CN115781684A

CN115781684A - Method and device for aligning multi-grip array with article and article gripping method

Info

Publication number: CN115781684A
Application number: CN202211668152.XA
Authority: CN
Inventors: 王京强; 丁有爽; 邵天兰
Original assignee: Mech Mind Robotics Technologies Co Ltd
Current assignee: Mech Mind Robotics Technologies Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-03-14

Abstract

The utility model discloses an alignment method, device and article snatch method between array and article are grabbed to many, and this alignment method between array and the article is grabbed to many includes: acquiring the average pose of a target object group to be grabbed and the poses of the multi-grabbing arrays; the target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one; adjusting a position of the multi-grip array according to the average pose and the pose of the multi-grip array to align the multi-grip array with the target group of items. According to the alignment method between the multi-grab array and the object, the position of the multi-grab array is adjusted through the average position posture of the target object group to be grabbed and the position posture of the multi-grab array, and the position posture comprises the position and the direction, so that the multi-grab array can be aligned with the target object group from the aspects of position and direction, and the alignment effect is improved.

Description

Method and device for aligning multi-grip array with article and article gripping method

Technical Field

The disclosure relates to the technical field of intelligent machines, in particular to a method and a device for aligning a multi-grab array with an article and an article grabbing method.

Background

The multi-grip array is a grip tool that integrates multiple grippers. In order to achieve greater gripping efficiency, as many grippers as possible are generally integrated into a multi-grip array to achieve gripping of multiple articles at a time.

If each clamp is required to successfully grab an article, each clamp is required to be aligned with one corresponding article to be grabbed. At present, after an article to be grabbed is determined, the multi-grab array can move in parallel to achieve article alignment and article grabbing, and in an actual situation, because the article is not regularly stacked, each clamp of the multi-grab array cannot be aligned with the article. Thus, the number of articles actually gripped by the multi-grip array is affected.

Therefore, the alignment effect of the current multi-grip array article alignment mode is poor.

Disclosure of Invention

The invention provides a method and a device for aligning a multi-grab array with an article and an article grabbing method, which are used for solving the problem of poor aligning effect of the existing multi-grab array article aligning mode.

In a first aspect, the present disclosure provides a method of alignment between a multi-grip array and an article, the method being applied to a multi-grip array comprising a plurality of grippers, the method comprising:

acquiring the average pose of a target object group to be grabbed and the poses of the multi-grabbing arrays; the target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one;

adjusting a position of the multi-grip array according to the average pose and the pose of the multi-grip array to align the multi-grip array with the target group of items.

In one possible implementation, the average pose includes an average pose point and an average pose direction;

the acquiring of the average pose of the target object group to be grabbed comprises:

acquiring the pose of each target object in the target object group; the pose of each target object comprises the position of each target object and the direction vector of each target object;

calculating an average value of the positions of the target items to determine an average pose point of the target item group;

and calculating the average direction of the direction vector of each target object to determine the average pose direction.

In a possible implementation manner, the acquiring the pose of each target item in the target item group includes:

acquiring point clouds of all target objects in the target object group;

and performing pose calculation processing on the point cloud of each target object to determine the corresponding pose of each target object.

In one possible implementation, the adjusting the position of the multi-grip array according to the average pose and the pose of the multi-grip array to align the multi-grip array with the target article group includes:

determining the central position of the multi-grasp array according to the pose of the multi-grasp array;

adjusting the position of the multi-grip array according to an included angle between the first positive direction and the second positive direction, the center position of the multi-grip array and the average pose point so that the multi-grip array is aligned with the target object group; the first positive direction is a direction in which the position of a target object matched with the clamp at one end of the multi-grip array points to the average pose point; the second positive direction is an average pose direction of the group of target items.

In one possible implementation, the adjusting the position of the multi-grip array according to the included angle between the first positive direction and the second positive direction, the center position of the multi-grip array, and the average pose point to align the multi-grip array with the target item group includes:

controlling the multi-grasp array to move until the central position of the multi-grasp array is aligned with the average pose point;

controlling the multi-grip array to rotate by the included angle at the position of the multi-grip array so that the included angle between the first positive direction and the second positive direction is zero;

adjusting distances between all grippers of the multi-grip array and the corresponding target item to align the multi-grip array with the target item group.

In one possible implementation, the adjusting the distance between all grippers of the multi-grip array and the corresponding target item to align the multi-grip array with the target item group includes:

judging whether the distances between all the clamps of the multi-grip array and the corresponding target object are smaller than a preset distance threshold value;

if the distances between all the clamps and the corresponding target articles are smaller than a preset distance threshold value, determining that the multi-grip array is aligned with the target article group;

and if the distance between each fixture and the corresponding target object is not smaller than the preset distance threshold, adjusting the position of the multi-grip array according to a preset adjustment strategy so that the distances between all the fixtures and the corresponding target object are smaller than the preset distance threshold.

In one possible implementation, the adjusting the position of the multi-grip array according to a preset adjustment strategy so that the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold includes:

on the basis of maintaining the direction of the multi-grab array unchanged, the multi-grab array is controlled to move according to a preset moving track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold value.

In a possible implementation manner, the preset movement track is a circular track;

the controlling the multi-grab array to move according to the preset moving track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold value comprises the following steps:

generating a plurality of circular tracks with the same number as the clamps according to the same preset radius by taking the positions of the clamps of the multi-grab array as the circle centers;

controlling the multi-grab array to move according to each circular track, and detecting the distances between all clamps of the multi-grab array and corresponding target objects in real time;

if corresponding positions exist in the range of a complete circular track moved by the multi-grip array, wherein the distances between all clamps of the multi-grip array and corresponding target objects are smaller than a preset distance threshold, determining the corresponding positions as final adjustment positions of the multi-grip array;

if the corresponding positions where the distances between all the clamps of the multi-grab array and the corresponding target objects are smaller than the preset distance threshold value do not exist after the multi-grab array moves within a complete circular track range, determining the sum of the preset radius and the preset interval threshold value as a new preset radius, and executing the step of generating a plurality of circular tracks with the same number as the clamps according to the preset radius by taking the positions of all the clamps of the multi-grab array as the circle center.

In one possible implementation, the controlling the multi-grip array to move according to the circular trajectory includes:

translating the multi-grip array to position each of the grippers on a corresponding circular track;

and controlling the clamps to move along the circular track in the same direction.

In a possible implementation manner, the preset moving track is a spiral track;

generating a spiral track by taking the positions of all the clamps of the multi-grab array as spiral centers according to preset radius change parameters;

and controlling the multi-grab array to move along the spiral track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold.

In a second aspect, the present disclosure provides a method of article gripping, the method being applied to a multi-grip array comprising a plurality of grippers, the method comprising:

aligning the multi-grip array with a target group of articles to be gripped, wherein the alignment method employs the alignment method between the multi-grip array and the articles according to any one of the first aspect;

performing grabbing operation on each target object in the target object group; wherein the target group of items has been aligned with the multi-grip array.

In a third aspect, the present disclosure provides an alignment device between a multi-grip array and an article, the device being located in the multi-grip array, the multi-grip array comprising a plurality of grippers, the device comprising:

the acquisition module is used for acquiring the average pose of a target object group to be grabbed and the poses of the multi-grab array; the target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one;

an adjustment module to adjust a position of the multi-grip array according to the average pose and a pose of the multi-grip array to align the multi-grip array with the target group of items.

the acquisition module is specifically configured to, when acquiring an average pose of a target object group to be grasped:

acquiring the pose of each target object in the target object group; the pose of each target object comprises the position of each target object and the direction vector of each target object; calculating an average value of the positions of the target items to determine an average pose point of the target item group; and calculating the average direction of the direction vector of each target object to determine the average pose direction.

In a possible implementation manner, when the obtaining module obtains the pose of each target item in the target item group, the obtaining module is specifically configured to:

acquiring point clouds of all target objects in the target object group; and performing pose calculation processing on the point cloud of each target object to determine the corresponding pose of each target object.

In a possible implementation manner, the adjusting module is specifically configured to:

determining the central position of the multi-grasp array according to the pose of the multi-grasp array; adjusting the position of the multi-grip array according to an included angle between the first positive direction and the second positive direction, the center position of the multi-grip array and the average pose point so that the multi-grip array is aligned with the target object group; the first positive direction is a direction in which the position of the target object matched with the clamp at one end of the multi-grab array points to the average pose point; the second positive direction is an average pose direction of the group of target items.

In one possible implementation, the adjusting module, when adjusting the position of the multi-grip array according to the included angle between the first positive direction and the second positive direction, the center position of the multi-grip array, and the average pose point so that the multi-grip array is aligned with the target object group, is specifically configured to:

controlling the multi-grasp array to move until the central position of the multi-grasp array is aligned with the average pose point; controlling the multi-grab array to rotate the included angle at the position of the multi-grab array so as to enable the included angle between the first positive direction and the second positive direction to be zero; adjusting distances between all grippers of the multi-grip array and the corresponding target item to align the multi-grip array with the target item group.

In one possible implementation, the adjustment module, when adjusting the distance between all grippers of the multi-grip array and the corresponding target article to align the multi-grip array with the target article group, comprises:

judging whether the distances between all the clamps of the multi-grab array and the corresponding target object are smaller than a preset distance threshold value or not; if the distances between all the clamps and the corresponding target articles are smaller than a preset distance threshold value, determining that the multi-grip array is aligned with the target article group; and if the distance between each clamp and the corresponding target object is not smaller than the preset distance threshold, adjusting the position of the multi-grip array according to a preset adjustment strategy so that the distances between all the clamps and the corresponding target object are smaller than the preset distance threshold.

In a possible implementation manner, when the adjusting module adjusts the position of the multi-grip array according to a preset adjusting strategy so that the distances between all the clamps and the corresponding target articles are smaller than a preset distance threshold, the adjusting module includes:

on the basis of maintaining the direction of the multi-grab array unchanged, the multi-grab array is controlled to move according to a preset moving track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold.

In a possible implementation manner, the preset moving track is a circular track;

the adjusting module controls the multi-grab array to move according to a preset moving track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold, and the adjusting module comprises:

generating a plurality of circular tracks with the same number as the clamps according to the same preset radius by taking the positions of the clamps of the multi-grab array as the circle centers; controlling the multi-grip array to move according to each circular track, and detecting the distances between all clamps of the multi-grip array and corresponding target objects in real time; if corresponding positions exist in the range of a complete circular track moved by the multi-grip array, wherein the distances between all clamps of the multi-grip array and corresponding target objects are smaller than a preset distance threshold, determining the corresponding positions as final adjustment positions of the multi-grip array; if the corresponding positions where the distances between all the clamps of the multi-grasp array and the corresponding target objects are not smaller than the preset distance threshold value do not exist after the multi-grasp array moves within a complete circular track range, determining the sum of the preset radius and the preset interval threshold value as a new preset radius, and executing the step of generating a plurality of circular tracks with the same number as the clamps according to the preset radius by taking the positions of the clamps of the multi-grasp array as the circle center.

In a possible implementation manner, when the adjusting module controls the multi-grip array to move according to the circular trajectory, the adjusting module is specifically configured to:

translating the multi-grip array to position each of the grippers on a corresponding circular track; and controlling the clamps to move along the circular track in the same direction.

In a possible implementation manner, the preset moving track is a spiral track;

the adjusting module is used for controlling the multi-grab array to move according to a preset moving track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold value, and is specifically used for:

generating a spiral track by taking the positions of all the clamps of the multi-grab array as spiral centers according to preset radius change parameters; and controlling the multi-grab array to move along the spiral track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold.

In a fourth aspect, the present disclosure provides an article grasping device located in a multi-grip array comprising a plurality of grippers, the device comprising:

an alignment module, configured to align the multi-grip array with a target article group to be gripped, wherein an alignment method adopts an alignment method between the multi-grip array and an article according to any one of the first aspect;

the grabbing module is used for grabbing each target object in the target object group; wherein the target group of items has been aligned with the multi-grip array.

In a fifth aspect, the present disclosure provides a multi-grip array comprising: a memory, a processor, and a plurality of clamps;

the processor, the memory, and the clamp circuitry are interconnected;

the memory stores computer-executable instructions; the clamp is used for grabbing or stacking the articles under the control of the processor;

the processor executes computer-executable instructions stored in the memory to implement a method of alignment between a multi-grip array and an article as provided in the first aspect or any of the possible embodiments of the first aspect, and/or a method of article gripping as provided in the second aspect or any of the possible embodiments of the second aspect.

In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method for aligning between a multi-grip array and an article provided in the first aspect or any of the possible embodiments of the first aspect, and/or the method for gripping an article provided in the second aspect or any of the possible embodiments of the second aspect when executed by a processor.

In a fifth aspect, the present disclosure provides a chip comprising:

a processor and a memory;

the memory stores a computer program;

the processor, when executing the computer program stored in the memory, implements the method of alignment between the multi-grip array and the article as provided in any of the possible embodiments of the first aspect or the first aspect, and/or the method of article gripping as provided in any of the possible embodiments of the second aspect or the second aspect.

In a sixth aspect, the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the method of alignment between a multi-grip array and an article as provided in the first aspect or any of the possible embodiments of the first aspect, and/or the method of article gripping as provided in the second aspect or any of the possible embodiments of the second aspect.

The present disclosure provides an alignment method, an alignment device and an article grabbing method between a multi-grab array and an article, wherein the alignment method between the multi-grab array and the article comprises: acquiring the average pose of a target object group to be grabbed and the poses of the multi-grabbing arrays; the target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one; adjusting a position of the multi-grip array according to the average pose and the pose of the multi-grip array to align the multi-grip array with the target group of items. According to the alignment method between the multi-grab array and the object, the position of the multi-grab array is adjusted through the average pose of the target object group to be grabbed and the pose of the multi-grab array, and the pose comprises the position and the direction, so that the multi-grab array can be aligned with the target object group from the aspects of position and direction, and the alignment effect is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is an exemplary diagram of an application scenario provided by an embodiment of the present disclosure;

FIG. 2 is a first schematic flow chart of a method of alignment between a multi-grip array and an article provided by the present disclosure;

FIG. 3 is a second schematic flow chart diagram of a method of alignment between a multi-grip array and an article provided by the present disclosure;

FIG. 4 is a third schematic flow chart diagram of a method of alignment between a multi-grip array and an article provided by the present disclosure;

fig. 5a is a schematic diagram of the average pose point and center position provided by the present disclosure prior to alignment;

FIG. 5b is a schematic view of the average pose point and center position alignment provided by the present disclosure;

FIG. 6 is a fourth schematic flow chart diagram of a method of alignment between a multi-grip array and an article provided by the present disclosure;

FIG. 7a is a first schematic diagram of a circular track provided by the present disclosure;

FIG. 7b is a second schematic diagram of a circular trajectory provided by the present disclosure;

FIG. 8 is a schematic illustration of a spiral trajectory provided by the present disclosure;

fig. 9 is a schematic flow diagram of an article grasping method provided by the present disclosure;

fig. 10 is a schematic structural view of an alignment device between a multi-grip array and an article provided by the present disclosure;

fig. 11 is a schematic diagram of the internal structure of a multi-grip array provided by the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present disclosure without making creative efforts shall fall within the protection scope of the present disclosure.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or intelligent device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or intelligent device.

For a clear understanding of the technical solutions of the present disclosure, a detailed description of the prior art solutions is first provided. The multi-grip array is a 5-grip tool integrated with a plurality of clamps, and each clamp on the multi-grip array is respectively aligned with an object to be gripped to complete one

The next largest number of grabs. At present, after determining an article to be grabbed, a multi-grab array can realize article alignment and article grabbing in a parallel moving mode, and in an actual situation, because the articles are not regularly stacked, only in the parallel moving mode, one of the clamps may be aligned with the article to be grabbed, and the other clamp is not aligned with the article to be grabbed, which is a large difference. Resulting in poor alignment of the multi-grip array with the article to be gripped.

0, the inventor finds out in research that the alignment effect of the multi-grab array article alignment method is poor in the above-mentioned method,

in order to solve the problem, the multi-grab array can be adjusted through the average pose of the target object group to be grabbed and the pose of the multi-grab array, the multi-grab array is aligned with the target object group from the position and the direction, and the alignment effect is improved.

Specifically, the average pose of the target object group to be grabbed and the pose of the multi-grab array are obtained. The target object group comprises a plurality of objects to be treated

And the grabbed target objects correspond to the clamps of the multi-grabbing array one by one. Adjusting the position of the multi-grip array according to the average pose and the position 5 pose of the multi-grip array to align the multi-grip array with the target group of items. Thereby enabling the multi-grasping array to be positioned and oriented

The columns are aligned with the target object groups, and the alignment effect is improved.

The inventor proposes a technical scheme of the present disclosure based on the above inventive findings.

Fig. 1 is an exemplary diagram of an application scenario provided in the embodiment of the present disclosure. As shown in FIG. 1, a multi-grip array 1 is included in an application scenario

And a target group of items 2.

The 0 multi-grip array 1 is a grip tool which can grip a plurality of articles simultaneously. In this embodiment, the multi-grip array 1 employs a robotic arm 11

And a gripper 12, the robotic arm 11 being used to control the movement of the gripper 12. The number of clamps 12 is shown in fig. 1 as 6 by way of example. A plurality of items are present in the target group of items 2, shown in the form of small circles, and an exemplary illustration 6 is shown in fig. 1

Each item, and 6 items are not regularly stacked. The 6 articles correspond to the first clamp, the second clamp to the sixth clamp in the multi-grip array 1 from left to right in sequence.

The 5 multi-grip array 1 can identify the current state of the target object group 2, such as by setting a camera or a video camera

And image recognition and the like are carried out to obtain the current state of the target object group 2, wherein the current state comprises the average pose of the target object group 2 and the pose of the multi-grab array 1. The multi-grip array 1 adjusts the position of the multi-grip array 1 in accordance with the average pose of the target article group 2 and the pose of the multi-grip array 1 to align the multi-grip array 1 with the target article group 2.

The specific adjustment mode may be that the average pose of the target object group 2 is the same as the pose of the center position of the multi-grab array 1, or 0 adjusts the position of the multi-grab array 1 according to the included angle between the first positive direction and the second positive direction, the center position of the multi-grab array 1, and the average pose point, so as to achieve alignment between the multi-grab array 1 and the target object group 2, wherein the first positive direction is a direction in which the position of the target object matched with the clamp at one end of the multi-grab array 1 points to the average pose point. The second positive direction is the average pose direction of the group of target items. The specific manner of adjustment may be other manners, which is not limited in this embodiment. After the alignment is completed, the multi-grip array 1 controls the gripper 12 to complete gripping of the corresponding article in the target article group 2 by the robot arm 11.

The embodiments of the present invention will be described with reference to the accompanying drawings.

Fig. 2 is a first flowchart of a method of alignment between a multi-grip array and an article provided by the present disclosure. As shown in fig. 2, the main body of the implementation of the embodiment of the present invention is an alignment device between the multi-grip array and the object, and the alignment device between the multi-grip array and the object may be integrated in the multi-grip array or may be disposed in other electronic devices for aligning the multi-grip array with the target object group. The method comprises the following steps:

s101, obtaining the average pose of a target object group to be grabbed and the pose of the multi-grab array. The target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one.

Grab the array more and include anchor clamps, anchor clamps generally are sharp interval arrangement, and anchor clamps quantity can set up according to actual demand, like 3 anchor clamps commonly used, 5 anchor clamps etc.. The target object group is obtained after being screened from the object group to be grabbed, and the number of the objects in the target object group can be equal to or less than that of the clamps of the multi-grab array.

And S102, adjusting the position of the multi-grab array according to the average pose and the pose of the multi-grab array so as to align the multi-grab array with the target object group.

In this embodiment, the specific manner of adjustment may be to make the average pose of the target object group the same as the pose of the center position of the multi-grab array, or adjust the position of the multi-grab array according to an included angle between a first positive direction and a second positive direction, the center position of the multi-grab array, and the average pose point, to achieve alignment between the multi-grab array and the target object group, where the first positive direction is a direction in which the position of the target object matched with the clamp at one end of the multi-grab array points to the average pose point. The second positive direction is the average pose direction of the group of target items. The specific manner of adjustment may be other manners, which is not limited in this embodiment.

The position of the multi-grab array is adjusted through the average position and posture of the target object group to be grabbed and the position and posture of the multi-grab array, and the position and posture comprise the position and the direction, so that the multi-grab array can be aligned with the target object group from the position and the direction, and the alignment effect is improved.

Meanwhile, on the basis of the alignment method between the multi-grip array and the article provided by the previous embodiment of the invention, the scheme of the invention can be further refined. As shown in fig. 3, fig. 3 is a second flowchart of the alignment method between the multi-grip array and the article provided by the present disclosure. The flow of this embodiment is specifically as follows:

s201, the pose of each target object in the target object group is obtained. The pose of each target object comprises the position of each target object and the direction vector of each target object.

In this embodiment, the position may be represented in a coordinate manner, and the obtaining manner may be directly obtained from the shooting device, or may be obtained by obtaining a point cloud of each target item in the target item group.

Optionally, in this embodiment, if a manner obtained by obtaining point cloud calculation of each target item in the target item group is adopted, S201 may specifically be:

and acquiring the point cloud of each target object in the target object group.

The point cloud is a massive point set of surface characteristics of the target object, and the point cloud of each target object can be directly obtained from shooting equipment.

S202, calculating the average value of the positions of the target objects to determine the average pose point of the target object group.

Illustratively, if the target item group includes target item a, target item b, and target item c. The average pose points of the targeted item group may be determined by averaging the corresponding coordinates of targeted item a, targeted item b, and targeted item c.

And S203, calculating the average direction of the direction vectors of the target objects to determine the average pose direction.

Illustratively, if the target item group includes target item a, target item b, and target item c. The average pose direction of the target item group can be determined by averaging the direction vectors corresponding to the target item a, the target item b, and the target item c.

And S204, acquiring the pose of the multi-grab array.

In this embodiment, the implementation manner of S204 is similar to that of S101, and is not described herein again.

And S205, determining the center position of the multi-grab array according to the pose of the multi-grab array.

The pose of the multi-grab array comprises the pose of each clamp of the multi-grab array, and the central position of the multi-grab array can be determined by averaging corresponding coordinates of each clamp.

And S206, adjusting the position of the multi-grip array according to the included angle between the first positive direction and the second positive direction, the center position of the multi-grip array and the average pose point so as to align the multi-grip array with the target object group. The first positive direction is a direction in which the position of the target object matched with the clamp at one end of the multi-grip array points to the average pose point. The second positive direction is the average pose direction of the group of target items.

The size of an included angle between the first positive direction and the second positive direction can reflect the direction difference between the multi-grasp array and the target object group, and the central position and the average pose point of the multi-grasp array can reflect the position difference between the multi-grasp array and the target object group.

When the position of array is grabbed more in the adjustment, can make the contained angle between first positive direction and the second positive direction be in predetermineeing angle threshold value within range, predetermine angle threshold value within range and can grab array model, anchor clamps attribute etc. according to more and set up. The angle between the first positive direction and the second positive direction may also be made equal to a preset angle threshold, e.g. the angle is set to zero.

Adjusting the position of the multi-grip array can be seen in fig. 4, 5a and 5b.

Optionally, as shown in fig. 4, S206 may specifically be:

and S2061, controlling the multi-grasp array to move until the central position of the multi-grasp array is aligned with the average pose point.

At this time, the direction of the center position of the multi-grip array is the same as the direction of the average pose point.

S2062, controlling the multi-grab array to rotate the included angle at the position of the multi-grab array so as to enable the included angle between the first positive direction and the second positive direction to be zero.

S2063, adjusting the distance between all grippers of the multi-grip array and the corresponding target article to align the multi-grip array with the target article group.

As shown in fig. 5a, the multi-grip array and the target group of articles are shown in a misaligned state. The number of the clamps of the multi-grab array is 3, and square display is adopted. Wherein, one end anchor clamps are rightmost side anchor clamps, and other end anchor clamps are leftmost side anchor clamps, and central point puts for filling the twill square in the picture.

The number of items in the target group is 3 in the figure, and the round display is adopted. The distribution of each article is as shown in the figure, the rightmost article corresponds to one end clamp, the leftmost article corresponds to the other end clamp, and the average pose point is a diagonal circle filled in the figure. The three dashed arrows are the original directions of the three articles, respectively, the first positive direction and the second positive direction being shown by the solid arrows. The first positive direction is the average pose direction of the three articles, and can be determined according to the poses of the three articles.

The state after the multi-grip array and the target article group have passed S2061 and S2062 is shown in fig. 5b, in which the center alignment is the position where the center position of the multi-grip array coincides with the average pose point, and the figure shows the position with filled diagonal squares. The positive direction after alignment is the corresponding positive direction when the included angle between the first positive direction and the second positive direction is zero.

It can be seen from fig. 5b that each target item is located close to and also close to the multi-grip array. If the distance between the other end clamp and the leftmost target object does not meet the actual requirement and the object is difficult to grasp in practical application, the distances between all the clamps of the multi-grasp array and the corresponding target object can be further adjusted, so that the multi-grasp array and the target object group are finally aligned.

Through the alignment process between the multi-grabbing array and the target object group, each clamp of the multi-grabbing array can be aligned with the corresponding target object in the target object group, so that the alignment effect between the multi-grabbing array and the target object group is improved, the number of the actually grabbed objects of the multi-grabbing array is increased, and the grabbing efficiency is improved.

As shown in fig. 6, fig. 6 is a fourth flowchart of the alignment method between the multi-grip array and the article provided by the present disclosure. The method for aligning a multi-grip array with an article provided in this embodiment is a further refinement of S2063, and then the method of this embodiment includes the following steps:

s301, judging whether the distances between all the clamps of the multi-grab array and the corresponding target object are smaller than a preset distance threshold value. If yes, go to step S302, otherwise go to step S303.

When grabbing an object, the multi-grab array has a certain requirement on the distance between the clamp and the target object according to the influence of factors such as the type of the clamp, so that whether the distances between all the clamps of the multi-grab array and the corresponding target object are smaller than a preset distance threshold value or not can be judged, and then whether the distances between all the clamps and the corresponding target object are further adjusted or not is determined.

S302, determining alignment between the multi-grip array and the target object group.

And S303, adjusting the position of the multi-grab array according to a preset adjusting strategy so that the distance between each clamp and the corresponding target object is smaller than a preset distance threshold.

The preset adjustment strategy may be to rotate the multi-grip array, control the multi-grip array to move on the basis of maintaining the direction of the multi-grip array unchanged, and the like, which is not limited in this embodiment.

Optionally, in this embodiment, if the multi-grip array is controlled to move on the basis of maintaining the direction of the multi-grip array unchanged, S303 may be further refined as:

After the multi-grab array is controlled to rotate the included angle at the position of the multi-grab array, so that the included angle between the first positive direction and the second positive direction is zero, the direction of the multi-grab array is the same as the first positive direction, wherein the direction of the multi-grab array can be determined according to the position and the attitude of the center of the multi-grab array.

The preset moving track can be various, such as a circular track, a square track, a spiral track, and the like.

Two of which are described below by way of example:

as shown in fig. 7a, the preset moving track adopted in the present embodiment is a circular track, the circular track is shown by a dotted circle, and the moving direction is counterclockwise.

The adjusting process specifically comprises the following steps:

and generating a plurality of circular tracks with the same number as the clamps according to the same preset radius by taking the positions of the clamps of the multi-grip array as the circle centers.

And controlling the multi-grip array to move according to each circular track, and detecting the distances between all clamps of the multi-grip array and the corresponding target object in real time.

And if the corresponding positions where the distances between all the clamps of the multi-grip array and the corresponding target object are smaller than the preset distance threshold exist within the range of the complete circular track moved by the multi-grip array, determining the corresponding positions as the final adjustment positions of the multi-grip array.

If the corresponding positions of all the clamps of the multi-grip array, the distances between which and the corresponding target objects are not smaller than the preset distance threshold value, do not exist after the multi-grip array moves a complete circular track range, determining the sum of the preset radius and the preset interval threshold value as a new preset radius, and executing the step of generating a plurality of circular tracks with the same number as the clamps according to the preset radius by taking the positions of the clamps of the multi-grip array as the circle center.

The preset radius can be set according to actual requirements, for example, the preset radius can be set to be a smaller numerical value, and when the corresponding circular track does not have corresponding positions where the distances between all the clamps of the multi-grip array and the corresponding target object are smaller than a preset distance threshold, a larger circular track is generated through a preset interval threshold.

Optionally, in this embodiment, since each fixture of the multi-grip array is located at the center of each circular track, the multi-grip array fixture needs to be moved to the circular track, and then controlling the multi-grip array to move according to the circular track may specifically be:

and translating the multi-grab array to enable each clamp to be located on the corresponding circular track.

As shown in fig. 7b, the adopted preset moving track is also a circular track, the circular track is shown by a dotted circle, and the moving direction is counterclockwise. Compared with fig. 7a, the generated circular track is a plurality of circular tracks directly passing through each clamp of the multi-grip array, and the multi-grip array does not need to be controlled to translate from the center of the circular track to the circular track. The manner of controlling the multi-grip array to move along each circular track and determining the final adjustment position is the same as that in fig. 7a, and is not described herein again.

Second, as shown in fig. 8, the preset moving track is a spiral track. The spiral trajectory is shown as a dashed spiral, with the direction of movement being clockwise.

The adjusting process specifically comprises the following steps:

and taking the positions of all the clamps of the multi-grab array as spiral centers, and generating a spiral track according to preset radius change parameters.

Because the distance value between each clamp of the multi-grip array and the corresponding target object is generally small, the preset radius change parameter can be set to be a small value, the multi-grip array is controlled to move along the spiral track, whether the distances between all the clamps and the corresponding target object are smaller than the preset distance threshold value is judged in real time, and if the corresponding position where the distances between all the clamps of the multi-grip array and the corresponding target object are smaller than the preset distance threshold value exists, the corresponding position is determined as the final adjusting position of the multi-grip array.

In this embodiment, circular tracks with more sizes can be tried on the circular tracks shown in fig. 7a and 7b, and the alignment effect is better. The spiral trajectory shown in fig. 8 is less computationally expensive and more efficient to align.

As shown in fig. 9, fig. 9 is a schematic flow chart of an article grasping method provided by the present disclosure. As shown in fig. 9, the main body of the execution of the embodiment of the present invention is an alignment device between the multi-grip array and the object, and the alignment device between the multi-grip array and the object may be integrated in the multi-grip array, or may be disposed in other electronic devices for aligning the multi-grip array and the target object group and gripping the target object group. The method comprises the following steps:

s401, aligning the multi-grip array with a target article group to be gripped, wherein the alignment method adopts an alignment method between the multi-grip array and an article.

S402, grabbing operation is carried out on each target object in the target object group. Wherein the target group of articles has been aligned with the multi-grip array.

The article grabbing method of the embodiment is based on the corresponding method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.

Fig. 10 is a schematic structural view of an alignment device between a multi-grip array and an article provided by the present disclosure. As shown in fig. 10, the alignment device 500 between the multi-grip array and the article may be located in the multi-grip array, or may be located in other electronic devices, and the alignment device 500 between the multi-grip array and the article includes:

the acquiring module 501 is configured to acquire an average pose of a target object group to be grabbed and a pose of the multi-grab array. The target object group comprises a plurality of target objects to be grabbed, and each target object corresponds to each clamp of the multi-grabbing array one by one.

An adjustment module 502 for adjusting a position of the multi-grip array based on the average pose and the pose of the multi-grip array to align the multi-grip array with the target group of items.

The alignment apparatus between the multi-grip array and the article provided in fig. 10 can implement the corresponding method embodiments described above, which have similar implementation principles and technical effects, and are not described herein again.

Meanwhile, the alignment device between the multi-grip array and the article provided by the present disclosure further refines the alignment device 500 between the multi-grip array and the article on the basis of the alignment device between the multi-grip array and the article provided by the previous embodiment, and specifically, the following steps are performed:

in one possible implementation, the average pose includes an average pose point and an average pose direction.

The obtaining module 501, when obtaining the average pose of the target object group to be grabbed, is specifically configured to:

and acquiring the pose of each target object in the target object group. The pose of each target object comprises the position of each target object and the direction vector of each target object. And calculating the average value of the positions of the target objects to determine the average pose point of the target object group. And calculating the average direction of the direction vector of each target object to determine the average pose direction.

In a possible implementation manner, when acquiring the pose of each target item in the target item group, the acquiring module 501 is specifically configured to:

and acquiring the point cloud of each target object in the target object group. And performing pose calculation processing on the point cloud of each target object to determine the corresponding pose of each target object.

In a possible implementation manner, the adjusting module 502 is specifically configured to:

and determining the central position of the multi-grab array according to the pose of the multi-grab array. And adjusting the position of the multi-grip array according to the included angle between the first positive direction and the second positive direction, the central position of the multi-grip array and the average pose point so as to align the multi-grip array with the target object group. The first positive direction is a direction in which the position of the target object matched with the clamp at one end of the multi-grip array points to the average pose point. The second positive direction is the average pose direction of the group of target items.

In one possible implementation, the adjusting module 502 is specifically configured to, when adjusting the position of the multi-grip array according to the included angle between the first positive direction and the second positive direction, the center position of the multi-grip array, and the average pose point, so as to align the multi-grip array with the target object group:

and controlling the multi-grasp array to move until the central position of the multi-grasp array is aligned with the average pose point. And controlling the multi-grab array to rotate the included angle at the position of the multi-grab array so as to enable the included angle between the first positive direction and the second positive direction to be zero. Adjusting the distance between all grippers of the multi-grip array and the corresponding target item to align the multi-grip array with the group of target items.

In one possible implementation, the adjusting module 502, when adjusting the distance between all grippers of the multi-grip array and the corresponding target item to align the multi-grip array with the group of target items, includes:

and judging whether the distances between all the clamps of the multi-grab array and the corresponding target object are smaller than a preset distance threshold value. And if the distances between all the clamps and the corresponding target articles are smaller than the preset distance threshold, determining that the multi-grip array is aligned with the target article group. And if the distance between each fixture and the corresponding target object is not smaller than the preset distance threshold, adjusting the position of the multi-grip array according to a preset adjustment strategy so that the distances between all the fixtures and the corresponding target object are smaller than the preset distance threshold.

In one possible implementation manner, when the adjusting module 502 adjusts the position of the multi-grip array according to a preset adjusting strategy so that the distances between all the clamps and the corresponding target articles are less than a preset distance threshold, the adjusting module includes:

In one possible implementation, the preset movement trajectory is a circular trajectory.

The adjusting module 502 controls the multi-grab array to move according to the preset moving track until the distances between all the clamps and the corresponding target objects are less than the preset distance threshold, and includes:

and generating a plurality of circular tracks with the same number as the clamps according to the same preset radius by taking the positions of the clamps of the multi-grab array as the circle centers. And controlling the multi-grip array to move according to each circular track, and detecting the distances between all clamps of the multi-grip array and the corresponding target object in real time. And if the corresponding positions where the distances between all the clamps of the multi-grip array and the corresponding target object are smaller than the preset distance threshold exist within the range of the complete circular track moved by the multi-grip array, determining the corresponding positions as the final adjustment positions of the multi-grip array. If the corresponding positions of all the clamps of the multi-grip array, the distances between which and the corresponding target objects are not smaller than the preset distance threshold value, do not exist after the multi-grip array moves a complete circular track range, determining the sum of the preset radius and the preset interval threshold value as a new preset radius, and executing the step of generating a plurality of circular tracks with the same number as the clamps according to the preset radius by taking the positions of the clamps of the multi-grip array as the circle center.

In a possible implementation manner, when the adjusting module 502 controls the multi-grip array to move according to the circular track, the adjusting module is specifically configured to:

and translating the multi-grab array to enable each clamp to be located on the corresponding circular track. And controlling the clamps to move along the circular track in the same direction.

In one possible implementation, the preset movement trajectory is a spiral trajectory.

The adjusting module 502 controls the multi-grab array to move according to the preset moving track until the distances between all the clamps and the corresponding target objects are less than the preset distance threshold, and is specifically configured to:

and generating a spiral track by taking the positions of all the clamps of the multi-grab array as spiral centers according to preset radius change parameters. And controlling the multi-grab array to move along the spiral track until the distances between all the clamps and the corresponding target objects are smaller than a preset distance threshold.

The aligning device between the multi-grip array and the article of this embodiment may perform the corresponding method embodiments described above, and the implementation principle and technical effects are similar, which are not described herein again.

Simultaneously, this embodiment still provides an article grabbing device, and this article grabbing device is located and grabs the array more, and it includes a plurality of anchor clamps to grab the array more, and article grabbing device includes:

an alignment module for aligning the multi-grip array with a target group of articles to be gripped, wherein the alignment method employs the alignment method between the multi-grip array of any one of the first aspect and the articles.

And the grabbing module is used for grabbing each target object in the target object group. Wherein the target group of articles has been aligned with the multi-grip array.

The article grasping apparatus may perform the corresponding method embodiments, and the implementation principle and technical effects are similar, which are not described herein again.

Fig. 11 is a schematic diagram of the internal structure of a multi-grip array provided by the present disclosure. As shown in fig. 11, the multi-grip array includes: a processor 601, a memory 602, and a fixture 603. The memory 602 stores computer programs. The processor 601 executes a computer program stored in the memory to implement the steps of the alignment method between the multi-grip array and the article in the above-described method embodiments. The gripper 603 is used to grasp or stack the articles under the control of the processor 601.

In the multi-grip array described above, the processor 601, the memory 602, and the gripper 603 are electrically connected directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines, such as a bus. The memory 602 stores computer-executable instructions for implementing the data access control method, including at least one software functional module that can be stored in the memory 602 in the form of software or firmware, and the processor 601 executes various functional applications and data processing by running software programs and modules stored in the memory 602.

The Memory 602 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), and the like. Further, the software programs and modules within the memory 602 may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

The processor 601 may be an integrated circuit chip having signal processing capabilities. The Processor 601 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

An embodiment of the present disclosure also provides a chip, including: a processor and a memory. The memory has stored thereon a computer program which, when executed by the processor, performs the steps of the method for aligning between a multi-grip array and an article in the above-described method embodiments, and/or performs the steps of the method for gripping an article in the above-described method embodiments.

An embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when executed by a processor, the computer-executable instructions are used to implement the steps of the alignment method between the multi-grip array and the article in the above-mentioned method embodiment, and/or implement the steps of the article gripping method in the above-mentioned method embodiment.

An embodiment of the present disclosure also provides a computer program product, which includes a computer program, when being executed by a processor, for implementing the steps of the method for aligning between the multi-grip array and the article in the above method embodiment, and/or implementing the steps of the method for gripping the article in the above method embodiment.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided by the present disclosure may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

So far, the technical solutions of the present disclosure have been described in connection with the preferred embodiments shown in the drawings, but it is apparent that the scope of the present disclosure is not limited to these specific embodiments, as will be readily understood by those skilled in the art. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the disclosure, and the technical scheme after the changes or substitutions will fall into the protection scope of the disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of alignment between a multi-grip array and an article, the method being applied to a multi-grip array comprising a plurality of grippers, the method comprising:

2. The method of claim 1, wherein the average pose comprises an average pose point and an average pose direction;

the acquiring of the average pose of the target object group to be grabbed includes:

and calculating the average direction of the direction vectors of the target objects to determine the average pose direction.

3. The method of claim 2, wherein the obtaining the pose of each target item in the group of target items comprises:

acquiring point clouds of all target objects in the target object group;

4. The method of claim 2 or 3, wherein the adjusting the position of the multi-grip array according to the average pose and the pose of the multi-grip array to align the multi-grip array with the target group of items comprises:

adjusting the position of the multi-grip array according to an included angle between the first positive direction and the second positive direction, the center position of the multi-grip array and the average pose point to align the multi-grip array with the target object group; the first positive direction is a direction in which the position of a target object matched with the clamp at one end of the multi-grip array points to the average pose point; the second positive direction is an average pose direction of the group of target items.

5. The method of claim 4, wherein the adjusting the position of the multi-grip array to align the multi-grip array with the target group of items according to the angle between the first positive direction and the second positive direction, the center position of the multi-grip array, and the average pose point comprises:

controlling the multi-grab array to rotate the included angle at the position of the multi-grab array so as to enable the included angle between the first positive direction and the second positive direction to be zero;

6. The method of claim 5, wherein the adjusting the distance between all grippers of the multi-grip array and the corresponding target article to align the multi-grip array with the target article group comprises:

and if the distance between each clamp and the corresponding target object is not smaller than the preset distance threshold, adjusting the position of the multi-grip array according to a preset adjustment strategy so that the distances between all the clamps and the corresponding target object are smaller than the preset distance threshold.

7. The method of claim 6, wherein adjusting the position of the multi-grip array according to a preset adjustment strategy such that the distances between all grippers and the corresponding target item are less than a preset distance threshold comprises:

8. The method according to claim 7, wherein the preset movement trajectory is a circular trajectory;

if the corresponding positions where the distances between all the clamps of the multi-grasp array and the corresponding target objects are not smaller than the preset distance threshold value do not exist after the multi-grasp array moves within a complete circular track range, determining the sum of the preset radius and the preset interval threshold value as a new preset radius, and executing the step of generating a plurality of circular tracks with the same number as the clamps according to the preset radius by taking the positions of the clamps of the multi-grasp array as the circle center.

9. The method of claim 8, wherein controlling the multi-grip array to move in the circular trajectory comprises:

10. The method according to claim 7, wherein the preset movement trajectory is a spiral trajectory;

taking the position of each clamp of the multi-grab array as a spiral center, and generating a spiral track according to preset radius change parameters;

11. A method of gripping an article, the method being applied to a multi-grip array comprising a plurality of grippers, the method comprising:

aligning the multi-grip array with a target group of articles to be gripped, wherein the alignment method employs the alignment method between the multi-grip array and the articles according to any one of claims 1 to 10;

12. An alignment device between a multi-grip array and an article, the device positioned in the multi-grip array, the multi-grip array comprising a plurality of grippers, the alignment device comprising:

13. A multi-grip array, comprising: a memory, a processor, and a plurality of clamps;

the processor, the memory, and the clamp circuitry are interconnected;

the processor executes computer-executable instructions stored in the memory to implement the method of alignment between the multi-grip array of any of claims 1 to 10 and an article and/or the method of article gripping of claim 11.

14. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of aligning the multi-grip array of any one of claims 1 to 10 with an article and/or the method of gripping an article of claim 11.