CN114407011B - Special-shaped workpiece grabbing planning method, planning device and special-shaped workpiece grabbing method - Google Patents
Special-shaped workpiece grabbing planning method, planning device and special-shaped workpiece grabbing method Download PDFInfo
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- CN114407011B CN114407011B CN202210004305.4A CN202210004305A CN114407011B CN 114407011 B CN114407011 B CN 114407011B CN 202210004305 A CN202210004305 A CN 202210004305A CN 114407011 B CN114407011 B CN 114407011B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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Abstract
The application provides a special-shaped workpiece grabbing planning method and device, and a special-shaped workpiece grabbing method and system, wherein the special-shaped workpiece grabbing planning method comprises the following steps: acquiring and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image; calculating to obtain the total offset of the grabbing tool according to the mask drawing of the special-shaped workpiece and the bounding box information of the mask drawing; and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset plan. The application can plan the grabbing path of the grabbing tool, thereby grabbing the special-shaped workpiece stably and effectively.
Description
Technical Field
The application belongs to the field of robot grabbing planning, and particularly relates to a special-shaped workpiece grabbing planning method and device, a special-shaped workpiece grabbing method and system.
Background
With the development of artificial intelligence technology, the application scene of the robot is more and more complex. For example, robots are required to be capable of autonomously performing gripping and carrying operations instead of manpower in the industries such as logistics and industrial production.
At present, when a robot is used for grabbing a workpiece on a production line, the camera is used for acquiring image data of the workpiece, then the workpiece is positioned in an image processing mode, a grabbing planning scheme is established, and finally an end effector is used for grabbing. However, there are several disadvantages to this robotic vision gripping method of the prior art. For example, the robotic vision gripping method first does not define the final gripping pose of the end effector. Secondly, for special-shaped workpieces with complex structural characteristics, the robot is difficult to accurately position the grabbing points of the special-shaped workpieces, only can roughly grab the special-shaped workpieces, and the workpieces are easy to damage. Finally, when a common clamping jaw actuator or a sucking disc actuator is used for grabbing the special-shaped workpiece with complex structural characteristics, the workpiece is easy to slide down due to unstable grabbing.
Disclosure of Invention
The application provides a special-shaped workpiece grabbing planning method and device, a special-shaped workpiece grabbing method and system, and aims to overcome the problems existing in the related technology at least to a certain extent.
According to a first aspect of an embodiment of the present application, the present application provides a method for gripping and planning a special-shaped workpiece, including the following steps:
acquiring and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
calculating to obtain the total offset of the grabbing tool according to the mask drawing of the special-shaped workpiece and the bounding box information of the mask drawing;
and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset plan.
In the above method for grabbing and planning the special-shaped workpiece, the specific process of obtaining the mask map of the special-shaped workpiece and the bounding box information of the mask map comprises the following steps:
acquiring an original image of the special-shaped workpiece by using a camera;
processing an original image of the special-shaped workpiece by using an image processing algorithm to obtain a mask image of the special-shaped workpiece and a center point of the mask image under a camera pixel coordinate system;
and processing the mask map of the special-shaped workpiece to obtain a bounding box of the mask map and an included angle between the main direction of the bounding box and a horizontal axis in a camera pixel coordinate system.
Further, the specific process of calculating the total offset of the gripping tool according to the mask map of the special-shaped workpiece and the bounding box information of the mask map is as follows:
presetting an initial position of a grabbing tool; the initial position of the grabbing tool is as follows: the center point of the grabbing tool is located right above the center point of the mask image of the special-shaped workpiece under the camera pixel coordinate system; the center point of the cross section of each tail end in the grabbing tool is located right above a straight line which is coplanar with and perpendicular to the main direction of the bounding box;
calculating a first offset of the gripping tool from the initial position to when the gripping tool is circumscribed with the bounding box;
calculating a second offset of the grabbing tool from when the grabbing tool is circumscribed with the bounding box to when the grabbing tool is circumscribed with the special-shaped workpiece;
and obtaining the total offset of the grabbing tool from the initial position to the moment of circumscribed special-shaped workpieces according to the first offset and the second offset.
Furthermore, in the grasping path of the grasping tool obtained according to the initial position of the grasping tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system, and the total offset plan, the grasping path of the grasping tool in the camera pixel coordinate system is:
the gripping tool is rotated until its main direction coincides with the main direction of the bounding box; each end of the gripping tool is moved a total offset distance toward the profiled workpiece.
Further, when the gripping tool adopts a four-finger clamping jaw with three degrees of freedom, the specific process of calculating the first offset of the gripping tool from the initial position to the moment of being circumscribed with the bounding box is as follows:
the initial offset between the center point of each finger cross section in the preset four-finger clamping jaw and the central axis of the main direction of the bounding box is m respectively 1 、m 2 、m 3 、m 4 ；
Assuming that the center point of the cross section of each finger is A when the four-finger clamping jaw is at the initial position 01 (x 01 ,y 01 )、A 02 (x 02 ,y 02 )、A 03 (x 03 ,y 03 )、A 04 (x 04 ,y 04 ) The method comprises the steps of carrying out a first treatment on the surface of the The center point of each finger cross section of the four-finger clamping jaw when the four-finger clamping jaw is circumscribed with the bounding box G is A respectively 1 (x 1 ,y 1 )、A 2 (x 2 ,y 2 )、A 3 (x 3 ,y 3 )、A 4 (x 4 ,y 4 ) The first offset amounts of the four-finger clamping jaw from the initial position to the moment of being circumscribed with the bounding box are respectively as follows:
where r represents the radius of the cross section of each finger of the four-finger jaw, and w represents the length of the side of the bounding box perpendicular to its main direction.
Further, when the gripping tool adopts a four-finger clamping jaw with three degrees of freedom, the specific process of calculating the second offset of the gripping tool from the moment of circumscribed with the bounding box to the moment of circumscribed with the special-shaped workpiece is as follows:
taking the center point of the mask diagram under the camera pixel coordinate system as an origin, making a straight line along the main direction of the bounding box, and respectively making a straight line perpendicular to the straight line on the straight line, wherein the distance between the straight line and the origin is +/-l/2; the straight line and four intersection points with the mask graph are approximate grabbing points of the four-finger clamping jaw; wherein l represents the distance between the center points of the cross sections of two fingers in the length direction in the four-finger clamping jaw;
setting the center point of the cross section of each finger as B when each finger in the four-finger clamping jaw is tangential to the mask drawing at the approximate grabbing point 1 (x′ 1 ,y′ 1 )、B 2 (x′ 2 ,y′ 2 )、B 3 (x′ 3 ,y′ 3 )、B 4 (x′ 4 ,y′ 4 ) The second offset of the four-finger clamping jaw from the moment of circumscribed connection with the bounding box to the moment of circumscribed connection with the special-shaped workpiece is respectively as follows:
furthermore, when the gripping tool adopts the four-finger clamping jaw with three degrees of freedom, the total offset of the gripping tool from the initial position to the circumscribed position of the special-shaped workpiece is obtained according to the first offset and the second offset, and the total offset of the four-finger clamping jaw from the initial position to the circumscribed position of the special-shaped workpiece is respectively as follows:
m 1 -w/2-r+p 1 、m 2 -w/2-r+p 2 、m 3 -w/2-r+p 3 、m 4 -w/2-r+p 4 。
according to a second aspect of the embodiment of the present application, the present application further provides a grabbing and planning system based on the method for grabbing and planning a special-shaped workpiece according to any one of the above embodiments, where the grabbing and planning system includes an image processing module, a total offset calculation module, and a path planning module;
the image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
the total offset calculation module is used for calculating the total offset of the grabbing tool according to the mask graph of the special-shaped workpiece and the bounding box information of the mask graph;
the path planning module is used for planning and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset.
According to a third aspect of the embodiment of the present application, the present application further provides a method for gripping a special-shaped workpiece, including the following steps:
a robot for grabbing the special-shaped workpiece is arranged, and an end effector of the robot is a three-degree-of-freedom four-finger clamping jaw;
the method comprises the steps of obtaining and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image, wherein the specific process is as follows:
acquiring an original image of the special-shaped workpiece by using a camera; processing the original image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
according to the mask diagram of the special-shaped workpiece and the bounding box information of the mask diagram, calculating to obtain the total offset of the three-degree-of-freedom four-finger clamping jaw, wherein the specific process is as follows:
presetting an initial position of a four-finger clamping jaw;
calculating a first offset of the four-finger clamping jaw from an initial position to the moment of being circumscribed with the bounding box;
calculating a second offset of the grabbing tool from when the grabbing tool is circumscribed with the bounding box to when the grabbing tool is circumscribed with the special-shaped workpiece;
obtaining the total offset of the four-finger clamping jaw from the initial position to the circumscribed position of the special-shaped workpiece according to the first offset and the second offset;
planning to obtain a grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset;
converting the coordinates of the center point of the mask map under the camera pixel coordinate system into the robot coordinate system;
and sending an included angle between the main direction of the bounding box and a horizontal axis in a camera pixel coordinate system and a total offset when the four-finger clamping jaw is circumscribed from the initial position to the special-shaped workpiece to the robot, and controlling the four-finger clamping jaw to grasp the special-shaped workpiece by the robot.
According to a fourth aspect of the embodiment of the application, the application further provides a special-shaped workpiece grabbing system based on the special-shaped workpiece grabbing method, which comprises a camera and a robot, wherein the camera is used for acquiring an original image of the special-shaped workpiece; the robot is provided with an image processing module, a total offset calculation module, a path planning module, a coordinate transformation module and a control module; the end effector of the robot adopts a three-degree-of-freedom four-finger clamping jaw;
the image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
the total offset calculation module is used for calculating the total offset of the four-finger clamping jaw according to the mask diagram of the special-shaped workpiece and the bounding box information of the mask diagram;
the path planning module is used for planning and obtaining a grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset;
the coordinate transformation module is used for transforming the coordinates of the central point of the mask map under the camera pixel coordinate system to the robot coordinate system;
the control module is used for controlling the four-finger clamping jaw to clamp the special-shaped workpiece along the grabbing path of the four-finger clamping jaw from the center point of the mask drawing under the robot coordinate system.
According to the above specific embodiments of the present application, at least the following advantages are achieved: according to the method for grabbing and planning the special-shaped workpiece, the images of the special-shaped workpiece are acquired and processed, so that a mask diagram of the special-shaped workpiece and bounding box information of the mask diagram are obtained; further calculating to obtain the total offset of the grabbing tool; and then the grabbing path of the grabbing tool is planned according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset, and the grabbing path of the grabbing tool can be planned, so that the special-shaped workpiece can be effectively grabbed.
According to the method for grabbing the special-shaped workpiece, the planned grabbing path is sent to the robot, and the robot can control the end effector to grab the special-shaped workpiece stably and effectively according to the planned path.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the application, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a special-shaped workpiece according to an embodiment of the present application.
Fig. 2 is a flowchart of a method for grabbing and planning a special-shaped workpiece according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a three-degree-of-freedom four-finger clamping jaw in a method for grabbing and planning a special-shaped workpiece according to an embodiment of the application.
Fig. 4 is a schematic diagram of a relative positional relationship between a special-shaped workpiece and a bounding box in a method for grabbing and planning the special-shaped workpiece according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a stress state of a system for gripping a special-shaped workpiece according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The special-shaped workpiece refers to a workpiece which is different from a workpiece with a regular shape. As shown in fig. 1, such workpieces tend to be difficult to find a pose that can be effectively grasped. The existing image processing method outputs only the position information of the workpiece, but the grabbing position is which point on the workpiece is not accurate. In addition, the common two-degree-of-freedom clamping jaw or sucking disc for the special-shaped workpiece cannot stably grasp, and the workpiece is easy to slide.
Aiming at the problem that a special-shaped workpiece cannot be effectively grabbed, in order to improve the grabbing stability of the special-shaped workpiece, the embodiment of the application provides a special-shaped workpiece grabbing planning method and device, a special-shaped workpiece grabbing method and system.
As shown in fig. 2, the method for grabbing and planning the special-shaped workpiece provided by the embodiment of the application comprises the following steps:
s1, acquiring and processing images of a special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image, wherein the specific process is as follows:
s11, acquiring an original image of the special-shaped workpiece.
Specifically, the camera may be utilized to acquire an original image of the profiled workpiece. The camera can be arranged above the special-shaped workpiece so as to shoot the special-shaped workpiece, thereby obtaining an original image of the special-shaped workpiece.
S12, processing an original image of the special-shaped workpiece, wherein the specific process is as follows:
and processing the original image of the special-shaped workpiece by using a Blob image processing algorithm or a deep learning image processing algorithm to obtain a mask image S of the special-shaped workpiece and a center point O (x, y) of the mask image S under a camera pixel coordinate system.
And processing the mask map S of the special-shaped workpiece by using a PCA (Principal Component Analysis) algorithm or an external rectangular algorithm to obtain a bounding box G of the mask map S and an included angle theta between the main direction of the bounding box G and a horizontal axis in a camera pixel coordinate system. The side of the bounding box G perpendicular to the main direction is a broadside, and the length of the broadside is w; the side parallel to the main direction in the bounding box G is a long side, and the length of the long side is h.
The grabbing gesture of the grabbing tool can be determined by acquiring various information such as a mask, a position, a bounding box, an angle and the like of the special-shaped workpiece.
S2, calculating to obtain the total offset of the grabbing tool according to the mask diagram of the special-shaped workpiece and bounding box information of the mask diagram, wherein the specific process is as follows:
s21, presetting an initial position of a grabbing tool;
the initial position of the gripping tool is: the center point of the grabbing tool is located right above the center point O (x, y) of the mask image S of the special-shaped workpiece under the camera pixel coordinate system. The centre point of the cross section of each end in the gripping tool is located directly above a straight line coplanar and perpendicular to the main direction of the bounding box G.
S22, calculating a first offset of the grabbing tool from the initial position to the position when the grabbing tool is circumscribed with the bounding box G.
S23, calculating a second offset of the grabbing tool from the moment of being circumscribed with the bounding box G to the moment of being circumscribed with the special-shaped workpiece.
The tail end of the grabbing tool can grab the special-shaped workpiece when the grabbing tool is circumscribed with the special-shaped workpiece.
S24, obtaining the total offset of the grabbing tool from the initial position to the moment when the special-shaped workpiece is circumscribed according to the first offset and the second offset.
And S3, obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle theta between the main direction of the bounding box G and the horizontal axis in the camera pixel coordinate system and the total offset plan.
Specifically, the grabbing path of the grabbing tool under the camera pixel coordinate system is:
the gripping tool is rotated by an angle θ from the initial position such that the main direction of the gripping tool coincides with the main direction of the bounding box. Each tail end of the grabbing tool moves a total offset distance to the special-shaped workpiece so as to grab the special-shaped workpiece.
In this embodiment, as shown in fig. 3, the gripping tool may be a robot with an end effector, and the end effector may be a three-finger jaw with three degrees of freedom, a four-finger jaw with three degrees of freedom, a five-finger jaw with three degrees of freedom, a six-finger jaw with three degrees of freedom, or the like. Specifically, three degrees of freedom refer to the degree of freedom of the shaped workpiece in the transverse direction and the degree of freedom in the longitudinal direction.
As shown in fig. 4, when the end effector employs a four-finger jaw with three degrees of freedom, the specific process of step S21 is as follows:
the initial position of the preset three-degree-of-freedom four-finger clamping jaw is as follows: the center point of the four-finger clamping jaw is located right above the center point O (x, y) of the mask image S of the special-shaped workpiece under the camera pixel coordinate system, the length direction of the four-finger clamping jaw is consistent with the main direction of the bounding box G, and the center point of each finger cross section in the four-finger clamping jaw is located right above a straight line which is coplanar with and perpendicular to the main direction of the bounding box G.
As shown in fig. 4, when the end effector employs four-finger clamping jaws with three degrees of freedom, the specific process of step S22 is as follows:
the initial offset between the center point of each finger cross section in the preset four-finger clamping jaw and the central axis of the main direction of the bounding box G is m respectively 1 、m 2 、m 3 、m 4 。
Assuming that the center point of the cross section of each finger is A when the four-finger clamping jaw is at the initial position 01 (x 01 ,y 01 )、A 02 (x 02 ,y 02 )、A 03 (x 03 ,y 03 )、A 04 (x 04 ,y 04 ) The method comprises the steps of carrying out a first treatment on the surface of the The center point of each finger cross section of the four-finger clamping jaw when the four-finger clamping jaw is circumscribed with the bounding box G is A respectively 1 (x 1 ,y 1 )、A 2 (x 2 ,y 2 )、A 3 (x 3 ,y 3 )、A 4 (x 4 ,y 4 ) The center point of each finger cross section corresponds to the center point of each finger clamping jaw at the initial positionThe distance between the center points of the cross sections of the four-finger clamping jaws when the four-finger clamping jaws are circumscribed with the bounding box G, namely, the first offset amounts of the four-finger clamping jaws from the initial position to the moment when the four-finger clamping jaws are circumscribed with the bounding box G are respectively as follows:
wherein r represents the cross-sectional radius of each finger of the four-finger clamping jaw.
As shown in fig. 4, when the end effector employs four-finger clamping jaws with three degrees of freedom, the specific process of step S23 is as follows:
taking the center point O (x, y) of the mask image S under the camera pixel coordinate system as an origin, making a straight line along the main direction of the bounding box G, and respectively making a straight line L perpendicular to the straight line on the straight line with a distance of + -L/2 from the origin 1 And L 2 . Straight line L 1 And L 2 The four intersection points with the mask drawing S are approximate grabbing points of the four-finger clamping jaw.
Setting the center point of the cross section of each finger as B when each finger in the four-finger clamping jaw is tangential to the mask drawing S at an approximate grabbing point 1 (x′ 1 ,y′ 1 )、B 2 (x′ 2 ,y′ 2 )、B 3 (x′ 3 ,y′ 3 )、B 4 (x′ 4 ,y′ 4 ) The distance that the four-finger clamping jaw moves from circumscribed with the surrounding box G to the approximate grabbing point is the second offset of the four-finger clamping jaw from circumscribed with the surrounding box G to circumscribed with the special-shaped workpiece, and the second offset is respectively:
as shown in fig. 4, when the end effector employs four-finger clamping jaws with three degrees of freedom, the specific process of step S24 is as follows:
the total offset of the four-finger clamping jaw from the initial position to the circumscribed condition of the special-shaped workpiece is respectively as follows:
m 1 -w/2-r+p 1 、m 2 -w/2-r+p 2 、m 3 -w/2-r+p 3 、m 4 -w/2-r+p 4 。
as shown in fig. 4, when the end effector employs four-finger clamping jaws with three degrees of freedom, the specific process of step S3 is as follows:
the four-finger clamping jaw rotates by an angle theta from an initial position, and each finger of the four-finger clamping jaw moves to the special-shaped workpiece by a corresponding total offset to grasp the special-shaped workpiece.
The application further provides a grabbing and planning device for the special-shaped workpiece, which comprises an image processing module, a total offset calculation module and a path planning module.
The image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and surrounding box G information of the mask image.
The total offset calculation module is used for calculating the total offset of the grabbing tool according to the mask graph of the special-shaped workpiece and the bounding box information of the mask graph;
and the path planning module is used for planning and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box G and the horizontal axis in the camera pixel coordinate system and the total offset.
It should be noted that: the special-shaped workpiece grabbing and planning device provided in the above embodiment is only exemplified by the division of each program module, and in practical application, the processing allocation can be completed by different program modules according to needs, namely, the internal structure of the special-shaped workpiece grabbing and planning device is divided into different program modules so as to complete all or part of the processing described above. In addition, the special-shaped workpiece grabbing and planning device and the special-shaped workpiece grabbing and planning method provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the special-shaped workpiece grabbing and planning device and the special-shaped workpiece grabbing and planning method are detailed in the method embodiments and are not repeated here.
As shown in fig. 4, the application further provides a method for grabbing a special-shaped workpiece, which comprises the following steps:
s10, arranging a robot for grabbing the special-shaped workpiece, wherein an end effector of the robot is a three-degree-of-freedom four-finger clamping jaw. The distance between the center points of the cross sections of two fingers in the length direction in the four-finger clamping jaw is l, and the radius of the cross section of each finger is r.
S20, acquiring and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image, wherein the specific process is as follows:
s201, acquiring an original image of the special-shaped workpiece by using a camera.
Specifically, as shown in fig. 3, a camera may be installed above the shaped workpiece so as to photograph the shaped workpiece, thereby obtaining an original image of the shaped workpiece.
S202, processing an original image of the special-shaped workpiece, wherein the specific process is as follows:
and processing the original image of the special-shaped workpiece by using a Blob image processing algorithm or a deep learning image processing algorithm to obtain a mask image S of the special-shaped workpiece and a center point O (x, y) of the mask image S under a camera pixel coordinate system.
And processing the mask map S of the special-shaped workpiece by using a PCA (Principal Component Analysis) algorithm or an external rectangular algorithm to obtain a bounding box G of the mask map S and an included angle theta between the main direction of the bounding box G and a horizontal axis in a camera pixel coordinate system. The side of the bounding box G perpendicular to the main direction is a wide side w, and the side of the bounding box G parallel to the main direction is a long side h.
S30, calculating the total offset of the three-degree-of-freedom four-finger clamping jaw according to the mask diagram of the special-shaped workpiece and the surrounding box G information of the mask diagram, wherein the specific process is as follows:
s301, presetting an initial position of a four-finger clamping jaw;
the initial position of the three-degree-of-freedom four-finger clamping jaw is as follows: the center point of the four-finger clamping jaw is located right above the center point of the mask image S of the special-shaped workpiece under the camera pixel coordinate system, the length direction of the four-finger clamping jaw is consistent with the main direction of the bounding box G, and the center point of each finger cross section in the four-finger clamping jaw is located right above a straight line which is coplanar with and perpendicular to the main direction of the bounding box G.
S302, calculating a first offset of the four-finger clamping jaw from an initial position to the moment of being circumscribed with the bounding box G, wherein the specific process is as follows:
the initial offset between the center point of each finger cross section in the preset four-finger clamping jaw and the central axis of the main direction of the bounding box G is m respectively 1 、m 2 、m 3 、m 4 。
Assuming that the center point of the cross section of each finger is A when the four-finger clamping jaw is at the initial position 01 (x 01 ,y 01 )、A 02 (x 02 ,y 02 )、A 03 (x 03 ,y 03 )、A 04 (x 04 ,y 04 ) The method comprises the steps of carrying out a first treatment on the surface of the The center point of each finger cross section of the four-finger clamping jaw when the four-finger clamping jaw is circumscribed with the bounding box G is A respectively 1 (x 1 ,y 1 )、A 2 (x 2 ,y 2 )、A 3 (x 3 ,y 3 )、A 4 (x 4 ,y 4 ) The distance between the center point of each finger cross section of the four-finger clamping jaw at the initial position and the center point of each finger cross section of the corresponding four-finger clamping jaw when the four-finger clamping jaw is circumscribed with the bounding box G is the first offset of the four-finger clamping jaw from the initial position to the moment when the four-finger clamping jaw is circumscribed with the bounding box G, and the first offset is respectively as follows:
wherein r represents the cross-sectional radius of each finger of the four-finger clamping jaw.
S303, calculating a second offset of the grabbing tool from when the grabbing tool is circumscribed with the bounding box G to when the grabbing tool is circumscribed with the special-shaped workpiece, wherein the specific process is as follows:
taking the center point O (x, y) of the mask image S under the camera pixel coordinate system as an origin, making a straight line along the main direction of the bounding box G, and respectively making a straight line L perpendicular to the straight line on the straight line with a distance of + -L/2 from the origin 1 And L 2 . Straight line L 1 And L 2 The four intersection points with the mask drawing S are approximate grabbing points of the four-finger clamping jaw.
Four fingers are usedThe center point of the cross section of each finger is set as B when each finger in the clamping jaw is tangential to the mask drawing S and is approximate to the grabbing point 1 (x′ 1 ,y′ 1 )、B 2 (x′ 2 ,y′ 2 )、B 3 (x′ 3 ,y′ 3 )、B 4 (x′ 4 ,y′ 4 ) The distance that the four-finger clamping jaw moves from circumscribed with the surrounding box G to the approximate grabbing point is the second offset of the four-finger clamping jaw from circumscribed with the surrounding box G to circumscribed with the special-shaped workpiece, and the second offset is respectively:
when the four-finger clamping jaw is circumscribed with the special-shaped workpiece, namely, the tail end of the four-finger clamping jaw can grasp the special-shaped workpiece.
S304, obtaining total offset of the four-finger clamping jaw from the initial position to the circumscribed special-shaped workpiece according to the first offset and the second offset, wherein the total offset is respectively as follows:
m 1 -w/2-r+p 1 、m 2 -w/2-r+p 2 、m 3 -w/2-r+p 3 、m 4 -w/2-r+p 4 。
and S40, planning to obtain a grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box G and the horizontal axis in the camera pixel coordinate system and the total offset.
Specifically, the grabbing path of the four-finger clamping jaw under the camera pixel coordinate system is as follows:
the four-finger clamping jaw rotates by an angle theta from an initial position, and each pointing direction of the four-finger clamping jaw moves by a corresponding total offset amount to grasp the special-shaped workpiece.
S50, converting the coordinates of the center point of the mask image S under the camera pixel coordinate system into the robot coordinate system, wherein the specific process is as follows:
s501, converting a camera pixel coordinate system into a robot coordinate system;
the coordinate system conversion formula is:
wherein,,representing a coordinate matrix in the robot coordinate system, < > and->Representing the coordinate matrix in the camera pixel coordinate system, R representing the matrix for parameters a, a ', b, b ', M representing the matrix for parameters c and c '.
The 4 known coordinates (X 1 ,Y 1 )、(X 2 ,Y 2 )、(X 3 ,Y 3 )、(X 4 ,Y 4 ) And the coordinate system conversion formula is carried out, so that the following steps are obtained:
and->
Parameters a, a ', b, b ', c, c ' are calculated to obtain matrices R and M.
S502, according to the matrixes R and M, converting the coordinates of the center point O (x, y) of the mask map S under the camera pixel coordinate system into the robot coordinate system.
S60, sending an included angle theta between the main direction of the bounding box G and a horizontal axis in a camera pixel coordinate system and a total offset when the four-finger clamping jaw is circumscribed from the initial position to the special-shaped workpiece to the robot, and controlling the four-finger clamping jaw to grasp the special-shaped workpiece by the robot.
As shown in fig. 5, according to the method for capturing the special-shaped workpiece provided by the embodiment of the application, the application further provides a special-shaped workpiece capturing system, which comprises a camera 1 and a robot 2, wherein the camera 1 is used for acquiring an original image of the special-shaped workpiece; the robot is provided with an image processing module, a total offset calculation module, a path planning module, a coordinate transformation module and a control module. The end effector of the robot employs three degree of freedom four finger jaws 21.
The image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and surrounding box G information of the mask image.
And the total offset calculation module is used for calculating the total offset of the four-finger clamping jaw according to the mask diagram of the special-shaped workpiece and the bounding box information of the mask diagram.
And the path planning module is used for planning and obtaining the grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box G and the horizontal axis in the camera pixel coordinate system and the total offset.
And the coordinate transformation module is used for transforming the coordinates of the central point of the mask map under the camera pixel coordinate system into the robot coordinate system.
The control module is used for controlling the four-finger clamping jaw to clamp the special-shaped workpiece along the grabbing path of the four-finger clamping jaw from the center point of the mask drawing under the robot coordinate system.
It should be noted that: the special-shaped workpiece grabbing system provided in the above embodiment is only exemplified by the division of the program modules, and in practical application, the processing allocation can be completed by different program modules according to needs, that is, the internal structure of the robot in the special-shaped workpiece grabbing system is divided into different program modules so as to complete all or part of the processing described above. In addition, the special-shaped workpiece grabbing system provided in the above embodiment and the special-shaped workpiece grabbing method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
The application can effectively solve the problem that the special-shaped workpiece is not easy to grasp, and can remarkably improve the grasping stability of the special-shaped workpiece.
The embodiments of the application described above may be implemented in various hardware, software code or a combination of both. For example, embodiments of the present application may also be program code for performing the above-described methods in a data signal processor. The application may also relate to various functions performed by a computer processor, a digital signal processor, a microprocessor, or a field programmable gate array. The processor described above may be configured in accordance with the present application to perform specific tasks by executing machine readable software code or firmware code that defines the specific methods disclosed herein. The software code or firmware code may be developed in different programming languages and in different formats or forms. The software code may also be compiled for different target platforms. However, the different code patterns, types and languages of software code and other types of configuration code that perform tasks according to the application do not depart from the spirit and scope of the application.
The foregoing is merely illustrative of the embodiments of this application and any equivalent and equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this application.
Claims (9)
1. The special-shaped workpiece grabbing and planning method is characterized by comprising the following steps of:
acquiring and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
according to the mask graph of the special-shaped workpiece and bounding box information of the mask graph, calculating to obtain the total offset of the grabbing tool, wherein the method comprises the following specific processes:
presetting an initial position of a grabbing tool; the initial position of the grabbing tool is as follows: the center point of the grabbing tool is located right above the center point of the mask image of the special-shaped workpiece under the camera pixel coordinate system; the center point of the cross section of each tail end in the grabbing tool is located right above a straight line which is coplanar with and perpendicular to the main direction of the bounding box;
calculating a first offset of the gripping tool from the initial position to when the gripping tool is circumscribed with the bounding box;
calculating a second offset of the grabbing tool from when the grabbing tool is circumscribed with the bounding box to when the grabbing tool is circumscribed with the special-shaped workpiece;
obtaining the total offset of the grabbing tool from the initial position to the moment when the special-shaped workpiece is circumscribed according to the first offset and the second offset;
and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset plan.
2. The method for grabbing and planning a special-shaped workpiece according to claim 1, wherein the specific process of obtaining and processing the image of the special-shaped workpiece to obtain the mask map of the special-shaped workpiece and the bounding box information of the mask map is as follows:
acquiring an original image of the special-shaped workpiece by using a camera;
processing an original image of the special-shaped workpiece by using an image processing algorithm to obtain a mask image of the special-shaped workpiece and a center point of the mask image under a camera pixel coordinate system;
and processing the mask map of the special-shaped workpiece to obtain a bounding box of the mask map and an included angle between the main direction of the bounding box and a horizontal axis in a camera pixel coordinate system.
3. The method for gripping and planning a special-shaped workpiece according to claim 1, wherein the gripping path of the gripping tool is obtained according to the initial position of the gripping tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system, and the total offset plan, and the gripping path of the gripping tool under the camera pixel coordinate system is:
the gripping tool is rotated until its main direction coincides with the main direction of the bounding box; each end of the gripping tool is moved a total offset distance toward the profiled workpiece.
4. The method for gripping and planning a special-shaped workpiece according to claim 1, wherein when the gripping tool adopts a four-finger clamping jaw with three degrees of freedom, the specific process of calculating the first offset of the gripping tool from the initial position to the moment of being circumscribed with the bounding box is as follows:
the initial offset between the center point of each finger cross section in the preset four-finger clamping jaw and the central axis of the main direction of the bounding box is m respectively 1 、m 2 、m 3 、m 4 ；
Assuming that the center point of the cross section of each finger is A when the four-finger clamping jaw is at the initial position 01 (x 01 ,y 01 )、A 02 (x 02 ,y 02 )、A 03 (x 03 ,y 03 )、A 04 (x 04 ,y 04 ) The method comprises the steps of carrying out a first treatment on the surface of the The center point of each finger cross section of the four-finger clamping jaw when the four-finger clamping jaw is circumscribed with the bounding box G is A respectively 1 (x 1 ,y 1 )、A 2 (x 2 ,y 2 )、A 3 (x 3 ,y 3 )、A 4 (x 4 ,y 4 ) The first offset amounts of the four-finger clamping jaw from the initial position to the moment of being circumscribed with the bounding box are respectively as follows:
where r represents the radius of the cross section of each finger of the four-finger jaw, and w represents the length of the side of the bounding box perpendicular to its main direction.
5. The method for gripping and planning a special-shaped workpiece according to claim 4, wherein when the gripping tool adopts a four-finger clamping jaw with three degrees of freedom, the specific process of calculating the second offset of the gripping tool from the moment of circumscribed cutting with the bounding box to the moment of circumscribed cutting with the special-shaped workpiece is as follows:
taking the center point of the mask diagram under the camera pixel coordinate system as an origin, making a straight line along the main direction of the bounding box, and respectively making a straight line perpendicular to the straight line on the straight line, wherein the distance between the straight line and the origin is +/-l/2; the straight line and four intersection points with the mask graph are approximate grabbing points of the four-finger clamping jaw; wherein l represents the distance between the center points of the cross sections of two fingers in the length direction in the four-finger clamping jaw;
setting the center point of the cross section of each finger as B when each finger in the four-finger clamping jaw is tangential to the mask drawing at the approximate grabbing point 1 (x′ 1 ,y′ 1 )、B 2 (x′ 2 ,y′ 2 )、B 3 (x′ 3 ,y′ 3 )、B 4 (x′ 4 ,y′ 4 ) The second offset of the four-finger clamping jaw from the moment of circumscribed connection with the bounding box to the moment of circumscribed connection with the special-shaped workpiece is respectively as follows:
6. the method for gripping and planning a special-shaped workpiece according to claim 5, wherein when the gripping tool adopts four-finger gripping claws with three degrees of freedom, the total offset of the gripping tool from the initial position to the external cutting of the special-shaped workpiece is obtained according to the first offset and the second offset, and the total offset of the four-finger gripping claws from the initial position to the external cutting of the special-shaped workpiece is respectively:
m 1 -w/2-r+p 1 、m 2 -w/2-r+p 2 、m 3 -w/2-r+p 3 、m 4 -w/2-r+p 4 。
7. a gripping and planning device based on the method for gripping and planning the special-shaped workpiece according to any one of claims 1 to 6, which is characterized by comprising an image processing module, a total offset calculation module and a path planning module;
the image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
the total offset calculation module is used for calculating the total offset of the grabbing tool according to the mask graph of the special-shaped workpiece and the bounding box information of the mask graph;
the path planning module is used for planning and obtaining a grabbing path of the grabbing tool according to the initial position of the grabbing tool, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset.
8. The method for grabbing the special-shaped workpiece is characterized by comprising the following steps of:
a robot for grabbing the special-shaped workpiece is arranged, and an end effector of the robot is a three-degree-of-freedom four-finger clamping jaw; the distance between the center points of the cross sections of two fingers in the length direction in the four-finger clamping jaw is l, and the radius of the cross section of each finger is r;
the method comprises the steps of obtaining and processing images of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image, wherein the specific process is as follows:
acquiring an original image of the special-shaped workpiece by using a camera; processing the original image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
according to the mask diagram of the special-shaped workpiece and the bounding box information of the mask diagram, calculating to obtain the total offset of the three-degree-of-freedom four-finger clamping jaw, wherein the specific process is as follows:
presetting an initial position of a four-finger clamping jaw;
calculating a first offset of the four-finger clamping jaw from an initial position to the moment of being circumscribed with the bounding box;
calculating a second offset of the grabbing tool from when the grabbing tool is circumscribed with the bounding box to when the grabbing tool is circumscribed with the special-shaped workpiece;
obtaining the total offset of the four-finger clamping jaw from the initial position to the circumscribed position of the special-shaped workpiece according to the first offset and the second offset;
planning to obtain a grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset;
converting the coordinates of the center point of the mask map under the camera pixel coordinate system into the robot coordinate system;
and sending an included angle between the main direction of the bounding box and a horizontal axis in a camera pixel coordinate system and a total offset when the four-finger clamping jaw is circumscribed from the initial position to the special-shaped workpiece to the robot, and controlling the four-finger clamping jaw to grasp the special-shaped workpiece by the robot.
9. A special-shaped workpiece grabbing system based on the special-shaped workpiece grabbing method as claimed in claim 8, and comprising a camera and a robot, wherein the camera is used for acquiring an original image of the special-shaped workpiece; the robot is provided with an image processing module, a total offset calculation module, a path planning module, a coordinate transformation module and a control module; the end effector of the robot adopts a three-degree-of-freedom four-finger clamping jaw;
the image processing module is used for acquiring and processing the image of the special-shaped workpiece to obtain a mask image of the special-shaped workpiece and bounding box information of the mask image;
the total offset calculation module is used for calculating the total offset of the four-finger clamping jaw according to the mask diagram of the special-shaped workpiece and the bounding box information of the mask diagram;
the path planning module is used for planning and obtaining a grabbing path of the four-finger clamping jaw according to the initial position of the four-finger clamping jaw, the included angle between the main direction of the bounding box and the horizontal axis in the camera pixel coordinate system and the total offset;
the coordinate transformation module is used for transforming the coordinates of the central point of the mask map under the camera pixel coordinate system to the robot coordinate system;
the control module is used for controlling the four-finger clamping jaw to clamp the special-shaped workpiece along the grabbing path of the four-finger clamping jaw from the center point of the mask drawing under the robot coordinate system.
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