CN109015653A - Grab control method, device, storage medium and electronic equipment - Google Patents
Grab control method, device, storage medium and electronic equipment Download PDFInfo
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- CN109015653A CN109015653A CN201811003915.2A CN201811003915A CN109015653A CN 109015653 A CN109015653 A CN 109015653A CN 201811003915 A CN201811003915 A CN 201811003915A CN 109015653 A CN109015653 A CN 109015653A
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The embodiment of the present invention provides a kind of crawl control method, device, storage medium and electronic equipment, the crawl control method, when comprisining the steps of detecting that trigger signal, the depth of field photo for the collected object to be captured of depth of field camera being arranged on mechanical arm is obtained；Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field photo is obtained according to the depth of field photo；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the relative positional relationship between the object and the grasping mechanism of the mechanical arm；The distance between the object and the grasping mechanism value are obtained according to the depth of view information that the depth of field photo carries；Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the object depending on that relative position.The present invention has the beneficial effect for improving crawl efficiency, crawl flexibility ratio and accuracy.
Description
Technical field
The present invention relates to field of communication technology, in particular to a kind of crawl control method, device, storage medium and electronics are set
It is standby.
Background technique
Existing industrial robot can only orient crawl object, can not accomplish after object space changes, corresponding to change
Itself control program realizes grasping body.
Therefore, the prior art is defective, needs to improve.
Summary of the invention
The embodiment of the present application provides a kind of crawl control method, device, storage medium and electronic equipment, and object can be improved
Grab flexibility.
The embodiment of the present application provides a kind of crawl control method, comprising the following steps:
When detecting trigger signal, the depth of field for obtaining the collected object to be captured of depth of field camera being arranged on mechanical arm is shone
Piece；
Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field photo is obtained according to the depth of field photo；
The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the crawl of the object Yu the mechanical arm
Relative positional relationship between mechanism；
The distance between the object and the grasping mechanism value are obtained according to the depth of view information that the depth of field photo carries；
Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position depending on that relative position
To grab the object.
It is described that the mould pre-established is inquired according to multiple characteristic ginseng value in crawl control method of the present invention
Type database, the step of to obtain the relative positional relationship between the object and the mechanical arm depth of field camera before further include: root
The information of the object to be captured is judged according to the depth of field photo；
It is described that the model database pre-established is inquired according to multiple characteristic ginseng value, to obtain the object and the mechanical arm scape
The step of relative positional relationship between deep camera includes:
The model database pre-established according to the inquiry of the information of the object to be grabbed is to obtain corresponding relationship model group；
The object to be captured is inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
With the relative positional relationship between the mechanical arm depth of field camera.
In crawl control method of the present invention, the depth of view information carried according to the depth of field photo obtains the object
The step of the distance between body and the grasping mechanism value includes:
The object is extracted from the depth of field photo to obtain the depth map of the object；
The distance between the object and the grasping mechanism value are obtained according to the depth of view information in the depth map.
In crawl control method of the present invention, moment sensing is provided at the grasping mechanism of the mechanical arm front end
Device；It is characterized in that, the relationship depending on that relative position and the distance value control the mechanical arm for the grasping mechanism
Being moved to the step of corresponding position is to grab the object includes:
The information of relationship, distance value and the object to be captured generates control signal, the control depending on the relative position
Signal is moved to corresponding position and controls the grasping mechanism for controlling the mechanical arm and grabbed with corresponding grasp force wait grab
Object.
In crawl control method of the present invention, the depth of field camera is set to the centre of the grasping mechanism.
A kind of crawl control device, comprising:
First obtains module, for when detecting trigger signal, obtain the depth of field camera being arranged on mechanical arm it is collected to
The depth of field photo of the object of crawl；
Second obtains module, for obtaining feature of the preset multiple characteristic parameters in the depth of field photo according to the depth of field photo
Parameter value；
Third obtains module, for inquiring the model database pre-established according to multiple characteristic ginseng value, to obtain the object
Relative positional relationship between body and the grasping mechanism of the mechanical arm；
4th obtains module, and the depth of view information for being carried according to the depth of field photo obtains between the object and the grasping mechanism
Distance value；
Control module controls the mechanical arm for relationship depending on that relative position and the distance value and moves the grasping mechanism
It moves to corresponding position to grab the object.
In crawl control device of the present invention, further includes: judgment module, for being somebody's turn to do according to depth of field photo judgement
The information of object to be captured；
The third obtains module
First query unit, the model database for being pre-established according to the information inquiry for being somebody's turn to do object to be grabbed is to obtain
Corresponding relationship model group；
Second query unit, for being inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between the object to be captured and the mechanical arm depth of field camera out.
In crawl control device of the present invention, the described 4th, which obtains module, is used for the object from the depth of field
It is extracted in photo to obtain the depth map of the object；The object and institute are obtained according to the depth of view information in the depth map
State the distance between grasping mechanism value.
A kind of storage medium is stored with computer program in the storage medium, when the computer program is in computer
When upper operation, so that the computer executes method described in any of the above embodiments.
A kind of electronic equipment, including processor and memory are stored with computer program, the processing in the memory
Device is by calling the computer program stored in the memory, for executing method described in any of the above embodiments.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting trigger signal and collecting
Object to be captured depth of field photo；Preset multiple characteristic parameters are obtained in the depth of field photo according to the depth of field photo
Characteristic ginseng value；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object and the machinery
Relative positional relationship between the grasping mechanism of arm；The object is obtained according to the depth of view information that the depth of field photo carries to grab with described
Take the distance between mechanism value；Relationship and the distance value control the mechanical arm for the grasping mechanism depending on that relative position
Corresponding position is moved to grab the object, the object can be grabbed as object space changes accurate working medium robot
Body has the beneficial effect of the accuracy and flexibility that improve crawl.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described.It should be evident that the drawings in the following description are only some examples of the present application, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the flow chart of the crawl control method in some embodiments of the invention.
Fig. 2 is the structure chart of the crawl control device in some embodiments of the invention.
Fig. 3 is the structure chart of the electronic equipment in some embodiments of the invention.
Specific embodiment
Presently filed embodiment is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
In the description of the present application, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
It describes the application and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.?
In the description of the present application, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In this application unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize the different structure of the application.In order to
Simplify disclosure herein, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And purpose does not lie in limitation the application.In addition, the application can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, this application provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
The description and claims of this application and term " first " in above-mentioned attached drawing, " second ", " third " etc.
(if present) is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be appreciated that this
The object of sample description is interchangeable under appropriate circumstances.In addition, term " includes " and " having " and their any deformation, meaning
Figure, which is to cover, non-exclusive includes.For example, containing the process, method of series of steps or containing a series of modules or list
The device of member, terminal, system those of are not necessarily limited to be clearly listed step or module or unit, can also include unclear
The step of ground is listed or module or unit also may include its intrinsic for these process, methods, device, terminal or system
Its step or module or unit.
Fig. 1 is please referred to, Fig. 1 is the flow chart of one of some embodiments of the invention crawl control method, this method packet
Include following steps:
S101, when detecting trigger signal, the scape for the collected object to be captured of depth of field camera being arranged on mechanical arm is obtained
Deep photo.
Wherein, it when detecting trigger signal, needs to open light source module and carries out light filling, depth of field camera is shot
To being more clear bright depth of field photo.The depth of field photo not only has the information such as the color shape of the object, also has the object
The depth of view information of body, the depth of view information can be used to obtain distance value.The depth of field camera is being set to the grasping mechanism just
Center.
S102, characteristic ginseng value of the preset multiple characteristic parameters in the depth of field photo is obtained according to the depth of field photo.
Wherein, this feature parameter can be the length and width higher size parameter or form parameter of the object, color parameter
Deng.Since often feature is different for different objects, to extract the characteristic parameter that can most show the object features, setting
The information that the default object is just needed to refer to when determining characteristic parameter, needs to preset the information of object according to this to select
Multiple parameters are as characteristic parameter.In the case where for known object information, can directly the object information choosing
The characteristic parameter for needing the depth of field photo extracted is selected, after the characteristic ginseng value which characteristic parameter determination will extract, so that it may
The characteristic ginseng value of this feature parameter is extracted from the depth of field photo quickly.
In some embodiments, the object to be captured be unknown object in the case where, execute step S102 it
Before, it is also necessary to it executes: obtaining the information of the object to be captured according to the depth of field photo.Picture recognition technology can be used
Identify the information of the object, it can also be by the way of being manually entered.
S103, the model database pre-established is inquired according to multiple characteristic ginseng value, to obtain the object and the machine
Relative positional relationship between the grasping mechanism of tool arm.
In this step, which is the model data established in above-described embodiment using robotics learning method
Library.In order to improve efficiency, in some embodiments, step S103 includes:
S1031, the model database pre-established according to the information inquiry for being somebody's turn to do object to be grabbed are to obtain corresponding model
Relationship group；S1032, this is inquired wait grab from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between the object taken and the mechanical arm depth of field camera.
Wherein, the relative positional relationship include mechanical arm depth of field camera or the mechanical arm front end grasping mechanism with wait grab
The distance between object taken value and relative bearing relationship.
S104, the distance between the object and the grasping mechanism are obtained according to the depth of view information that the depth of field photo carries
Value.
In this step, first the object is extracted from the depth of field photo to obtain the depth map of the object；
The distance between the object and the grasping mechanism value are obtained according to the depth of view information in the depth map.Wherein, how root
Distance value, which is calculated, according to depth of view information belongs to existing algorithm.But since there may be alternate position spikes for depth of field camera and grasping mechanism
It is different, it is therefore desirable to carry out compensation data.
S105, depending on that relative position relationship and the distance value control the mechanical arm and are moved to the grasping mechanism
Corresponding position is to grab the object.
In this step, relationship and the distance value generate control signal, the control signal depending on that relative position
Include that the mechanical arm needs angle and range data mobile or rotate, allows the mechanical arm by the grasping mechanism
It is moved at the object to be captured.
In some embodiments, torque sensor is provided at the grasping mechanism of the mechanical arm front end；Step S105 packet
Include: the information of relationship, distance value and the object to be captured generates control signal, control letter depending on the relative position
Number for controlling, the mechanical arm is moved to corresponding position and to control the grasping mechanism to be captured to grab with corresponding grasp force
Object.And in the process of grasping, torque sensor meeting real-time feedback data gives the electronic equipment.For different types of object
Body, since the intensity and weight of the object are all different, it is therefore desirable to which the grasp force of application is not also identical, can be to avoid damage
Object also can guarantee that object is not fallen out.
Specifically, relationship and the information of the object to be captured generate control letter to the step depending on the relative position
It number include: according to the weight information of the information of the object or the object, external form information and material information；According to the object
Weight information, external form information and the material information of body calculate specified grasp force；
Relationship generates mobile control parameter information depending on the relative position, according to the movement control parameter information and specified crawl
Power generates control signal, allows the mechanical arm that the grasping mechanism is moved to corresponding position and is grabbed with the specified grasp force
Take the object.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting trigger signal and collecting
Object to be captured depth of field photo；Preset multiple characteristic parameters are obtained in the depth of field photo according to the depth of field photo
Characteristic ginseng value；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object and the machinery
Relative positional relationship between the grasping mechanism of arm；The object is obtained according to the depth of view information that the depth of field photo carries to grab with described
Take the distance between mechanism value；Relationship and the distance value control the mechanical arm for the grasping mechanism depending on that relative position
Corresponding position is moved to grab the object, the object can be grabbed as object space changes accurate working medium robot
Body has the beneficial effect of the accuracy and flexibility that improve crawl.
Referring to figure 2., Fig. 2 is the structure chart of one of some embodiments of the invention crawl control device, the device packet
Include: first, which obtains module 201, second, obtains module 202, third acquisition module 203 the 4th acquisition module 204 and control module
205。
Wherein, which is used for when detecting trigger signal, obtains the depth of field phase being arranged on mechanical arm
The depth of field photo of the collected object to be captured of machine.Wherein, when detecting trigger signal, need to open light source module progress
Light filling takes depth of field camera and is more clear bright depth of field photo.
Wherein, which is used to obtain preset multiple characteristic parameters in the scape according to the depth of field photo
Characteristic ginseng value in deep photo.Wherein, this feature parameter can be length and width higher size parameter or the shape ginseng of the object
Number, color parameter etc..Since often feature is different for different objects, to extract the spy that can most show the object features
Parameter is levied, the information of the default object is just needed to refer to when setting characteristic parameter, needs to preset the kind of object according to this
Category information selects the multiple parameters as characteristic parameter.It, can the direct object in the case where for known object information
The information selection characteristic parameter of the depth of field photo that needs to extract, to extract the feature ginseng of which characteristic parameter in determination
After numerical value, so that it may extract the characteristic ginseng value of this feature parameter from the depth of field photo quickly.
Wherein, which obtains module 203 and is used to inquire the model data pre-established according to multiple characteristic ginseng value
Library, to obtain the relative positional relationship between the object and the mechanical arm depth of field camera.The model database is above-described embodiment
The middle model database established using robotics learning method.In order to improve efficiency, in some embodiments, which obtains mould
Block 303 includes: first acquisition unit, for inquiring the model database pre-established according to the information for being somebody's turn to do object to be grabbed
To obtain corresponding relationship model group；Query unit, for according to multiple characteristic ginseng value from more in the relationship model group
The relative positional relationship between the object to be captured and the mechanical arm depth of field camera is inquired in a relationship model.Wherein, should
Relative positional relationship includes between the grasping mechanism of mechanical arm depth of field camera or the mechanical arm front end and object to be captured
Distance value and relative bearing relationship.
4th acquisition module 204 is used to obtain the object and the crawl according to the depth of view information that the depth of field photo carries
The distance between mechanism value.First the object is extracted from the depth of field photo to obtain the depth map of the object；Root
The distance between the object and the grasping mechanism value are obtained according to the depth of view information in the depth map.Wherein, how basis
Depth of view information calculates distance value and belongs to existing algorithm.But since depth of field camera and grasping mechanism are there may be position difference,
Therefore it needs to carry out compensation data.
Wherein, the control module 205 is for relationship and the distance value to control the mechanical arm depending on that relative position
The grasping mechanism is moved to corresponding position to grab the object.Relationship and the distance value are raw depending on that relative position
At control signal, which includes that the mechanical arm needs angle and range data mobile or rotate, so that should
The grasping mechanism can be moved at the object to be captured by mechanical arm.
In some embodiments, torque sensor is provided at the grasping mechanism of the mechanical arm front end；The control module 205
For: relationship and the information of the object to be captured generate control signal depending on the relative position, which uses
Object to be captured is grabbed with corresponding grasp force in controlling the mechanical arm and being moved to corresponding position and control the grasping mechanism.
And in the process of grasping, torque sensor meeting real-time feedback data gives the electronic equipment.For different types of object, by
Be all different in the intensity and weight of the object, it is therefore desirable to the grasp force of application is not also identical, can to avoid damage object,
Also it can guarantee that object is not fallen out.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting trigger signal and collecting
Object to be captured depth of field photo；Preset multiple characteristic parameters are obtained in the depth of field photo according to the depth of field photo
Characteristic ginseng value；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object and the machinery
Relative positional relationship between the grasping mechanism of arm；The object is obtained according to the depth of view information that the depth of field photo carries to grab with described
Take the distance between mechanism value；Relationship and the distance value control the mechanical arm for the grasping mechanism depending on that relative position
Corresponding position is moved to grab the object, the object can be grabbed as object space changes accurate working medium robot
Body has the beneficial effect of the accuracy and flexibility that improve crawl.
The embodiment of the present invention also provides a kind of storage medium, is stored with computer program in the storage medium, when the calculating
When machine program is run on computers, which executes the human face expression described in any of the above-described embodiment based on speech recognition
Trailing, to realize following functions: when detecting trigger signal, it is collected to obtain the depth of field camera being arranged on mechanical arm
The depth of field photo of object to be captured；Spy of the preset multiple characteristic parameters in the depth of field photo is obtained according to the depth of field photo
Levy parameter value；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object and the mechanical arm
Grasping mechanism between relative positional relationship；The object and the crawl are obtained according to the depth of view information that the depth of field photo carries
The distance between mechanism value；Relationship and the distance value control the mechanical arm and move the grasping mechanism depending on that relative position
It moves to corresponding position to grab the object.
Referring to figure 3., the embodiment of the present invention also provides a kind of electronic equipment.The electronic equipment can be smart phone, put down
Plate apparatus such as computer.Such as show, electronic equipment 300 includes processor 301 and memory 302.Wherein, processor 301 and memory
302 are electrically connected.Processor 301 is the control centre of electronic equipment 300, utilizes various interfaces and the entire terminal of connection
Various pieces, by running or calling the computer program being stored in memory 302, and calling to be stored in memory 302
Interior data execute the various functions and processing data of terminal, to carry out integral monitoring to terminal.
In the present embodiment, processor 301 in electronic equipment 300 can according to following step, by one or one with
On the corresponding instruction of process of computer program be loaded into memory 302, and run by processor 301 and be stored in storage
Computer program in device 302, to realize various functions: when detecting trigger signal, obtaining the depth of field being arranged on mechanical arm
The depth of field photo of the collected object to be captured of camera；Preset multiple characteristic parameters are obtained in the scape according to the depth of field photo
Characteristic ginseng value in deep photo；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object
Relative positional relationship between body and the grasping mechanism of the mechanical arm；The object is obtained according to the depth of view information that the depth of field photo carries
The distance between body and the grasping mechanism value；Relationship and the distance value control the mechanical arm and incite somebody to action depending on that relative position
The grasping mechanism is moved to corresponding position to grab the object.
Memory 302 can be used for storing computer program and data.Include in the computer program that memory 302 stores
The instruction that can be executed in the processor.Computer program can form various functional modules.Processor 301 is stored in by calling
The computer program of memory 302, thereby executing the control method of various robots.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting trigger signal and collecting
Object to be captured depth of field photo；Preset multiple characteristic parameters are obtained in the depth of field photo according to the depth of field photo
Characteristic ginseng value；The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the object and the machinery
Relative positional relationship between the grasping mechanism of arm；The object is obtained according to the depth of view information that the depth of field photo carries to grab with described
Take the distance between mechanism value；Relationship and the distance value control the mechanical arm for the grasping mechanism depending on that relative position
Corresponding position is moved to grab the object, the object can be grabbed as object space changes accurate working medium robot
Body has the beneficial effect of the accuracy and flexibility that improve crawl.
It should be noted that those of ordinary skill in the art will appreciate that whole in the various methods of above-described embodiment or
Part steps are relevant hardware can be instructed to complete by program, which can store in computer-readable storage medium
In matter, which be can include but is not limited to: read-only memory (ROM, Read Only Memory), random access memory
Device (RAM, Random Access Memory), disk or CD etc..
Above to robotics learning method, control method, device, storage medium and electronics provided by the embodiment of the present application
Equipment is described in detail, and specific examples are used herein to illustrate the principle and implementation manner of the present application, with
The explanation of upper embodiment is merely used to help understand the present processes and its core concept；Meanwhile for the technology of this field
Personnel, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as the limitation to the application.
Claims (10)
1. a kind of crawl control method, which comprises the following steps:
When detecting trigger signal, the depth of field for obtaining the collected object to be captured of depth of field camera being arranged on mechanical arm is shone
Piece；
Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field photo is obtained according to the depth of field photo；
The model database pre-established is inquired, according to multiple characteristic ginseng value to obtain the crawl of the object Yu the mechanical arm
Relative positional relationship between mechanism；
The distance between the object and the grasping mechanism value are obtained according to the depth of view information that the depth of field photo carries；
Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position depending on that relative position
To grab the object.
2. crawl control method according to claim 1, which is characterized in that described to be inquired according to multiple characteristic ginseng value
The model database pre-established, the step of to obtain the relative positional relationship between the object and the mechanical arm depth of field camera it
Before further include: the information of the object to be captured is judged according to the depth of field photo；
It is described that the model database pre-established is inquired according to multiple characteristic ginseng value, to obtain the object and the mechanical arm scape
The step of relative positional relationship between deep camera includes:
The model database pre-established according to the inquiry of the information of the object to be grabbed is to obtain corresponding relationship model group；
The object to be captured is inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
With the relative positional relationship between the mechanical arm depth of field camera.
3. crawl control method according to claim 2, which is characterized in that the depth of field carried according to the depth of field photo
The step of the distance between the acquisition of information object and the grasping mechanism value includes:
The object is extracted from the depth of field photo to obtain the depth map of the object；
The distance between the object and the grasping mechanism value are obtained according to the depth of view information in the depth map.
4. crawl control method according to claim 3, setting moment is passed at the grasping mechanism of the mechanical arm front end
Sensor；It is characterized in that, the relationship depending on that relative position and the distance value control the mechanical arm for the gripper
Structure is moved to the step of corresponding position is to grab the object and includes:
The information of relationship, distance value and the object to be captured generates control signal, the control depending on the relative position
Signal is moved to corresponding position and controls the grasping mechanism for controlling the mechanical arm and grabbed with corresponding grasp force wait grab
Object.
5. crawl control method according to claim 1, which is characterized in that the depth of field camera is set to the gripper
The centre of structure.
6. a kind of crawl control device characterized by comprising
First obtains module, for when detecting trigger signal, obtain the depth of field camera being arranged on mechanical arm it is collected to
The depth of field photo of the object of crawl；
Second obtains module, for obtaining feature of the preset multiple characteristic parameters in the depth of field photo according to the depth of field photo
Parameter value；
Third obtains module, for inquiring the model database pre-established according to multiple characteristic ginseng value, to obtain the object
Relative positional relationship between body and the grasping mechanism of the mechanical arm；
4th obtains module, and the depth of view information for being carried according to the depth of field photo obtains between the object and the grasping mechanism
Distance value；
Control module controls the mechanical arm for relationship depending on that relative position and the distance value and moves the grasping mechanism
It moves to corresponding position to grab the object.
7. crawl control device according to claim 6, which is characterized in that further include: judgment module, for according to the scape
Deep photo judges the information of the object to be captured；
The third obtains module
First query unit, the model database for being pre-established according to the information inquiry for being somebody's turn to do object to be grabbed is to obtain
Corresponding relationship model group；
Second query unit, for being inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between the object to be captured and the mechanical arm depth of field camera out.
8. crawl control device according to claim 6, which is characterized in that the described 4th, which obtains module, is used for the object
Body is extracted from the depth of field photo to obtain the depth map of the object；It is obtained according to the depth of view information in the depth map
The distance between the object and the grasping mechanism value.
9. a kind of storage medium, which is characterized in that computer program is stored in the storage medium, when the computer program
When running on computers, so that the computer perform claim requires 1 to 5 described in any item methods.
10. a kind of electronic equipment, which is characterized in that including processor and memory, computer journey is stored in the memory
Sequence, the processor require 1 to 5 by calling the computer program stored in the memory, for perform claim
Method described in one.
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