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Picking control method, device and equipment and computer readable storage medium

A control method and technology for controlling requests, applied in the fields of equipment and computer-readable storage media, picking control methods, and devices, capable of solving problems that affect picking efficiency, low accuracy, and low picking accuracy of target objects, etc.

Pending Publication Date: 2020-07-03
HAINAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing picking method is to identify the target object through the visual sensor, and locate the target object in the visual sensor coordinate system, and then control the manipulator to pick the target object. There is a certain distance between the visual sensor and the robotic arm in space, which will lead to low accuracy of controlling the robotic arm based on the current positioning information, and low accuracy of picking the target object, which directly affects the picking efficiency

Method used

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  • Picking control method, device and equipment and computer readable storage medium
  • Picking control method, device and equipment and computer readable storage medium
  • Picking control method, device and equipment and computer readable storage medium

Examples

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Embodiment 1

[0053] see figure 1 , figure 1 It is an implementation flow chart of the picking control method in the embodiment of the present invention, and the method may include the following steps:

[0054] S101: Acquire the initial three-dimensional coordinates of the target object in the visual sensor coordinate system when a picking control request is received.

[0055] When a picking operation is required, a picking control request can be sent to the picking control center, and when the picking control center receives the picking control request, the initial three-dimensional coordinates of the target object in the visual sensor coordinate system are obtained. The vision sensor can be a binocular vision camera.

[0056] The target object may be any object to be picked corresponding to the picking control request.

[0057] S102: Obtain a positional relationship between the vision sensor and the robotic arm.

[0058] When installing the vision sensor and the robot arm, record the ...

Embodiment 2

[0084] see Figure 5 , Figure 5 It is another implementation flowchart of the picking control method in the embodiment of the present invention, and the method may include the following steps:

[0085] S501: When a picking control request is received, an internal parameter correction operation is performed on the binocular vision camera.

[0086] The vision sensor may specifically use a binocular vision camera, and when a picking control request is received, an internal parameter correction operation may be performed on the binocular vision camera. And calibrate the binocular of the binocular vision camera. The internal parameters of the binocular vision camera are parameters related to the characteristics of the binocular vision camera itself, which can determine its focal length and pixel size. The camera matrix is ​​composed of an internal reference matrix and an external reference matrix, and the internal reference matrix and the external reference matrix can be obtaine...

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Abstract

The invention discloses a picking control method, device and equipment and a storage medium. The picking control method comprises the steps of acquiring an initial three-dimensional coordinate of a target object in a visual sensor coordinate system when a picking control request is received; obtaining a position relation between a visual sensor and a mechanical arm; calculating a target three-dimensional coordinate of the target object in a mechanical arm coordinate system by combining the position relation and the initial three-dimensional coordinate; separately calculating a corresponding target rotating angle of each steering gear of the mechanism arm according to the three-dimensional coordinate of the target object; and controlling each steering gear to rotate by the corresponding target rotating angle, and sending a grasping command to a claw steering gear of the mechanical arm so that the claw steering gear can control claws of the mechanism arm to perform picking operation on the target object. According to the technical scheme of the embodiments of the picking control method, the picking control device, the picking control equipment and the storage medium, the accuracy forcontrolling the mechanism arm is improved, the accuracy for picking the target object is improved as well, and the picking efficiency is greatly improved; and the picking control method, the pickingcontrol device, the picking control equipment and the storage medium achieve the corresponding technical effects.

Description

technical field [0001] The present invention relates to the technical field of automation control, in particular to a picking control method, device, equipment and computer-readable storage medium. Background technique [0002] With the continuous progress and development of science and technology, picking robots will become the key to replace human operations and increase agricultural output value. The emergence of different types of picking robots, such as tomato picking robots, apple picking robots, grape picking robots, etc., are of great significance to the development of agricultural technology. In the process of carrying out the picking task, the control of the manipulator is very important, and the establishment and solution of the motion model of the manipulator and the target recognition and positioning are the key issues in the control of the manipulator of the picking robot. At the same time, picking robots usually face some unstructured and complex external env...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16A01D46/30A01D45/00
CPCB25J9/1664B25J9/1669B25J9/1697B25J9/161A01D46/30A01D45/006
Inventor 李京兵史晨阳孙林黄梦醒
Owner HAINAN UNIVERSITY
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