A cargo identification and grabbing method, device and storage medium

Abstract

The invention discloses a cargo identification and grasping method, which is suitable for cargo identification and grasping equipment. The method includes obtaining the surface of each cargo in a seeding box through a visual system, removing the cargo surface that is vertical or nearly perpendicular to the bottom surface of the seeding box, Sorting the remaining cargo surfaces, generating a sequential cargo surface list, simulating the suction cup at the end of the robotic arm to sweep the sorted cargo surfaces in the cargo surface list one by one, and generating a preliminary grasp that the suction cup can grasp Attitude list, calculate the final grasping attitude according to the preliminary grasping attitude in the preliminary grasping attitude list, and control the mechanical arm to grasp the goods. By adopting the goods identification and grasping method provided by the present invention, the sorting of goods with different shapes and surface materials in the seeding box can be realized efficiently and accurately, which greatly reduces the error rate in the picking process, and can greatly improve the Provides productivity.

Description

technical field [0001] The invention relates to the technical field of warehouse picking operations, in particular to a method, device and storage medium for identifying and grabbing goods. Background technique [0002] In the prior art, the picking of warehouse goods is generally carried out manually. The specific process is: the warehouse management system generates an order, and the order has information such as shelf number, product model, and weight. The trolley of the box goes to the designated shelf for picking. [0003] However, the method of purely manual picking of goods is adopted, and after picking, they are uniformly transported to the sowing area for sorting, so that the mixed goods in the seeding box can be re-corresponded to each customer order, which is prone to human errors, and the work efficiency also depends on people. different. Contents of the invention [0004] In view of this, the object of the present invention is to provide a method, device and...

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Problems solved by technology

[0003] However, the method of purely manual picking of goods is adopted, and after picking, they are uniformly transported to the sowing area for sorting, so that the mixed goods in the seeding box can be re-corresponded to each customer order, which is prone to human errors, and the work efficiency also depends on people. different

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