CN113538582B - Method, device, computer equipment and medium for determining workpiece grabbing sequence - Google Patents
Method, device, computer equipment and medium for determining workpiece grabbing sequence Download PDFInfo
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- CN113538582B CN113538582B CN202110821080.7A CN202110821080A CN113538582B CN 113538582 B CN113538582 B CN 113538582B CN 202110821080 A CN202110821080 A CN 202110821080A CN 113538582 B CN113538582 B CN 113538582B
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- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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Abstract
The invention discloses a method, a device, computer equipment and a medium for determining a workpiece grabbing sequence, wherein the method comprises the following steps: acquiring a material frame point cloud to be grabbed, and presetting a preferential grabbing area according to the material frame point cloud; identifying and acquiring a plurality of workpiece point clouds in a material frame; and acquiring the position information of a plurality of workpiece point clouds, screening out the workpieces positioned in the preferential grabbing areas based on the position information of each workpiece point cloud, and determining the grabbing sequence of the workpieces positioned in the preferential grabbing areas based on the position information of the plurality of workpiece point clouds, so that the workpieces positioned in the appointed areas and better in position can be grabbed preferentially, and the grabbing stability is ensured.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for determining a workpiece grabbing sequence, a computer device, and a medium.
Background
With the development of the age, 3D vision technology is increasingly used in industrial automation sorting scenes for sorting workpieces. The method for determining the grabbing sequence of the workpieces is that the detected workpieces are arranged from high to low according to the positions of the workpieces, and the workpieces with the highest positions are grabbed when grabbed, and the premise of the method is that the higher the positions, the less the possibility that the workpieces interfere with other workpieces when grabbed, and the situation that the other workpieces are brought up when grabbed is generally avoided.
In the prior art, most of the problems can be solved, but due to the existence of a material frame, a mechanical arm is easy to collide with the material frame when the workpiece close to the corner position of the material frame is grabbed, so that the grabbing stability and reliability are affected, and when the texture of the workpiece is fragile, the workpiece is extremely easy to damage.
Therefore, how to avoid grabbing the workpiece at the corner position, and to grab the workpiece close to the center of the material frame preferentially becomes the current urgent problem to be solved.
Disclosure of Invention
The invention aims to provide a method, a device, computer equipment and a medium for determining a workpiece grabbing sequence, which are used for solving the problem of poor workpiece grabbing stability caused by the fact that workpieces close to the center of a material frame cannot be grabbed preferentially in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for determining a gripping order of a workpiece, including the steps of:
Acquiring a material frame point cloud to be grabbed, and presetting a preferential grabbing area according to the material frame point cloud;
identifying and acquiring a plurality of workpiece point clouds in a material frame;
And acquiring position information of a plurality of workpiece point clouds, screening out the workpieces positioned in the preferential grabbing areas based on the position information of each workpiece point cloud, and determining the grabbing sequence of the workpieces positioned in the preferential grabbing areas based on the position information of the plurality of workpiece point clouds.
Further, the obtaining the material frame point cloud to be grabbed and presetting a preferential grabbing area according to the material frame point cloud specifically includes:
Determining an initial determination equation of a preferential grabbing area according to the material frame point cloud;
Defining a virtual workpiece, solving the initial determination equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determination equation obtained after the solution; and if the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the virtual workpiece is set to be the same as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumcircle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the initial determination equation is:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame and b represents half the width of the frame; fa. fb is any one of values 1 to 10, and the frame coordinate system is a coordinate system with the center of the frame as an origin.
Further, the solving the initial determined equation based on the virtual workpiece is specifically:
acquiring initial values of fa and fb;
And adjusting the fa and the fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust the fa and the fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as the grabbing area determination equation.
Preferably, each time the fa and fb are adjusted in such a way as to increase the preset value;
or, the fa and fb are adjusted each time in such a way as to increase the preset ratio.
Further, the step of acquiring the position information of the plurality of workpiece point clouds, and after screening the workpieces located in the preferential grabbing area based on the position information of each workpiece point cloud, determining the grabbing order of the workpieces located in the preferential grabbing area based on the position information of the plurality of workpiece point clouds specifically includes:
acquiring position information of a plurality of workpiece point clouds, wherein the position information comprises height information of the workpiece point clouds and plane coordinates of the workpiece point clouds;
and after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds, determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds.
In a second aspect, the present invention further provides a device for determining a gripping order of workpieces, including:
the device comprises a priority grabbing area determining module, a priority grabbing area determining module and a control module, wherein the priority grabbing area determining module is used for acquiring a material frame point cloud to be grabbed and presetting a priority grabbing area according to the material frame point cloud;
the point cloud identification module is used for identifying and acquiring a plurality of workpiece point clouds in the material frame;
the grabbing order determining module is used for obtaining the position information of the workpiece point clouds, screening out the workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds, and determining the grabbing order of the workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds.
Further, the preferential grabbing area determining module specifically includes:
the initial equation determining unit is used for determining an initial determining equation of the preferential grabbing area according to the material frame point cloud;
The grabbing area determining unit is used for defining a virtual workpiece, solving the initial determining equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determining equation obtained after the solving; and if the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the virtual workpiece is set to be the same as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumcircle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the initial determination equation is:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame and b represents half the width of the frame; fa. fb is any one of values 1 to 10, and the frame coordinate system is a coordinate system with the center of the frame as an origin.
Further, in the grasping area determining unit, the solving the initial determining equation based on the virtual workpiece is specifically:
acquiring initial values of fa and fb;
And adjusting the fa and the fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust the fa and the fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as the grabbing area determination equation.
Preferably, each time the fa and fb are adjusted in such a way as to increase the preset value;
or, the fa and fb are adjusted each time in such a way as to increase the preset ratio.
Further, the grabbing order determining module specifically includes:
A position obtaining unit, configured to obtain position information of a plurality of workpiece point clouds, where the position information includes height information of the workpiece point clouds and plane coordinates of the workpiece point clouds;
And the sequence determining unit is used for determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds.
In a third aspect, the invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any one of the methods described above when the computer program is executed.
In a fourth aspect, the invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the methods described above.
Compared with the prior art, the method, the device, the computer equipment and the medium for determining the workpiece grabbing sequence provided by the invention have the advantages that firstly, the preferential grabbing area which is not positioned at the corner of the material frame is determined, then, the position information of each workpiece is acquired, the workpieces positioned in the preferential grabbing area are determined according to the position information of each workpiece, and finally, the workpiece grabbing sequence is ordered according to the position information of each workpiece positioned in the preferential grabbing area, so that a reasonable workpiece grabbing sequence is determined, when a plurality of grabable workpieces exist, the workpieces which are positioned in the appointed area and have better positions are preferentially grabbed, and because the workpieces have smaller possibility of interference with other workpieces in the material frame and the material frame, the risk during each grabbing can be effectively reduced, and the stability is improved.
Meanwhile, after the workpiece is grabbed according to the method disclosed by the invention, the workpiece at the corner of the material frame is grabbed finally, and as other workpieces are grabbed, the possibility that the workpiece at the corner is blocked by other workpieces is reduced, and the grabbing stability is effectively improved.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for determining a workpiece gripping order in accordance with the present invention;
FIG. 2 is a schematic view illustrating a frame coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a preferred embodiment of the present invention;
FIG. 4 is a schematic view showing the structure of an embodiment of the apparatus for determining the gripping order of a workpiece according to the present invention;
Fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.
Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items. In the drawings, the thickness, size and shape of the object have been slightly exaggerated for convenience of explanation. The figures are merely examples and are not drawn to scale.
It will be further understood that the terms "comprises," "comprising," "includes," "including," "having," "containing," and/or "including," when used in this specification, specify the presence of stated features, steps, integers, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, integers, operations, elements, components, and/or groups thereof.
The terms "substantially," "about," and the like as used in the specification are used as terms of approximation, not as terms of degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by one of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example 1
As shown in fig. 1, the invention discloses a method for determining a workpiece grabbing sequence, which comprises the following steps:
S100, acquiring a material frame point cloud to be grabbed, and presetting a preferential grabbing area according to the material frame point cloud;
s200, identifying and acquiring a plurality of workpiece point clouds in a material frame;
s300, acquiring position information of a plurality of workpiece point clouds, screening out workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds, and determining grabbing sequences of the workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds.
According to the method, the device, the computer equipment and the medium for determining the workpiece grabbing sequence, the preferential grabbing areas which are not at the corners of the material frame are firstly determined, then the position information of each workpiece is obtained, the workpieces in the preferential grabbing areas are determined according to the position information of each workpiece, and finally the workpiece grabbing sequence is ordered according to the position information of each workpiece in the preferential grabbing areas, so that a reasonable workpiece grabbing sequence is determined, when a plurality of grabpable workpieces exist, the workpieces which are located in the designated areas and have better positions are grabbed preferentially, and because the possibility of interference between the workpieces and other workpieces and the material frame in the material frame is small, the risk in each grabbing process can be effectively reduced, and the stability is improved.
Meanwhile, after the workpiece is grabbed according to the method disclosed by the invention, the workpiece at the corner of the material frame is grabbed finally, and as other workpieces are grabbed, the possibility that the workpiece at the corner is blocked by other workpieces is reduced, and the grabbing stability is effectively improved.
In a preferred embodiment, the step S100 specifically includes:
Determining an initial determination equation of a preferential grabbing area according to the material frame point cloud;
Defining a virtual workpiece, solving the initial determination equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determination equation obtained after the solution; wherein the virtual workpiece is positioned at any corner of the material frame.
In this embodiment, in order to avoid grabbing workpieces near the corners of the material frame, a preferential grabbing area is provided, where the preferential grabbing area is an area for removing the boundary of the material frame, when the workpieces are grabbed, only the workpieces located in the preferential grabbing area are grabbed, and the workpieces outside the preferential grabbing area are automatically removed, so that grabbing stability can be ensured, when no workpieces exist in the preferential grabbing area, the grabbing is finished, and the next grabbing operation is performed again in step S100.
Further, in order to determine a preferential grabbing area, the preferential grabbing area corresponds to a material frame, and in the embodiment of the present invention, an initial determining equation of the preferential grabbing area is determined according to a material frame point cloud, specifically, the length L and the width W of a material frame are obtained according to the material frame point cloud, as shown in fig. 2, and then, after a material frame coordinate system is established, the initial determining equation is obtained, where the initial determining equation is specifically:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame, i.e. a=l/2, b represents half the width of the frame, i.e. b=w/2; fa. fb are the length coefficient and the width coefficient of the preferential grabbing area, fa and fb are any one of values 1 to 10, and the frame coordinate system is a coordinate system taking the center of the frame as an origin.
When the subsequent grabbing is performed, for the point cloud of the workpiece, if the coordinates (X, Y) of the point cloud belong to a preferential grabbing area R, namely (X, Y) epsilon R, the workpiece corresponding to the position is positioned in the preferential grabbing area R; if (X, Y) is located outside the preferential grabbing area R, i.eThe corresponding workpiece is located outside the preferential grabbing area R.
The preferential grabbing area R may be an elliptical shape, a prismatic shape, or the like, which satisfies the constraint condition, as the fa and fb values are different. Therefore, on the basis of the initial determination equation, the invention also needs to determine the optimal preferential grabbing area according to the size of the actual workpiece.
Specifically, the embodiment of the invention is provided with a virtual workpiece positioned at any corner of the material frame, a final grabbing area determining equation is determined by whether the virtual workpiece is in contact with an area determined by the solved initial determining equation, and then a preferential grabbing area is determined according to the grabbing area determining equation. The virtual workpiece is arranged in the same way as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumcircle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
In a specific embodiment, the solving the initial determination equation based on the virtual workpiece is specifically:
acquiring initial values of fa and fb;
And adjusting the fa and the fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust the fa and the fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as the grabbing area determination equation.
In the present embodiment, the setting criteria of the coefficients fa, fb are such that the boundary of the priority gripping region R is in contact with the boundary of the virtual workpiece located at the corner of the frame. Therefore, the initial values of fa and fb are set first, for example, fa and fb are set to 1 as shown by the innermost broken line in fig. 3, and then fa and fb are adjusted stepwise, and if the area determined by the equation obtained after adjustment is in contact with the virtual workpiece, the corresponding area is considered to be the priority gripping area R, otherwise, the adjustment is continued until the area determined by the equation obtained after adjustment is in contact with the virtual workpiece. It should be noted that, the contact with the virtual workpiece in the embodiment of the present invention should be understood as the contact with the maximum circumcircle of the virtual workpiece, so as to ensure the rationality of the preferential grabbing area R. For example, in fig. 3, when fa and fb are both 3, the area determined by the equation is in contact with the virtual workpiece, and at this time, the equation determined by fa and fb is considered to be the grasping area determining equation when fa and fb are both 3, and the area determined by this equation is the optimal grasping area.
In further embodiments, in adjusting fa and fb, the adjustments can be made in a variety of ways to find the optimal fa and fb.
Specifically, in the first embodiment of adjusting fa and fb, each time fa and fb are adjusted by increasing the preset value, in a specific implementation, fa and fb are increased by the same value each time, for example, each time fa and fb are increased by 0.01, and finally contact with the workpiece is achieved.
In a second embodiment of adjusting fa and fb, the fa and fb are adjusted each time in a manner to increase the preset ratio. In practice, fa and fb are increased in the same proportion each time, for example, the values of fa and fb are increased by 10% each time, and finally contact with a workpiece is achieved.
In a preferred embodiment, in the step S200, the workpiece to be sorted and the material frame are photographed at the same time by an industrial camera, so as to obtain a plurality of point clouds; then, the point cloud is identified based on a template matching technology, and the point cloud is identified by using SeizetPicking software 3D template matching functions in the embodiment. Preferably, in order to ensure accuracy of point cloud matching, after the original point cloud is obtained, the original point cloud is further cut in the embodiment, so that the point cloud can be more accurately identified. In one embodiment, as shown in fig. 2, an industrial camera is first used to photograph a material frame and workpieces in the material frame, and then a discharge frame and a plurality of workpieces, namely a material frame, a workpiece 1, a workpiece 2, a workpiece 3, a workpiece 4 and a workpiece 5, are identified from the randomly placed workpieces.
It should be noted that, the method for determining the gripping sequence of the workpieces in the embodiment of the present invention aims at identifying the scenes of a plurality of workpieces, and when only one workpiece is identified, the workpieces are not required to be ordered any more, and only the identified workpiece is required to be gripped. In addition, due to the influence of shooting environment, shooting angle or other factors, when the original point cloud is acquired by using an industrial camera, the situation that the workpiece cannot be identified may occur, at this time, the workpiece point cloud is acquired again by adjusting the shooting angle or the polishing angle of the camera, and then the determination of the grabbing sequence is performed.
In a preferred embodiment, the step S300 specifically includes:
acquiring position information of a plurality of workpiece point clouds, wherein the position information comprises height information of the workpiece point clouds and plane coordinates of the workpiece point clouds;
and after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds, determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds.
In this embodiment, first, the height information and the plane coordinates of the point cloud of the workpiece are obtained, wherein, for the sake of calculation, the plane coordinates are preferably coordinates of the center of the point cloud of the workpiece under a frame coordinate system, and then the workpiece located in the preferential grabbing area is screened out according to the plane coordinates. In particular, the method comprises the steps of,
When (when)When the workpiece (X, Y) is in the preferential grabbing area, it should be noted that the preferential grabbing area in the embodiment of the invention should include the edge of the preferential grabbing area;
When (when) When the workpiece (X, Y) is outside the preferential grabbing area, namely the workpiece is at the corner of the material frame, the workpiece is directly screened out.
After the screening is finished, the grabbing sequence of the workpieces in the preferential grabbing area can be determined according to the height information of each workpiece point cloud, for example, five workpiece point clouds are obtained, the coordinates are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4) and (X5, Y5), the workpieces are ordered from high to low according to the height, the workpieces are ordered from high to low to be H3> H2> H5> H1> H4, after the workpieces are screened, the workpieces 1, 3 and 5 are located in the area R, the workpieces 2 and 4 are located outside the area R, the grabbing sequence is the workpiece 3> workpiece 5> workpiece 1> workpiece 2> workpiece 4, and the workpiece 3 is regarded as the workpiece to be grabbed at the moment.
For a better understanding of the present invention, the following description of the technical solution of the present invention will be given with reference to fig. 1 to 3 by way of a specific embodiment:
The method for determining the grabbing sequence of the workpiece comprises the following steps:
step one: photographing the material frame and the workpieces in the material frame by an industrial camera;
Step two: identifying and acquiring a material frame point cloud and a plurality of workpiece point clouds, when the material frame point cloud or the workpiece point clouds are not identified, re-executing the first step after adjusting the shooting angle of the industrial camera, when only one workpiece point cloud is identified, grabbing the identified workpiece, otherwise, executing the third step;
as shown in fig. 2, 5 workpieces 1,2, 3, 4, and 5 are identified.
Step three: acquiring position information of a plurality of workpiece point clouds;
In this embodiment, the height information and the plane coordinates of the centers of the five workpiece point clouds are acquired, the heights are H1, H2, H3, H4, and H5, and the plane coordinates are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), and (X5, Y5), respectively.
Step four: and after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds, determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds.
The preferential grabbing area R is preset, and for different material frames, the shapes and the sizes of the preferential grabbing areas R are different, for example, the preferential grabbing areas R can be elliptical, prismatic and other shapes meeting constraint conditions.
In this embodiment, it is determined whether (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) are located in the preset preferential grabbing area R, if the workpieces 1,3, 5 are located in the area R, the workpieces 2, 4 are located outside the area R, at this time, the workpieces 2, 4 are screened out, sorting is performed according to the height information of the workpieces 1,3, 5, if H3> H5> H1, the grabbing order of the workpieces located in the preferential grabbing area is that the workpiece 3> workpiece 5> workpiece 1, if it is determined that no workpiece is located in the area R, the flow is ended, and the next grabbing determination is continued in step S2.
In this embodiment, after grabbing the workpiece with the highest priority, the first step is executed after photographing again.
Example two
As shown in fig. 4, the present invention also discloses a device 10 for determining a gripping order of workpieces, including:
The preferential grabbing area determining module 11 is used for acquiring a material frame point cloud to be grabbed and presetting a preferential grabbing area according to the material frame point cloud;
a point cloud identifying module 12, configured to identify and acquire a plurality of workpiece point clouds in a material frame;
the gripping order determining module 13 is configured to obtain position information of a plurality of workpiece point clouds, screen out workpieces located in the preferential gripping area based on the position information of each workpiece point cloud, and determine a gripping order of the workpieces located in the preferential gripping area based on the position information of the plurality of workpiece point clouds.
In this embodiment, first, a preferential grabbing area not at the corner of the material frame is determined, then, the position information of each workpiece is obtained, the workpieces located in the preferential grabbing area are determined according to the position information of each workpiece, and finally, the workpiece grabbing sequence is ordered according to the position information of each workpiece located in the preferential grabbing area, so that a reasonable workpiece grabbing sequence is determined, when a plurality of grabable workpieces exist, the workpieces located in the designated area and with better positions are grabbed preferentially, and because the possibility that the workpieces interfere with other workpieces in the material frame and the material frame is small, the risk during each grabbing can be effectively reduced, and the stability is improved.
Meanwhile, after the workpiece is grabbed according to the method disclosed by the invention, the workpiece at the corner of the material frame is grabbed finally, and as other workpieces are grabbed, the possibility that the workpiece at the corner is blocked by other workpieces is reduced, and the grabbing stability is effectively improved.
Further, the preferential grabbing area determining module specifically includes:
the initial equation determining unit is used for determining an initial determining equation of the preferential grabbing area according to the material frame point cloud;
The grabbing area determining unit is used for defining a virtual workpiece, solving the initial determining equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determining equation obtained after the solving; and if the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the virtual workpiece is set to be the same as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumcircle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area.
Further, the initial determination equation is:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame and b represents half the width of the frame; fa. fb is any one of values 1 to 10, and the frame coordinate system is a coordinate system with the center of the frame as an origin.
Further, in the grasping area determining unit, the solving the initial determining equation based on the virtual workpiece is specifically:
acquiring initial values of fa and fb;
And adjusting the fa and the fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust the fa and the fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as the grabbing area determination equation.
Preferably, the fa and fb are adjusted each time in such a way as to increase the preset value.
Or, the fa and fb are adjusted each time in such a way as to increase the preset ratio.
Further, the grabbing order determining module specifically includes:
A position obtaining unit, configured to obtain position information of a plurality of workpiece point clouds, where the position information includes height information of the workpiece point clouds and plane coordinates of the workpiece point clouds;
And the sequence determining unit is used for determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds.
Example III
Fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack-mounted server, a blade server, a tower server, or a rack-mounted server (including an independent server or a server cluster formed by multiple servers), which may execute a program. The computer device 20 of the present embodiment includes at least, but is not limited to: a memory 21, a processor 22, which may be communicatively coupled to each other via a system bus, as shown in fig. 5. It should be noted that fig. 5 only shows a computer device 20 having components 21-22, but it should be understood that not all of the illustrated components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the memory 21 (i.e., readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), the memory 21 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. Of course, the memory 21 may also include both internal storage units of the computer device 20 and external storage devices. In the present embodiment, the memory 21 is typically used to store an operating system installed in the computer device 20 and various types of application software, such as program codes of a determining device of the work gripping order in the method embodiment. Further, the memory 21 may be used to temporarily store various types of data that have been output or are to be output.
Processor 22 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 22 is generally used to control the overall operation of the computer device 20. In the present embodiment, the processor 22 is configured to execute the program code or the processing data stored in the memory 21, for example, execute the determining device 11 for the workpiece gripping order, so as to implement the method for determining the workpiece gripping order in the method embodiment.
Example IV
The present application also provides a computer readable storage medium such as a flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored that when executed by a processor performs a corresponding function. The computer-readable storage medium of the present embodiment is for storing program code of the determining means of the work gripping order, which when executed by the processor implements the method of determining the work gripping order in the method embodiment.
It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (5)
1. A method for determining a workpiece grabbing sequence is characterized by comprising the following steps of: the method comprises the following steps:
Acquiring a material frame point cloud to be grabbed, and presetting a preferential grabbing area according to the material frame point cloud;
identifying and acquiring a plurality of workpiece point clouds in a material frame;
Acquiring position information of a plurality of workpiece point clouds, screening out workpieces positioned in the preferential grabbing areas based on the position information of the workpiece point clouds, and determining grabbing sequences of the workpieces positioned in the preferential grabbing areas based on the position information of the workpiece point clouds;
the step of obtaining the material frame point cloud to be grabbed and presetting a preferential grabbing area according to the material frame point cloud specifically comprises the following steps:
Determining an initial determination equation of a preferential grabbing area according to the material frame point cloud;
Defining a virtual workpiece, solving the initial determination equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determination equation obtained after the solution; the virtual workpiece is positioned at any corner of the material frame, and if the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the virtual workpiece, the corresponding grabbing area is a preferential grabbing area;
The virtual workpiece is arranged in the same way as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumscribed circle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area;
The initial determination equation is:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame and b represents half the width of the frame; fa. fb is any one value from 1 to 10, and the coordinate system of the material frame is a coordinate system taking the center of the material frame as an origin;
The solving of the initial determination equation based on the virtual workpiece is specifically as follows:
acquiring initial values of fa and fb;
adjusting fa and fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust fa and fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as a grabbing area determination equation;
The fa and fb are adjusted each time in a way of increasing a preset value;
or, the fa and fb are adjusted each time in such a way as to increase the preset ratio.
2. The method of determining a gripping order of a workpiece according to claim 1, wherein: the method comprises the steps of obtaining position information of a plurality of workpiece point clouds, screening out workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds, and determining grabbing orders of the workpieces located in the preferential grabbing areas based on the position information of the workpiece point clouds, wherein the grabbing orders are specifically as follows:
acquiring position information of a plurality of workpiece point clouds, wherein the position information comprises height information of the workpiece point clouds and plane coordinates of the workpiece point clouds;
and after the workpieces in the preferential grabbing areas are screened out based on the plane coordinates of the workpiece point clouds, determining the grabbing sequence of the workpieces in the preferential grabbing areas based on the height information of the workpiece point clouds.
3. The utility model provides a confirming device of work piece snatch order which characterized in that: comprising the following steps:
the device comprises a priority grabbing area determining module, a priority grabbing area determining module and a control module, wherein the priority grabbing area determining module is used for acquiring a material frame point cloud to be grabbed and presetting a priority grabbing area according to the material frame point cloud;
the point cloud identification module is used for identifying and acquiring a plurality of workpiece point clouds in the material frame;
the grabbing order determining module is used for obtaining the position information of the workpiece point clouds, screening out the workpieces in the preferential grabbing area based on the position information of each workpiece point cloud, and determining the grabbing order of the workpieces in the preferential grabbing area based on the position information of the workpiece point clouds;
the preferential grabbing area determining module specifically comprises:
the initial equation determining unit is used for determining an initial determining equation of the preferential grabbing area according to the material frame point cloud;
The grabbing area determining unit is used for defining a virtual workpiece, solving the initial determining equation based on the virtual workpiece, and determining a preferential grabbing area according to the grabbing area determining equation obtained after the solving; the virtual workpiece is positioned at any corner of the material frame, and if the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the virtual workpiece, the corresponding grabbing area is a preferential grabbing area;
The virtual workpiece is arranged in the same way as the actual workpiece to be grabbed, and when the boundary of the grabbing area determined by the grabbing area determining equation is contacted with the maximum circumscribed circle corresponding to the virtual workpiece, the corresponding grabbing area is a preferential grabbing area;
Further, the initial determination equation is:
wherein R represents a preferential grabbing area, and (X, Y) is satisfied under a frame coordinate system A represents half the length of the frame and b represents half the width of the frame; fa. fb is any one value from 1 to 10, and the coordinate system of the material frame is a coordinate system taking the center of the material frame as an origin;
In the grabbing area determining unit, the solving the initial determining equation based on the virtual workpiece specifically includes:
acquiring initial values of fa and fb;
adjusting fa and fb, judging whether the area determined by the adjusted initial determination equation is contacted with the virtual workpiece, if so, taking the adjusted initial determination equation as a grabbing area determination equation, and if not, continuing to adjust fa and fb until the adjusted initial determination equation is contacted with the virtual workpiece, and taking the finally adjusted equation as a grabbing area determination equation;
The fa and fb are adjusted each time in a way of increasing a preset value;
or, the fa and fb are adjusted each time in such a way as to increase the preset ratio.
4. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized by: the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 2.
5. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program implementing the steps of the method of any one of claims 1 to 2 when executed by a processor.
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| CN117422862A (en) * | 2023-10-23 | 2024-01-19 | 网易（杭州）网络有限公司 | Mining point recommendation method, device, equipment and medium based on multi-sensor fusion |
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