CN-118106952-B - Control method for automatic grabbing button lifting weight, mechanical arm and robot

CN118106952BCN 118106952 BCN118106952 BCN 118106952BCN-118106952-B

Abstract

The invention belongs to the technical field of weight transportation, and particularly relates to a control method, a robot arm and a robot for automatically grabbing a button lifting weight, wherein a button body of the button lifting is used as a grabbing area, a weight three-dimensional contour is obtained under a robot coordinate, weight characteristic marking points are searched from top to bottom based on three-dimensional geometric size characteristics of the weight surface contour, and identifying the button cap and the weight main body of the lifting button, positioning the lifting button body of the weight to the space gesture and the position, identifying the weight mark graph of the weight main body, judging the weight grade of the weight, and finally grabbing the grabbing area by controlling the tentacles on the robot arm. The intelligent level, safety and conveying efficiency of grabbing and lifting button weights are improved.

Inventors

WU WEIXIN
DONG GUANGXIAN
ZHOU SEN
ZHANG WEN

Assignees

重庆市计量质量检测研究院

Dates

Publication Date: 20260512
Application Date: 20231219

Claims (7)

1. The control method for automatically grabbing the button lifting weight is characterized by comprising the following steps of taking a button body of a button lifting body as a grabbing area, firstly identifying a button cap and a weight main body of the button lifting body, then identifying the grabbing area according to the geometric dimension relation among the button cap, the button body and the weight main body, and controlling a tentacle on a robot arm to grab the grabbing area; controlling a laser scanner on the robot arm to perform laser scanning on the button lifting weight from top to bottom to identify the button cap and the weight main body; The laser scanning method comprises the steps of controlling a laser scanner to rotate downwards from a horizontal line higher than a button lifting weight to scan, and sequentially acquiring characteristic points on a button cap And characteristic points on the weight body Coordinates of the feature points Namely, the laser point with the minimum value in the Y-axis direction identified from the laser points with the maximum value in the Z-axis direction, the characteristic point Namely, a laser spot having a maximum value in the Z-axis direction identified from among laser spots having a minimum value in the Y-axis direction; According to the characteristic points And feature points The coordinates of the characteristic point c on the button body are calculated according to the following formula: In the formula, Representing feature points Coordinate values on the X-axis; Representing feature points Coordinate values on the Z axis; Representing feature points Coordinate values on the Z axis; Indicating the radius of the button cap; Representing the distance from the feature point in the Y-axis direction The distance coefficient to the feature point c, ; Representing the secondary feature points The distance coefficient to the feature point c, 。
2. The method for controlling automatic grabbing button weights according to claim 1, wherein, , 。
3. The control method of automatic grabbing and button lifting weights according to claim 1, wherein the radius of the button cap is automatically obtained by And distance coefficient : Generating a laser image according to the point cloud data formed by the laser points obtained by scanning the weight, analyzing character information in the laser image by an image recognition algorithm to obtain weight types or weight weights, and inquiring a weight type-weight size mapping table or a weight-weight size mapping table according to the weight types or weight weights to obtain the radius of the button cap And distance coefficient 。
4. The control method of automatic grabbing and button lifting weights according to claim 1, wherein a laser image is generated according to point cloud data consisting of laser points obtained by scanning weights, text information in the laser image is analyzed through an image recognition algorithm to obtain weight, and when the tentacles on the robot arm are judged to be unable to bear the weight, replacement of the tentacles is prompted.
5. The control method of automatic grabbing button weights according to claim 1, wherein the feeler is a two-finger parallel feeler that opens and closes along the X-axis direction, and the root of the two-finger parallel feeler that controls the open state moves to a position that is kept a safe distance from the characteristic point c in the Y-axis direction At the moment, the coordinate value of the root of the tentacle is 。
6. The mechanical arm is characterized by comprising a controller, wherein the controller is provided with a weight grabbing program for executing the control method for automatically grabbing the button lifting weight according to any one of claims 1-5.
7. A robot comprising a carrier chassis, wherein the carrier chassis is provided with the mechanical arm according to claim 6.

Description

Control method for automatic grabbing button lifting weight, mechanical arm and robot Technical Field The invention belongs to the technical field of weight conveying, and particularly relates to a control method for automatically grabbing and lifting a button weight, a robot arm and a robot. Background The button lifting weight is widely used and comprises a weight main body, a lifting button is connected to the top of the weight main body and comprises a button body and a button cap, the button body is connected with the weight main body, the top of the button body is connected with the button cap, and the diameter of the button body is smaller than that of the button cap so that a concave area is formed by the button body relative to the button cap and the weight main body. At present, in different operational environment sites, for carrying button weight, because the button body is the sunken state, inconvenient discernment generally uses weight main part or button cap as the region of gripping to adopt artifical or semi-operation machine mode to realize carrying in most, intelligent level is lower, and the human cost is higher. In addition, friction, collision and the like are easily generated during the transportation, so that the weight required for high-precision use may cause irrecoverable loss. Disclosure of Invention The invention provides a control method for automatically grabbing a button lifting weight, which improves the intelligent level of grabbing the button lifting weight. The control method of the automatic grabbing button lifting weight comprises the following steps that a button body of a lifting button is used as a grabbing area, a button cap and a weight main body of the lifting button are firstly identified, then the grabbing area is identified according to the geometric dimension relation among the button cap, the button body and the weight main body, and a tentacle on a robot arm is controlled to grab the grabbing area. Further, a laser scanner on the control robot arm scans the button lifting weight from top to bottom to identify the button cap and the weight main body. The laser scanning method comprises the steps of setting up a three-axis vertical coordinate system by taking the lower end of a mechanical arm as an origin, setting the Y-axis direction as the stretching direction of the mechanical arm, and controlling a laser scanner to rotate downwards from a horizontal line higher than a button lifting weight to scan, wherein coordinates of a characteristic point a on a button cap and a characteristic point b on a weight main body are sequentially obtained, the characteristic point a is a laser point with the minimum value in the Y-axis direction, which is identified from laser points with the maximum value in the Z-axis direction, and the characteristic point b is a laser point with the maximum value in the Z-axis direction, which is identified from laser points with the minimum value in the Y-axis direction. Further, coordinates of a feature point c on the button body are calculated according to coordinates of the feature point a and the feature point b, and the following formula is adopted: Where X a denotes a coordinate value of the feature point a on the X-axis, Z a denotes a coordinate value of the feature point a on the Z-axis, Z b denotes a coordinate value of the feature point b on the Z-axis, R denotes a radius of the knob cap, k 1 denotes a distance coefficient from the feature point a to the feature point c in the Y-axis direction, k 1>1;k2 denotes a distance coefficient from the feature point b to the feature point c, and k 2 >1. Further, k 1＝2,k2 =2. Further, the radius R and the distance coefficient k 1 of the button cap are automatically obtained by the following method: Generating a laser image according to the point cloud data formed by the laser points obtained by scanning the weight, analyzing text information in the laser image by an image recognition algorithm to obtain the weight model or weight, and inquiring a weight model-weight size mapping table or a weight-weight size mapping table according to the weight model or weight to obtain the radius R and the distance coefficient k 1 of the button cap. Further, a laser image is generated according to point cloud data formed by laser points obtained by scanning the weight, text information in the laser image is analyzed through an image recognition algorithm to obtain weight, and when the tentacles on the robot arm cannot bear the weight, replacement of the tentacles is prompted. Further, the tentacles are two-finger parallel tentacles which are opened and closed along the X-axis direction, the root parts of the two-finger parallel tentacles in an opened state are controlled to move to a position which keeps a safe distance l from the characteristic point c in the Y-axis direction, and at the moment, the coordinate value of the root parts of the tentacles is (X c,yc-l,zc). The invention also provides a mec