening control method based on dual arms according to any one of claims 1 to 6, characterized in that, In step S6, during the mirroring process from steps S2 to S5, if the first and second cabinet doors of the cabinet are completely symmetrical, then step S2 is skipped, the positive y-axis direction in step S3 is modified to the right side direction of the robot, and the movements of the first and second robotic arms are swapped; otherwise, step S2 is returned for recalculation.

9. A robot, characterized in that, The method for controlling the opening of a cabinet door based on dual arms, as described in any one of claims 1 to 8, includes: a base module, a frame module, a Z-axis module, a dual robotic arm module, a display module, and a vision module. The Z-axis module is mounted on the base module via the frame module. The dual robotic arm module is mounted at the front end of the robot via the Z-axis module. The vision module is mounted above the robotic claw of the dual robotic arm module. The display module is mounted on the frame module via a downwardly tilted mounting bracket and is located at the rear end of the robot. The tops of both the mounting bracket and the display module are lower than the bottom of the dual robotic arm module.

10. The robot according to claim 9, characterized in that, It also includes a vision module bracket, which is a Z-shaped bracket. The fixed bottom of the Z-shaped bracket is fixed on the mechanical gripper, and the mounting top of the Z-shaped bracket is used to fix the vision module. The drive motor of the mechanical gripper is located on the back of the Z-shaped bracket and below the mounting top of the Z-shaped bracket. The vision module moves synchronously with the mechanical gripper via the vision module support.

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