CN113814954A

CN113814954A - Picking robot gravity center control method and device, electronic equipment and storage medium

Info

Publication number: CN113814954A
Application number: CN202111364149.4A
Authority: CN
Inventors: 李一娴; 林培文; 袁悦; 康信勇
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2021-12-21
Anticipated expiration: 2041-11-17
Also published as: CN113814954B

Abstract

The application belongs to the technical field of robot control, and discloses a picking robot gravity center control method, a device, electronic equipment and a storage medium, wherein position information of a target fruit is acquired; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot body when the mechanical arm extends to the target fruit according to the position information of the target fruit; calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position of the collecting box and the second gravity center position; when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; adjusting the position of the collecting box according to the moving direction and the moving distance; therefore, the side turning of the picking robot due to overlarge center-of-gravity shift in the picking process is avoided.

Description

Picking robot gravity center control method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of robot control, in particular to a picking robot gravity center control method and device, electronic equipment and a storage medium.

Background

At present, some fruit plantation can use the picking robot to carry out fruit picking, these picking robots generally comprise AGV car and the arm of setting on the AGV car, when picking, generally make the left side or the right side of AGV car just to the fruit tree, stretch out along left side or right side by the arm and carry out the fruit and pick, in order to realize picking on a large scale, the arm of this kind of picking robot generally sets up comparatively long, consequently, it is too big and lead to the focus skew to be too big to appear the arm to stretch out the position easily, finally make the problem that the picking robot turned on one's side.

Disclosure of Invention

The application aims to provide a picking robot gravity center control method, a picking robot gravity center control device, electronic equipment and a storage medium, and is beneficial to avoiding rollover of the picking robot due to too large gravity center offset in a picking process.

In a first aspect, the application provides a gravity center control method for a picking robot, which is used for the picking robot, wherein the picking robot comprises a robot main body and a collecting box capable of moving left and right, and the robot main body comprises an AGV and a mechanical arm arranged on the AGV; the method comprises the following steps:

A1. acquiring position information of a target fruit;

A2. acquiring current weight information and first gravity center position information of the collecting box;

A3. calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit;

A4. calculating a third barycentric position of the picking robot population according to the current weight of the collection bin, the current first barycentric position of the collection bin and the second barycentric position;

A5. when the third gravity center position exceeds a safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box;

A6. and adjusting the position of the collecting box according to the direction and the distance needing to be moved.

According to the gravity center control method for the picking robot, the collecting box is used for storing collected fruits and can move left and right and can be used as a balance weight, when the situation that the total gravity center of the picking robot exceeds a safety range in real time due to the fact that the target fruits are picked by the mechanical arm is predicted through calculation, the position of the collecting box is adjusted first, so that the total gravity center of the picking robot does not exceed the safety range in the subsequent picking process, and the picking robot is prevented from turning over due to too large gravity center deviation in the picking process.

Preferably, step a3 includes:

planning a picking path according to the position information of the target fruit;

acquiring angle data of each joint of the mechanical arm when the mechanical arm extends to the position of the target fruit according to the picking path;

calculating a fourth gravity center position of the mechanical arm according to the angle data;

and calculating a second gravity center position of the robot main body according to the fourth gravity center position.

Preferably, step a5 includes:

calculating the horizontal distance between the third gravity center position and a supporting line of the first side of the bottom of the AGV car; the first side is the side facing the target fruit;

and if the third gravity center position is positioned at the inner side of the supporting line at the first side and the horizontal distance is not less than the preset safety distance, judging that the third gravity center position does not exceed the safety range, otherwise, judging that the third gravity center position exceeds the safety range.

Generally, as long as the third center of gravity position does not exceed the supporting line on the first side, the picking robot cannot turn over, and here, a safety distance is introduced, so that the position of the collecting box can be adjusted as long as the distance from the third center of gravity position to the supporting line on the first side is smaller than a certain value, the side turning can be avoided more reliably, and the safety is higher.

Preferably, step a5 includes:

calculating the target position of the collection bin according to the following formula:

；

wherein,

is the target position of the collecting bin,

the position of the support line of the first side,

is a preset safety distance, and is,

for the current weight of the collecting bin it is,

is the weight of the robot main body,

a second center of gravity position of the robot main body;

calculating the required distance of movement of the collection bin according to the following formula:

；

wherein,

for the distance to be moved in question,

the current first gravity center position of the collecting box;

the direction back to the first side is the direction needing to move.

Preferably, step a6 includes:

when the movable distance of the collecting box in the direction needing to move is not less than the distance needing to move, controlling the collecting box to move according to the direction needing to move and the distance needing to move;

when the movable distance of the collecting box in the direction needing to move is smaller than the distance needing to move, the position information of the target fruit and the current position information of the picking robot are recorded in an unpicked fruit information table.

In practical application, the movable distance of the collecting box is limited, and when the movable distance is smaller than the distance needing to be moved, the current weight of the current collecting box cannot balance the picking robot when the target fruit is picked, so that the target fruit can not be picked firstly, and at the moment, the position of the target fruit and the position of the picking robot are recorded in the non-picked fruit information table, so that the picking robot can conveniently and quickly return to the position for picking the target fruit when the weight of the collecting box meets the requirement.

Preferably, step a6 further includes:

calculating a target weight of the collection box according to a second center of gravity position of the robot main body and recording the target weight in the non-picked fruit information table when a movable distance of the collection box in the direction requiring movement is smaller than the distance requiring movement; the target weight is the minimum weight of the collection bin that enables the picking robot's overall center of gravity to not exceed a safe range in picking the target fruit.

Preferably, the step of calculating the target weight of the collection bin based on the second center of gravity position of the robot main body comprises:

calculating the target weight according to the following formula:

；

wherein,

in order to achieve the target weight, the weight of the steel sheet is,

the position of the support line of the first side,

is a preset safety distance, and is,

is the weight of the robot main body,

a second position of the center of gravity of the robot main body,

the extreme position that the centre of the collecting bin can reach in a direction facing away from the first side is provided.

In a second aspect, the application provides a gravity center control device for a picking robot, which is used for the picking robot, wherein the picking robot comprises a robot main body and a collecting box capable of moving left and right, and the robot main body comprises an AGV and a mechanical arm arranged on the AGV; the method comprises the following steps:

the first acquisition module is used for acquiring the position information of the target fruit;

the second acquisition module is used for acquiring the current weight information and the first gravity center position information of the collecting box;

the first calculation module is used for calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit;

the second calculation module is used for calculating a third gravity center position of the picking robot overall according to the current weight of the collecting box, the current first gravity center position of the collecting box and the second gravity center position;

the third calculating module is used for calculating the direction and the distance of the collecting box required to move according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box when the third gravity center position exceeds a safety range;

the first execution module is used for adjusting the position of the collecting box according to the direction needing to move and the distance needing to move.

This picking robot focus controlling means, because the collecting box is used for depositing the fruit of gathering and can controls the removal, can be used for as the counter weight thing, when predicting through the calculation that the arm picks the target fruit and can lead to the focus of picking robot totality to surpass the safety range in real time, adjust the position of collecting box earlier to can guarantee that the focus of picking robot totality does not surpass the safety range when subsequently picking, and then be favorable to avoiding picking the robot and turning on one's side because the focus skew is too big in picking the in-process.

In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to execute the steps of the picking robot gravity center control method as described above.

In a fourth aspect, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the picking robot center of gravity control method as described hereinbefore.

Has the advantages that:

according to the picking robot gravity center control method, the picking robot gravity center control device, the electronic equipment and the storage medium, the position information of the target fruit is obtained; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit; calculating a third barycentric position of the picking robot population according to the current weight of the collection bin, the current first barycentric position of the collection bin and the second barycentric position; when the third gravity center position exceeds a safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; adjusting the position of the collecting box according to the direction and the distance needing to be moved; therefore, when the situation that the center of gravity of the whole picking robot exceeds the safety range in real time due to the fact that the mechanical arm picks the target fruit is predicted through calculation, the position of the collecting box is adjusted firstly, the fact that the center of gravity of the whole picking robot does not exceed the safety range in the follow-up picking process can be guaranteed, and therefore the situation that the picking robot turns on one's side due to too large center of gravity deviation in the picking process can be avoided.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.

Drawings

Fig. 1 is a flowchart of a picking robot gravity center control method provided in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a picking robot gravity center control device provided in the embodiment of the present application.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

FIG. 4 is a schematic diagram of an exemplary collection bin drive mechanism.

Fig. 5 is a rear view of an exemplary picking robot.

FIG. 6 is a schematic diagram of an exemplary robotic arm.

Description of reference numerals:

90. a robot main body; 91. 92, AGV, 93, mechanical arm, 94, wheel; 95. a guide rail; 96. a rack; 97. a drive motor; 98. a gear; 99. a pressure sensor.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a method for controlling a center of gravity of a picking robot in some embodiments of the present application, the picking robot including a robot main body and a collecting box capable of moving left and right, the robot main body including an AGV vehicle and a robot arm disposed on the AGV vehicle; the method comprises the following steps:

A1. acquiring position information of a target fruit;

A4. calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box;

A5. when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box;

A6. and adjusting the position of the collecting box according to the moving direction and the moving distance.

In some embodiments, the picking robot center of gravity control method is applied to a picking robot as shown in fig. 5, the picking robot including a robot main body 90 and a collection box 91, the robot main body 90 including an AGV vehicle 92 and a robot arm 93. Wherein, this AGV car 92's bottom is provided with four wheels 94 that are the matrix distribution, and four wheels 94 divide two sets of bilateral symmetry to set up, and every group includes the wheel 94 that two front and back intervals set up. In some embodiments, as shown in FIG. 4, the robot main body 90 further includes two guide rails 95 provided in the AGV car 92 to extend in the left-right direction, the collection box 91 is slidably provided on the two guide rails 95, a rack 96 extending in the left-right direction is provided between the two guide rails 95, a driving motor 97 is provided on one side surface of the collection box 91, and an output shaft of the driving motor 97 is provided with a gear 98 engaged with the rack 96; so that the collection box 91 can be driven to move left and right by the rotation of the driving motor 97. In practical applications, the collecting box 91 may also be driven to move left and right by other driving mechanisms (such as, but not limited to, an air cylinder, an electric telescopic rod, a screw rod driving mechanism, a chain driving mechanism, etc.).

In this case, a 3d camera may be disposed on the robot arm, so that in step a1, the position information of the target fruit is obtained through the image recognition of the 3d camera. The position information of the target fruit is position information in a robot arm base coordinate system, in which, as shown in fig. 5, an origin O of the robot arm base coordinate system is set at the center of the robot arm base, an X-axis is set toward the right side of the body of the AGV car, a Y-axis is set toward the front side of the body of the AGV car, and a Z-axis is set toward the upper side of the body of the AGV car.

In the present application, the first barycentric position, the second barycentric position, the third barycentric position, and other barycentric positions described later all refer to positions in the left-right direction, that is, positions in the X-axis direction of the robot base coordinate system xyz, and their coordinate values are X-axis coordinate values in the robot base coordinate system xyz.

Wherein sensors may be provided below the collecting container to measure the current weight information and the first centre of gravity position information of the collecting container. For example, as shown in fig. 4, one pressure sensor 99 may be provided at each of the two ends of the bottom of the two guide rails 95, so that the current weight information and the first center-of-gravity position information of the collection box can be calculated from the measurement values of the four pressure sensors 99; at this time, step a2 includes:

acquiring the measurement values of four pressure sensors 99;

calculating the current weight and the first centre of gravity position of the collecting bin according to the following formula:

；

；

wherein,

in order to collect the current weight of the bin,

for the current first centre of gravity position of the collecting bin,

and

respectively of the two pressure sensors 99 located on the right,

、

respectively the measurements of the two pressure sensors 99 located on the left,

the X-axis coordinate values of the two pressure sensors 99 positioned on the right side (the left and right positions of the two pressure sensors 99 positioned on the right side are the same, and the X-axis coordinate values can be measured in advance

A value),

the X-axis coordinate values of the two pressure sensors 99 positioned on the left side (the left and right positions of the two pressure sensors 99 positioned on the left side are the same, and the X-axis coordinate values can be measured in advance

Value).

In practical application, the deviation between the center of gravity of the collecting box and the center of the collecting box (referring to the geometric center at the left and right positions) is generally small, so that the center position of the collecting box can also be directly used as the position of the center of gravity of the collecting box, wherein when the collecting box is at the initial position, the X coordinate of the center position is 0; thus, the displacement of the collecting container from the initial position (positive if the current position of the collecting container is on the right side of the initial position, and negative if the current position of the collecting container is on the left side of the initial position) can be measured directly by the displacement sensor or the rotary encoder provided on the driving motor 97 as the current first barycentric position of the collecting container.

In some embodiments, step a3 includes:

The specific method for planning the picking path according to the position information of the target fruit is the prior art, and the detailed description is not given here, and corresponding path planning programs are integrated in control systems of general mechanical arms, so that the grabbing path can be planned and obtained through the path planning programs as long as the position information of the grabbing target is known.

The picking path comprises pose data of a series of path points and pose data of a grabbing point when the mechanical arm extends to the position of the target fruit, so that the step of acquiring angle data of each joint of the mechanical arm when the mechanical arm extends to the position of the target fruit according to the picking path comprises the following steps: and extracting the pose data of the grabbing points of the picking path, and calculating by adopting a robot inverse kinematics solving method according to the pose data of the grabbing points to obtain angle data of each joint of the mechanical arm. The specific process of calculating the angle data of each joint of the mechanical arm by using the robot inverse kinematics solution method is the prior art, and the detailed description thereof is omitted here.

The weight of each arm rod of the mechanical arm and the position of the gravity center of each arm rod relative to the respective rotation center can be measured in advance, and the fourth gravity center position of the mechanical arm can be calculated according to the angle data of each joint, the weight of each arm rod and the position of the gravity center of each arm rod relative to the respective rotation center. For example, the robot arm shown in fig. 6 comprises 3 arms, the joint angle of the first arm is a1, the distance from the center of gravity to the center of rotation is l1, and the weight of the first arm is g 1; the joint angle of the second arm rod is a2, the distance from the gravity center to the self-rotating center is l2, and the weight of the second arm rod is g 2; the joint angle of the third arm rod is a3, the distance from the gravity center to the self-rotating center is l3, and the weight of the third arm rod is g 3; thereby, the fourth center of gravity position of the robot arm

Calculated by the following formula

。

Wherein the second barycentric position of the robot main body may be calculated by the following formula:

；

wherein,

is the second center of gravity position of the robot main body,

the total weight of the robot arm (which is a fixed value, which can be measured in advance),

is the fourth center of gravity position of the mechanical arm,

the weight of the AGV car (which is a fixed value, which can be measured in advance),

is the position of the center of gravity of the AGV (which is a fixed value and can be measured in advance),

is the robot body weight (which is a fixed value, which can be measured in advance).

Specifically, step a4 includes:

calculating the third gravity center position of the picking robot as a whole according to the following formula:

；

wherein,

a third position of the center of gravity of the picking robot as a whole,

in order to collect the current weight of the bin,

for the current first centre of gravity position of the collecting bin,

the weight of the robot main body is a fixed value and can be measured in advance,

is the second center of gravity position of the robot main body.

In some embodiments, step a5 includes:

and if the third center of gravity is positioned at the inner side of the supporting line at the first side and the horizontal distance is not less than the preset safety distance, judging that the third center of gravity does not exceed the safety range, otherwise, judging that the third center of gravity exceeds the safety range.

Generally, as long as the third center of gravity position does not exceed the supporting line on the first side, the picking robot cannot turn over, and here, a safety distance is introduced, so that the position of the collecting box can be adjusted as long as the distance from the third center of gravity position to the supporting line on the first side is smaller than a certain value, the side turning can be avoided more reliably, and the safety is higher. Here, when the third centroid position exceeds the support line on the first side, it indicates that the picking robot turns over in the direction of the first side in real time to pick the target fruit, and when the third centroid position is located inside the support line on the first side but the horizontal distance is smaller than the preset safety distance, it indicates that the picking robot has a greater risk of turning over in the direction of the first side when picking the target fruit, and in both cases, the position of the collection box needs to be adjusted.

In the case of the picking robot shown in fig. 5, the connecting line of the contact points of the two wheels 94 on the first side with the ground is the supporting line, so that the horizontal distance between the third center of gravity position and the supporting line on the first side is the distance between the third center of gravity position and the vertical plane on which the supporting line is located. For example, in the case of fig. 5, the mechanical arm extends out of the right side of the AGV, so that the first side is the right side, the support line of the first side is the line connecting the contact points of the two wheels 94 on the right side and the ground, and assuming that point B is the center of gravity of the picking robot as a whole, the horizontal distance between the third center of gravity and the support line of the first side of the bottom of the AGV is the distance h in the figure. The distance h can be calculated by the following formula:

；

wherein,

the position of the support line on the first side (which is a fixed value, which can be measured in advance),

is the third center of gravity position of the picking robot as a whole. By inboard is meant the position between the left and right sets of wheels 94, such that the inboard side is the side of the support line facing away from the first side, whether the first side is the left or right side.

Further, step a5 includes:

；

wherein,

is the target position of the collection box,

the position of the support line for the first side,

is a preset safety distance, and is,

in order to collect the current weight of the bin,

is the weight of the robot main body,

a second center of gravity position of the robot main body;

the required travel distance of the collecting bin is calculated according to the following formula:

；

wherein,

in order to be able to move the distance that needs to be moved,

is the current first gravity center position of the collecting box;

the direction back to the first side is taken as the direction needing to move.

Generally speaking, if the picking robot is predicted to turn over towards the first side direction or the risk of turning over towards the first side direction is high, the position of the collecting box is adjusted towards the direction back to the first side, so that the effect of balancing the picking robot when the target fruits are picked is achieved. Calculated in the above manner

The minimum moving distance meeting the requirement of preventing the side turning over is adopted, so that the moving distance of the collecting box is smaller and the working efficiency is higher under the condition that the picking robot is ensured not to turn over.

In practical applications, the movable distance of the collecting box is limited, and it may happen that the movable distance of the collecting box cannot meet the requirement of the required movable distance, so that, in some preferred embodiments, step a6 includes:

when the movable distance of the collecting box in the direction needing to move is not less than the distance needing to move, the collecting box is controlled to move according to the direction needing to move and the distance needing to move;

when the movable distance of the collecting box in the direction needing to move is smaller than the distance needing to move, the position information of the target fruit and the current position information of the picking robot are recorded in the non-picking fruit information table.

Wherein, the movable distance of the collecting box in the direction needing to move refers to the distance between the current position of the collecting box and the limit position of the direction needing to move. For example, when the present position of the collective box is-20 cm (X-coordinate value), the direction to be moved is the negative X-axis direction, and the extreme position of the collective box in the negative X-axis direction is-40 cm, the movable distance of the collective box in the direction to be moved is 20 cm.

In practical application, when the movable distance is smaller than the distance required to move, the current weight of the current collecting box can not balance the picking robot when the target fruit is picked, so that the target fruit can not be picked first, and at the moment, the position of the target fruit and the position of the picking robot are recorded in the non-picked fruit information table, and the target fruit can be picked conveniently when the weight of the collecting box meets the requirement. Because the weight of the collecting box is increased and the balance capability of the collecting box is also increased along with the progress of the picking task, if the fruits which cannot be picked currently can be carried out subsequently, the positions of the fruits which cannot be picked currently and the position of the picking robot are recorded, and the residual fruits (namely the fruits recorded in the non-picked fruit information table) can be conveniently and quickly returned to pick subsequently. In addition, in order to further improve the efficiency of picking the remaining fruit, the picking path information planned in step a3 may also be recorded in the non-picked fruit information table, so that the picking path does not need to be re-planned when returning to picking.

In some preferred embodiments, step a6 further comprises:

when the movable distance of the collecting box in the direction needing to move is smaller than the distance needing to move, calculating the target weight of the collecting box according to the second center of gravity of the robot main body, and recording the target weight in the information table of the unpicked fruits; the target weight is the minimum weight of the collection bin that enables the picking robot's overall center of gravity to not exceed a safe range in picking the target fruit.

By recording the target weight, when the weight of the collecting box meets the requirement, the residual fruits can be judged to be picked in the picking process, and then the residual fruits can be picked in a returning way when the requirement is met, so that the picking task of the fruits can be fully completed. It will be appreciated that after the remaining fruit is picked, the information about the remaining fruit is removed from the table of non-picked fruit information.

Specifically, the step of "calculating the target weight of the collection box from the second center of gravity position of the robot main body" includes:

the target weight was calculated according to the following formula:

；

wherein,

in order to achieve the target weight,

the position of the support line for the first side,

is a preset safety distance, and is,

is the weight of the robot main body,

is the second center of gravity position of the robot main body,

the limit position (which is a fixed value and can be measured in advance) which can be reached by the center of the collecting container in the direction facing away from the first side is provided.

Generally, a picking robot moves to a preset picking point according to a pre-planned path to pick fruits, if the situation that a collecting box needs to be adjusted frequently occurs at the same picking point, the position of the picking point is unreasonable, and at the moment, an alarm signal can be sent to a monitoring center to acquire new picking point position information, and the position of the picking robot is adjusted according to the picking point position information; or adjusting the position of the picking robot according to a preset position adjusting program; or the position of the collecting box is directly adjusted to the extreme position in the direction away from the first side, so as to reduce the frequency of adjusting the collecting box in the subsequent picking process of the picking point.

Thus, in some embodiments, after step a6, the method further comprises:

if the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold, sending an alarm signal to a monitoring center;

acquiring new picking point position information sent back by a monitoring center;

and adjusting the position of the picking robot according to the new picking point position information.

In some embodiments, after step a6, the method further comprises:

and if the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold, adjusting the position of the picking robot according to a preset position adjustment program.

In some embodiments, after step a6, the method further comprises:

if the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold, the position of the collecting box is adjusted to the limit position in the direction back to the first side.

According to the picking robot gravity center control method, the position information of the target fruit is acquired; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit; calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box; when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; adjusting the position of the collecting box according to the moving direction and the moving distance; therefore, when the situation that the center of gravity of the whole picking robot exceeds the safety range in real time due to the fact that the mechanical arm picks the target fruit is predicted through calculation, the position of the collecting box is adjusted firstly, the fact that the center of gravity of the whole picking robot does not exceed the safety range in the follow-up picking process can be guaranteed, and therefore the situation that the picking robot turns on one's side due to too large center of gravity deviation in the picking process can be avoided.

Referring to fig. 2, the present application provides a gravity center control apparatus for a picking robot, the picking robot includes a robot main body and a collecting box capable of moving left and right, the robot main body includes an AGV vehicle and a mechanical arm disposed on the AGV vehicle; the method comprises the following steps:

the first acquisition module 1 is used for acquiring the position information of a target fruit;

the second acquisition module 2 is used for acquiring the current weight information and the first gravity center position information of the collecting box;

the first calculation module 3 is used for calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit;

the second calculation module 4 is used for calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box;

the third calculating module 5 is used for calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box when the third gravity center position exceeds the safety range;

and the first execution module 6 is used for adjusting the position of the collecting box according to the direction and the distance required to move.

In some embodiments, the picking robot gravity center control apparatus is applied to a picking robot as shown in fig. 5, the picking robot including a robot main body 90 and a collection box 91, the robot main body 90 including an AGV vehicle 92 and a robot arm 93. Wherein, this AGV car 92's bottom is provided with four wheels 94 that are the matrix distribution, and four wheels 94 divide two sets of bilateral symmetry to set up, and every group includes the wheel 94 that two front and back intervals set up. In some embodiments, as shown in FIG. 4, the robot main body 90 further includes two guide rails 95 provided in the AGV car 92 to extend in the left-right direction, the collection box 91 is slidably provided on the two guide rails 95, a rack 96 extending in the left-right direction is provided between the two guide rails 95, a driving motor 97 is provided on one side surface of the collection box 91, and an output shaft of the driving motor 97 is provided with a gear 98 engaged with the rack 96; so that the collection box 91 can be driven to move left and right by the rotation of the driving motor 97. In practical applications, the collecting box 91 may also be driven to move left and right by other driving mechanisms (such as, but not limited to, an air cylinder, an electric telescopic rod, a screw rod driving mechanism, a chain driving mechanism, etc.).

The 3d camera may be disposed on the robot arm, so that the first acquiring module 1 identifies the position information of the target fruit through the image collected by the 3d camera. The position information of the target fruit is position information in a robot arm base coordinate system, in which, as shown in fig. 5, an origin O of the robot arm base coordinate system is set at the center of the robot arm base, an X-axis is set toward the right side of the body of the AGV car, a Y-axis is set toward the front side of the body of the AGV car, and a Z-axis is set toward the upper side of the body of the AGV car.

Wherein sensors may be provided below the collecting container to measure the current weight information and the first centre of gravity position information of the collecting container. For example, as shown in fig. 4, one pressure sensor 99 may be provided at each of the two ends of the bottom of the two guide rails 95, so that the current weight information and the first center-of-gravity position information of the collection box can be calculated from the measurement values of the four pressure sensors 99; at this time, the second acquiring module 2 is configured to, when acquiring the current weight information and the first center-of-gravity position information of the collecting box, perform:

acquiring the measurement values of four pressure sensors 99;

；

；

wherein,

in order to collect the current weight of the bin,

for the current first centre of gravity position of the collecting bin,

and

respectively of the two pressure sensors 99 located on the right,

、

A value),

Value).

In some embodiments, the first calculating module 3 is configured to, when calculating, according to the position information of the target fruit, a second barycentric position of the robot main body when the robot arm extends to the position of the target fruit, perform:

Wherein, picking the position appearance data that the route includes a series of waypoints, including the position appearance data of the snatching point when the arm extends the target fruit position to, first calculation module 3 carries out when obtaining the angle data of each joint of arm when the arm extends the target fruit position according to picking the route: and extracting the pose data of the grabbing points of the picking path, and calculating by adopting a robot inverse kinematics solving method according to the pose data of the grabbing points to obtain angle data of each joint of the mechanical arm. The specific process of calculating the angle data of each joint of the mechanical arm by using the robot inverse kinematics solution method is the prior art, and the detailed description thereof is omitted here.

Wherein the weight of each arm lever of the mechanical arm and the position of the gravity center of each arm lever relative to the respective rotation center can be measured in advance according to the angle number of each jointAnd calculating the fourth gravity center position of the mechanical arm according to the weight of each arm rod and the position of the gravity center of each arm rod relative to the respective rotation center. For example, the robot arm shown in fig. 6 comprises 3 arms, the joint angle of the first arm is a1, the distance from the center of gravity to the center of rotation is l1, and the weight of the first arm is g 1; the joint angle of the second arm rod is a2, the distance from the gravity center to the self-rotating center is l2, and the weight of the second arm rod is g 2; the joint angle of the third arm rod is a3, the distance from the gravity center to the self-rotating center is l3, and the weight of the third arm rod is g 3; thereby, the fourth center of gravity position of the robot arm

Calculated by the following formula

。

；

wherein,

is the second center of gravity position of the robot main body,

is the fourth center of gravity position of the mechanical arm,

In particular, the second calculation module 4 is configured to perform, when calculating a third barycentric position of the picking robot population from the current weight of the collection bin, the current first barycentric position and the second barycentric position of the collection bin:

；

wherein,

a third position of the center of gravity of the picking robot as a whole,

in order to collect the current weight of the bin,

for the current first centre of gravity position of the collecting bin,

is the second center of gravity position of the robot main body.

In some embodiments, the third calculation module 5 is configured to perform, when the third center of gravity position is out of the safety range, calculating a required movement direction and a required movement distance of the collecting bin based on the second center of gravity position, the current weight of the collecting bin and the current first center of gravity position of the collecting bin:

；

wherein,

Further, the third calculation module 5 is adapted to perform, when calculating the required direction of movement and the required distance of movement of the collecting bin based on the second centre of gravity position, the current weight of the collecting bin and the current first centre of gravity position of the collecting bin:

；

wherein,

is the target position of the collection box,

the position of the support line for the first side,

is a preset safety distance, and is,

in order to collect the current weight of the bin,

is the weight of the robot main body,

a second center of gravity position of the robot main body;

；

wherein,

in order to be able to move the distance that needs to be moved,

is the current first gravity center position of the collecting box;

the direction back to the first side is taken as the direction needing to move.

In practical applications, the movable distance of the collecting box is limited, and it may happen that the movable distance of the collecting box cannot meet the requirement of the required moving distance, so that, in some preferred embodiments, the first executing module 6 is used for executing:

In practical application, when the movable distance is smaller than the distance required to move, the current weight of the current collecting box can not balance the picking robot when the target fruit is picked, so that the target fruit can not be picked first, and at the moment, the position of the target fruit and the position of the picking robot are recorded in the non-picked fruit information table, and the target fruit can be picked conveniently when the weight of the collecting box meets the requirement. Because the weight of the collecting box is increased and the balance capability of the collecting box is also increased along with the progress of the picking task, if the fruits which cannot be picked currently can be carried out subsequently, the positions of the fruits which cannot be picked currently and the position of the picking robot are recorded, and the residual fruits (namely the fruits recorded in the non-picked fruit information table) can be conveniently and quickly returned to pick subsequently. In addition, in order to further improve the efficiency of picking the remaining fruits, the picking path information planned by the first calculation module 3 can be recorded in the non-picked fruit information table, so that the picking path does not need to be re-planned when the picking is returned to be carried out.

In some preferred embodiments, the first execution module 6 is configured to, when adjusting the position of the collecting box according to the direction and distance to be moved, further execute:

Specifically, the first execution module 6, when calculating the target weight of the collection box from the second center of gravity position of the robot main body, executes:

the target weight was calculated according to the following formula:

；

wherein,

in order to achieve the target weight,

the position of the support line for the first side,

is a preset safety distance, and is,

is the weight of the robot main body,

is the second center of gravity position of the robot main body,

the extreme position that the centre of the collecting bin can reach in the direction facing away from the first side.

Thus, in some embodiments, the picking robot center of gravity control apparatus further comprises:

the first sending module is used for sending an alarm signal to the monitoring center when the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold;

the picking point position information acquisition module is used for acquiring new picking point position information sent back by the monitoring center;

and the first adjusting module is used for adjusting the position of the picking robot according to the new picking point position information.

In some embodiments, the picking robot center of gravity control apparatus further comprises:

and the second adjusting module is used for adjusting the position of the picking robot according to a preset position adjusting program when the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold.

and the second execution module is used for adjusting the position of the collecting box to the limit position in the direction back to the first side when the number of times of position adjustment of the collecting box at the current picking point reaches a preset number threshold.

According to the above, the picking robot gravity center control device acquires the position information of the target fruit; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit; calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box; when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; adjusting the position of the collecting box according to the moving direction and the moving distance; therefore, when the situation that the center of gravity of the whole picking robot exceeds the safety range in real time due to the fact that the mechanical arm picks the target fruit is predicted through calculation, the position of the collecting box is adjusted firstly, the fact that the center of gravity of the whole picking robot does not exceed the safety range in the follow-up picking process can be guaranteed, and therefore the situation that the picking robot turns on one's side due to too large center of gravity deviation in the picking process can be avoided.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, the electronic device includes: processor 301 and memory 302, processor 301 and memory 302 being interconnected and communicating with each other via communication bus 303 and/or other forms of connection means (not shown), memory 302 storing a computer program executable by processor 301, processor 301 executing the computer program when the electronic device is running, to perform the picking robot center of gravity control method in any of the alternative implementations of the above embodiments, to implement the following functions: acquiring position information of a target fruit; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit; calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box; when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; and adjusting the position of the collecting box according to the moving direction and the moving distance.

The embodiment of the application provides a storage medium, wherein a computer program is stored on the storage medium, and when being executed by a processor, the computer program executes the picking robot gravity center control method in any optional implementation manner of the embodiment to realize the following functions: acquiring position information of a target fruit; acquiring current weight information and first gravity center position information of the collecting box; calculating a second gravity center position of the robot main body when the mechanical arm extends to the position of the target fruit according to the position information of the target fruit; calculating a third gravity center position of the picking robot according to the current weight of the collecting box, the current first gravity center position and the current second gravity center position of the collecting box; when the third gravity center position exceeds the safety range, calculating the required moving direction and the required moving distance of the collecting box according to the second gravity center position, the current weight of the collecting box and the current first gravity center position of the collecting box; and adjusting the position of the collecting box according to the moving direction and the moving distance. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gravity center control method of a picking robot is used for the picking robot, the picking robot comprises a robot main body and a collecting box capable of moving left and right, the robot main body comprises an AGV and mechanical arms arranged on the AGV; the method is characterized by comprising the following steps:

A1. acquiring position information of a target fruit;

2. The picking robot center of gravity control method according to claim 1, wherein step a3 includes:

3. The picking robot center of gravity control method according to claim 1, wherein step a5 includes:

4. The picking robot center of gravity control method of claim 1, wherein step a5 includes:

；

wherein,

is the target position of the collecting bin,

a position of a support line being a first side, the first side being a side facing the target fruit,

is a preset safety distance, and is,

for the current weight of the collecting bin it is,

is the weight of the robot main body,

a second center of gravity position of the robot main body;

；

wherein,

for the distance to be moved in question,

the current first gravity center position of the collecting box;

the direction back to the first side is the direction needing to move.

5. The picking robot center of gravity control method according to claim 1, wherein step a6 includes:

6. The picking robot center of gravity control method of claim 5, wherein step A6 further comprises:

calculating a target weight of the collection box according to a second center of gravity position of the robot main body and recording the target weight in the non-picked fruit information table when a movable distance of the collection box in the direction requiring movement is smaller than the distance requiring movement; the target weight is a minimum weight of the collection bin that enables the picking robot's overall center of gravity to not exceed the safe range while picking the target fruit.

7. The picking robot center of gravity control method of claim 6, wherein the step of calculating the target weight of the collection bin from the second center of gravity position of the robot body comprises:

calculating the target weight according to the following formula:

；

wherein,

in order to achieve the target weight, the weight of the steel sheet is,

is a preset safety distance, and is,

is the weight of the robot main body,

a second position of the center of gravity of the robot main body,

8. A gravity center control device of a picking robot is used for the picking robot, the picking robot comprises a robot main body and a collecting box capable of moving left and right, the robot main body comprises an AGV and mechanical arms arranged on the AGV; it is characterized by comprising:

9. An electronic device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor executing the computer program to perform the steps of the picking robot center of gravity control method according to any one of claims 1-7.

10. A storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps in the picking robot center of gravity control method according to any of claims 1-7.