CN107160387A - A kind of material grasping means and system - Google Patents
A kind of material grasping means and system Download PDFInfo
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- CN107160387A CN107160387A CN201611148956.1A CN201611148956A CN107160387A CN 107160387 A CN107160387 A CN 107160387A CN 201611148956 A CN201611148956 A CN 201611148956A CN 107160387 A CN107160387 A CN 107160387A
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- captured
- crawl
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Image Analysis (AREA)
Abstract
The position of body feed tank is obtained, at least one material capture is included in the body feed tank, using the positional information and material information to be captured of body feed tank, the crawl information of material to be captured is obtained, grabbing device is using capturing information scratching material to be captured.The present invention connects the positional information of the position relationship and material to be captured of body feed tank each other, and utilize the crawl information of material to be captured, allow grabbing device at the same position and capture different quality, the object of shape, size, substantially increase the adaptability of material grasping system.
Description
Technical field
The present invention relates to storage, Material Sorting field.It is related to a kind of method of material crawl.
Background technology
Existing material grasping means to be captured mainly has pneumatic suction, electromagnetism to draw, machinery crawl three major types, wherein gas
Dynamic target of drawing has higher flatness requirement for the surface smoothness of object；Electromagnetism suction method has to the magnetic of object
Higher demand.
Existing grasping means is mainly the shape of vision system Direct Recognition object, by various grasping means to object
Captured, its systematicness to body form has higher requirement with uniformity.
Existing grasping means can be captured to doing market object according to mark, its size marked, mark
The attribute such as shape, color can only be marked for a type objects, same mark be difficult to object of different shapes such as
Pencil carries out same mark and crawl with drummed oil.
Existing grasping means is for having higher distinguish in summary in single shape, the crawl of the object of single kind
Knowledge and magnanimity and success rate, but if necessary to be captured to the object of sizes, shape, quality simultaneously, its Grasping skill is just
It is very limited.
The content of the invention
In view of the above-mentioned problems, the present invention provides one kind material grasping means to be captured, concrete technical scheme is acquisition material
At least one material to be captured is included in the position of case, the body feed tank, using position and the material information to be captured of body feed tank,
Obtain the crawl information of material to be captured, grabbing device is using capturing information scratching material to be captured.
Further, the camera by least two cameras or with depth information obtains an at least sub-picture, identification
Fisrt feature in image, the position of body feed tank is obtained using fisrt feature；The position of the body feed tank includes the inclined of body feed tank
Turn amount.
Further, the body feed tank includes second feature, is the identity of body feed tank, by recognizing that second feature is obtained
Obtain material information to be captured；The material to be captured includes third feature, and bits of information is grabbed for material to be captured.
Further, the crawl information includes crawl amount of deflection, is obtained by the fisrt feature；The crawl information
Including grasp force, crawl size, obtained by the second feature；The crawl information includes crawl position, passes through third feature
Obtain.
Further, the material information to be captured includes the dimension information of material to be captured, the quality of material to be captured
Information, material to be captured surface to be captured are relative to the coefficient of friction on grabbing device crawl surface, the crawl chi of material to be captured
Very little information, the position of centre of gravity information of material to be captured, the dimension information of body feed tank, grasp force correction coefficient.
Further, the grabbing device includes force snesor, judges whether the value that force snesor is obtained is grasp force
Value, is if it is captured, if not then adjusting to the value of grasp force；
The grabbing device includes position sensor, judges whether the value that position sensor is obtained is the value for capturing size, if
To be captured, if not then adjust to crawl size value.
Further, it is described wait capture material for it is a variety of when, and material to be captured crawl attribute with certain threshold value
In the range of, different materials to be captured are distinguished using a variety of crawl positions information；The crawl attribute includes grasp force, crawl chi
It is very little.
Further, after described material to be captured is crawled, the position corresponding to the material to be captured in body feed tank
It is designated as having captured.
The present invention includes a kind of grasping system, and concrete technical scheme is to include first acquisition unit, obtains body feed tank position,
At least one material to be captured is included in the body feed tank；Second acquisition unit, using material information to be captured, obtains and waits to capture
The crawl information of material；3rd acquiring unit, is marked, obtain material to be captured grabs bits of information using on material to be captured；
Control unit, control grabbing device is according to crawl information scratching material to be captured.
Further, the first acquisition unit is by least two cameras or the camera with depth information is obtained,
The fisrt feature in an at least sub-picture, identification image is obtained, the position of body feed tank is obtained using fisrt feature；The body feed tank
Position include the amount of deflection of body feed tank.
Further, the body feed tank includes second feature, is the identity of body feed tank, second acquisition unit is by knowing
Not described second feature obtains material information；The material to be captured includes third feature, and the 3rd acquiring unit is by recognizing
State third feature and obtain material to be captured and grab bits of information.
Further, the crawl information includes grasp force, crawl size, is obtained by the second feature；
The crawl information includes crawl position information, is obtained by the third feature；
The crawl information also includes crawl amount of deflection, is obtained by the fisrt feature.
Further, the material information to be captured includes dimension information, quality information, the thing to be captured of material to be captured
Expect that surface to be captured captures the coefficient of friction on surface, the crawl dimension information of material to be captured relative to grabbing device, waits to capture
The position of centre of gravity information of material, grasp force correction coefficient.
Further, the system also includes judging unit, and the grabbing device includes force snesor and position sensing
Device；
The judging unit judge force snesor obtain value whether be grasp force value, if control unit control crawl dress
Crawl is put, grabbing device is then adjusted if not control unit to the value of grasp force；
The judging unit judges whether the value that position sensor is obtained is the value for capturing size, if control unit control is grabbed
Take device to capture, grabbing device is then adjusted if not control unit to the value for capturing size.
Further, it is described wait capture material for it is a variety of when, and material to be grabbed crawl attribute with certain threshold value model
In enclosing, different materials to be captured are distinguished using a variety of crawl positions information, the crawl attribute includes：Grasp force, crawl size.
Further, after described material to be captured is crawled, the position corresponding to the material to be captured in body feed tank
It is designated as having captured.
The beneficial effects of the invention are as follows：The present invention is mutual by the positional information of the position relationship and material to be captured of body feed tank
Contact, and using material to be captured crawl information, allow grabbing device at the same position and capture different quality, shape, chi
Very little object, substantially increases the adaptability of material grasping system.
The present invention, without the method for Direct Recognition object to be captured, is carried significantly using indirect identification material position to be captured
The robustness that high visual identifying system is recognized for object space to be captured.
The present invention obtains material information to be captured by second feature, required for reducing Real time identification material to be captured
Amount of calculation, improves crawl speed.
The present invention installs position sensor, force snesor to feed back crawl information on grabbing device, to capturing
Journey formation closed loop, is improved to different quality, the adaptability of different shape material crawl to be captured.
Material grasping means of the present invention, every time crawl need not rejudge the change of image after completing, and reduce
Amount of calculation, improve crawl speed.
Brief description of the drawings
Fig. 1 represents that recognition methods is material flow figure to be captured.
Fig. 2 is the functional block diagram of the grasping means.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is described.
The flow chart of material grasping means to be captured provided in an embodiment of the present invention shown in Fig. 1.The grasping means bag
Include body feed tank 1, fisrt feature 2, second feature 3, third feature 4, material to be captured 5, material limited block 6, grabbing device 7, phase
Machine 8, processing memory 9.
At least one material 5 to be captured is placed in body feed tank；Fisrt feature 2 and second feature 3 are marked on body feed tank,
Third feature 4 is marked on material to be captured.
The position that body feed tank 1 is under world coordinate system is obtained by fisrt feature 2.
Using scaling board calibration for cameras 8, the inner parameter of camera 8 is obtained.
Fixed position or be fixed on grabbing device 7 that camera 8 is fixed in the space coordinate system of grabbing device 7.
At least one material 5 to be captured is placed in body feed tank 1；The material to be captured 5 is spacing by material to be captured
The defined position of unit 5；The material to be captured 5 limits treating in direction, i.e., single body feed tank 1 by material limited block 6 to be captured
Capturing material has consistent direction to be captured；The material position-limiting unit 5 to be captured can be dividing plate, limited block, glue etc..
The direction to be captured of material to be captured in the body feed tank 1 and the preferred coordinates axle in body feed tank plane coordinate system
With fixed angular relationship；The fixed angular relationship establishes the relation between body feed tank and material direction to be captured.
The fisrt feature 2 be specific texture, color, shape, or its combination, pass through camera 8 obtain image, processing
Memory 9 handles the coordinate system that the fisrt feature 2 obtains body feed tank 1, i.e. body feed tank plane coordinate system；Body feed tank coordinate system is put down
Face is overlapped with the upper plane of body feed tank 1.
Processing memory 9 handles the fisrt feature 2 and obtains body feed tank plane coordinate system relative between camera coordinates system
Conversion Relations.
Phase between a certain position that camera 8 is fixed within world coordinate system, i.e. camera coordinates system and world coordinate system
Mutual relation is known.
World coordinate system is overlapped with grabbing device task-oriented coordinates system.
Mutually changed by camera coordinates system, world coordinate system, body feed tank plane coordinate system, image coordinate system, obtain thing
The Conversion Relations of hopper coordinate system and world coordinate system, including in body feed tank plane coordinate system with material 5 to be captured
In the reference axis of fixed angular relationship relative to the amount of deflection between corresponding reference axis under its world coordinate system, rotation amount note
For crawl amount of deflection.
The camera 8 is binocular camera, or the camera with depth information obtains crawl deflection by the identification of camera 8
Measure the coordinate (X under the band crawl position correspondence world coordinate system of M and material to be capturedA,YA,ZA)。
Specifically：As shown in Fig. 2 the fisrt feature on body feed tank 1 is four round dots in plane on body feed tank；
By recognizing four points in the image obtained in the plane of body feed tank 1, and calculating that obtaining the position between each round dot closes
System, mutual turn between the coordinate system, body feed tank 1 and camera coordinates system of body feed tank 1 is obtained using the position relationship between round dot
Change relation（R1, T1）；
Camera 8 is integrally fixed at a certain fixed position under world coordinate system, mutual between camera coordinates system and world coordinate system
Transformational relation (R2,T2) it is known；
Using above-mentioned（R1, T1）With (R2,T2), calculate the mutual conversion obtained between body feed tank coordinate system and world coordinate system and close
It is (R3, T3)；
It is hereby achieved that body feed tank plane coordinate system in material 5 capture be in fixed angular relationship reference axis relative to it
Amount of deflection under world coordinate system between corresponding reference axis.The rotation amount is that grabbing device 7 needs to adjust crawl direction
Amount of deflection, is designated as crawl amount of deflection M；
Each material 5 to be captured, can make up a function f in body feed tank 1（X, y）；The function f（X, y）For counting thing
The quantity of material 5 to be captured in hopper 1；After the band crawl material in body feed tank 1 is crawled, f（X, y）Count and reduce one
It is individual；Work as f（X, y）Quantity needs to feed to body feed tank 1 again when being less than certain value.
The material grasping means, every time crawl need not rejudge the change of image after completing, and reduce calculating
Measure, improve crawl speed.
When it is described wait capture material for it is a variety of when, and material capture captures attribute with certain threshold range,
Different materials to be captured are distinguished using a variety of crawl positions information；The crawl attribute includes grasp force, crawl size.
The location of material 5 to be captured correspondence world is obtained using the third feature on the material to be captured in body feed tank
Coordinate (X under coordinate systemA,YA,ZA), the crawl position of material as to be captured.
Using indirect identification material position to be captured, without the method for Direct Recognition object to be captured, substantially increase and regard
Feel the robustness that identifying system is recognized for object space to be captured.
Using the relative position relation and material information to be captured of body feed tank and material to be captured, crawl information is obtained, its
Acquisition methods are as follows.
Second feature 3 is preset with body feed tank 1；The second feature 3 can be distributed on each surface of body feed tank 1,
As illustrated, second feature 3 is distributed on the side of body feed tank 1, the image for including second feature 3 is obtained by camera 8.
The body feed tank includes second feature, is the identity of body feed tank, by recognizing that second feature obtains body feed tank
With the relative position relation and material information to be captured of material to be captured.
The identity comprising crawl force information, in body feed tank 1 the quantity function f (x, y) of material to be captured, wait to grab
Take the physical attribute information of material 5.
The physical attribute information of the material to be captured 5, includes the size of material to be captured 5：Limiting length l, width w,
With height h；The quality m of material to be captured；Material surface to be captured to be captured captures the friction system on surface relative to grabbing device 7
Number μ；Material 5 to be captured captures the dimension information of position；Correction coefficient k；Material 5 to be captured is relative to itself limiting length l, width
W, height h position of centre of gravity.
The dimension information of the crawl of material to be captured 5 position includes crawl position crawl depth, the crawl initial grasp width in position.
By the information obtained by fisrt feature 2 and second feature 3, calculated using following methods and obtain material 5 to be captured
Crawl information.
According to the quality m of material 5 to be captured, material to be captured surface to be captured in the attribute information of the material to be captured
The friction coefficient μ that surface is contacted with grabbing device 7 calculates the grasp force F obtained required for the theoretical crawl of material to be captured1
Value；
Considered based on system sexual factors such as quality of material error to be captured, mechanical mechanism error, material position of centre of gravitys to be captured, it is real
Border grasp force needs to increase correction coefficient k, resulting in the grasp force F required for material crawl to be captured.
So far crawl amount of deflection required for material to be captured, crawl size, grasp force, crawl position have been obtained capturing.
Material information to be captured is obtained by second feature, the calculating required for Real time identification material to be captured is reduced
Amount, improves crawl speed.
The body feed tank 1 is the body feed tank of at least one specification.
There is force snesor, position sensor, force snesor is to feed back crawl force information on grabbing device 7；Position is passed
Sensor is to feed back crawl dimension information.By feeding back crawl process formation closed loop, improve and different quality, shaped objects are grabbed
The adaptability taken.
Processing memory 9 captures material to be captured using the crawl information control grabbing device of acquisition.The crawl information
Including：Grab bits of information, crawl force information, crawl coordinate information, crawl amount of deflection.Specific crawl process is as follows：
Processing memory 9 is moved to target crawl position using coordinate information control grabbing device is captured；
According to crawl amount of deflection with grabbing bits of information, grabbing device adjustment crawl angle and initial grasp width；
According to bits of information is grabbed, grabbing device moves to predetermined crawl depth；
According to crawl force information, grabbing device treats crawl material and applies predetermined grasp force；
Grabbing device captures material to be captured.
This method connects the positional information of the position relationship of body feed tank and material to be captured each other, and utilizes thing to be captured
The crawl information of material, allow grabbing device and meanwhile position and capture different quality, the object of shape, size, substantially increase
The adaptability of material grasping system.
Describing and explaining for the inventive method is applied to present system.
The flow chart of material grasping means to be captured provided in an embodiment of the present invention shown in Fig. 1.Fig. 2 includes body feed tank
1st, fisrt feature 2, second feature 3, third feature 4, material to be captured 5, material limited block 6 to be captured, grabbing device 7, camera
8th, memory 9 is handled.
1 places at least one material 5 to be captured in body feed tank；Fisrt feature 2 and second feature are marked on body feed tank 1
3；Third feature 4 is marked on material to be captured.
In a particular embodiment, what the image that the first acquisition unit is obtained including camera and to camera was handled
Memory 9 is handled, the first acquisition unit obtains the position that body feed tank 1 is under world coordinate system by fisrt feature.
Using scaling board calibration for cameras 8, the inner parameter of camera 8 obtained surely.
Fixed position or be fixed on grabbing device 7 that camera 8 is fixed in the space coordinate system of grabbing device 7.
At least one material 5 to be captured is placed in body feed tank 1；The material to be captured 5 is spacing by material to be captured
The defined position of unit 5；The material to be captured 5 limits treating in direction, i.e., single body feed tank 1 by material limited block 6 to be captured
Capturing material has consistent direction to be captured；The material position-limiting unit 5 to be captured can be dividing plate, limited block, glue etc..
The direction to be captured of material to be captured in the body feed tank 1 and the preferred coordinates in body feed tank plane coordinate system
Axle has fixed angular relationship；The fixed angular relationship establishes the relation between body feed tank and material direction to be captured.
The fisrt feature 2 be specific texture, color, shape, or its combination, pass through camera 8 obtain image, processing
Memory 9 handles the coordinate system that the fisrt feature 2 obtains body feed tank 1, i.e. body feed tank plane coordinate system；Body feed tank coordinate system is put down
Face is overlapped with the upper plane of body feed tank 1.
Processing memory 9 handles the fisrt feature 2 and obtains body feed tank plane coordinate system relative between camera coordinates system
Conversion Relations.
Phase between a certain position that camera 8 is fixed within world coordinate system, i.e. camera coordinates system and world coordinate system
Mutual relation is known.
World coordinate system is overlapped with grabbing device task-oriented coordinates system.
Mutually changed by camera coordinates system, world coordinate system, body feed tank plane coordinate system, image coordinate system, obtain thing
The Conversion Relations of hopper coordinate system and world coordinate system, including in body feed tank plane coordinate system with material 5 to be captured
In the reference axis of fixed angular relationship relative to the amount of deflection between corresponding reference axis under its world coordinate system, rotation amount note
For crawl amount of deflection.
The camera 8 is binocular camera, or the camera with depth information obtains crawl deflection by the identification of camera 8
Measure the coordinate (X under the band crawl position correspondence world coordinate system of M and material to be capturedA,YA,ZA)。
Specifically：As shown in Fig. 2 the fisrt feature on body feed tank 1 is four round dots in plane on body feed tank；
By recognizing four points in the image obtained in the plane of body feed tank 1, and calculating that obtaining the position between each round dot closes
System, mutual turn between the coordinate system, body feed tank 1 and camera coordinates system of body feed tank 1 is obtained using the position relationship between round dot
Change relation（R1, T1）；
Camera 8 is integrally fixed at a certain fixed position under world coordinate system, mutual between camera coordinates system and world coordinate system
Transformational relation (R2,T2) it is known；
Using above-mentioned（R1, T1）With (R2,T2), calculate the mutual conversion obtained between body feed tank coordinate system and world coordinate system and close
It is (R3, T3)；
It is hereby achieved that body feed tank plane coordinate system in material 5 capture be in fixed angular relationship reference axis relative to it
Amount of deflection under world coordinate system between corresponding reference axis.The rotation amount is that grabbing device 7 needs to adjust crawl direction
Amount of deflection, is designated as crawl amount of deflection M；
Each material 5 to be captured, can make up a function f in body feed tank 1（X, y）；The function f（X, y）For counting thing
The quantity of material 5 to be captured in hopper 1；After the band crawl material in body feed tank 1 is crawled, f（X, y）Count and reduce one
It is individual；Work as f（X, y）Quantity needs to feed to body feed tank 1 again when being less than certain value.
The material grasping system, every time crawl need not rejudge the change of image after completing, and reduce calculating
Measure, improve crawl speed.
When it is described wait capture material for it is a variety of when, and material capture captures attribute with certain threshold range,
Different materials to be captured are distinguished using a variety of crawl positions information；The crawl attribute includes grasp force, crawl size.
The location of material 5 to be captured correspondence world is obtained using the third feature on the material to be captured in body feed tank
Coordinate (X under coordinate systemA,YA,ZA), the crawl position of material as to be captured.
Using indirect identification material position to be captured, without the method for Direct Recognition object to be captured, substantially increase and regard
Feel the robustness that identifying system is recognized for object space to be captured.
Using the relative position relation and material information to be captured of body feed tank and material to be captured, crawl information is obtained, its
Acquisition methods are as follows.
Second feature 3 is preset on body feed tank 1；The second feature 3 can be distributed on each surface of body feed tank 1, such as
Shown in figure, second feature 3 is distributed on the side of body feed tank 1, and the image for including second feature 3 is obtained by camera 8.
In a particular embodiment, what the image that the second acquisition unit is obtained including camera and to camera was handled
Equipment, the body feed tank includes second feature, is the identity of body feed tank, and the second acquisition unit is special by identification second
Levy the relative position relation and material information to be captured for obtaining body feed tank and material to be captured.
The identity includes quantity f (x, y), the thing to be captured of material to be captured in crawl force information, body feed tank 1
The physical attribute information of material 5.
The physical attribute information of the material to be captured 5, includes the size of material to be captured 5：Limiting length l, width w,
With height h；The quality m of material to be captured；Material surface to be captured to be captured captures the friction system on surface relative to grabbing device 7
Number μ；Material 5 to be captured captures the dimension information of position；Correction coefficient k；Material 5 to be captured is relative to itself limiting length l, width
W, height h position of centre of gravity.
The dimension information of the crawl of material to be captured 5 position includes crawl position crawl depth, the crawl initial grasp width in position.
By the information obtained by fisrt feature 2 and second feature 3, calculated using following methods and obtain material 5 to be captured
Crawl information.
According to the quality m of material 5 to be captured, material to be captured surface to be captured in the attribute information of the material to be captured
The friction coefficient μ that surface is contacted with grabbing device 7 calculates the grasp force F obtained required for the theoretical crawl of material to be captured1
Value；
Considered based on system sexual factors such as quality of material error to be captured, mechanical mechanism error, material position of centre of gravitys to be captured, it is real
Border grasp force needs to increase correction coefficient k, resulting in the grasp force F required for material crawl to be captured.
So far crawl amount of deflection required for material to be captured, crawl size, grasp force, crawl position have been obtained capturing.
Material information to be captured is obtained by second feature, the calculating required for Real time identification material to be captured is reduced
Amount, improves crawl speed.
The body feed tank 1 is the body feed tank of at least one specification.
The system of the present invention also includes judging unit, and the grabbing device includes force snesor and position sensor；Institute
State judging unit judge force snesor obtain value whether be grasp force value, if control unit control grabbing device grab
Take, grabbing device is then adjusted if not control unit to the value of grasp force；The judging unit judges that position sensor is obtained
Value whether be capture size value, if control unit control grabbing device crawl, then adjusted if not control unit
Grabbing device extremely captures the value of size.
There is force snesor, position sensor, force snesor is to feed back crawl force information on grabbing device 7；Position is passed
Sensor is to feed back crawl dimension information.By feeding back crawl process formation closed loop, improve and different quality, shaped objects are grabbed
The adaptability taken.
Control unit, material to be captured is captured using the crawl information control grabbing device of acquisition.The crawl packet
Include：Grab bits of information, crawl force information, crawl coordinate information, crawl amount of deflection.Specific crawl process is as follows：
Control unit, target crawl position is moved to using coordinate information control grabbing device is captured；
According to crawl amount of deflection with grabbing bits of information, grabbing device adjustment crawl angle and initial grasp width；
According to bits of information is grabbed, grabbing device moves to predetermined crawl depth；
According to crawl force information, grabbing device treats crawl material and applies predetermined grasp force；
Control unit control grabbing device captures material to be captured.
The system connects the positional information of the position relationship of body feed tank and material to be captured each other, and utilizes thing to be captured
The crawl information of material, allow grabbing device and meanwhile position and capture different quality, the object of shape, size, substantially increase
The adaptability of material grasping system.
Claims (16)
1. the grasping means of material to be captured in a kind of body feed tank, it is characterised in that
Obtain and at least one material to be captured is included in the position of body feed tank, the body feed tank, using the position of body feed tank with treating
Material information is captured, the crawl information of material to be captured is obtained, grabbing device is using capturing information scratching material to be captured.
2. according to the method described in claim 1, it is characterised in that by least two cameras or the phase with depth information
Machine obtains the fisrt feature in an at least sub-picture, identification image, and the position of body feed tank is obtained using fisrt feature；The material
The position of case includes the amount of deflection of body feed tank.
3. method according to claim 2, it is characterised in that the body feed tank includes second feature, is the body of body feed tank
Part mark, by recognizing that second feature obtains material information to be captured；The material to be captured includes third feature, to wait to capture
Material grabs bits of information.
4. method according to claim 3, it is characterised in that the crawl information includes crawl amount of deflection, by described
Fisrt feature is obtained；The crawl information includes grasp force, crawl size, is obtained by the second feature；The crawl letter
Breath includes capturing position, is obtained by third feature.
5. according to the method described in claim 1, it is characterised in that the material information to be captured includes the chi of material to be captured
Very little information, the quality information of material to be captured, material to be captured surface to be captured relative to grabbing device capture surface friction
Coefficient, the crawl dimension information of material to be captured, the position of centre of gravity information of material to be captured, the dimension information of body feed tank, crawl
Power correction coefficient.
6. according to the method described in claim 1, it is characterised in that the grabbing device includes force snesor, judgment sensing
The value that device is obtained whether be grasp force value, if it is capture, if not then adjusting to the value of grasp force；
The grabbing device includes position sensor, judges whether the value that position sensor is obtained is the value for capturing size, if
To be captured, if not then adjust to crawl size value.
7. according to the method described in claim 1, it is characterised in that it is described wait capture material for it is a variety of when, and material to be captured
Crawl attribute with certain threshold range, different materials to be captured are distinguished using a variety of crawl positions information；It is described to grab
Attribute is taken to include grasp force, crawl size.
8. according to the method described in claim 1, it is characterised in that after described material to be captured is crawled, this waits to capture
Position corresponding to material in body feed tank is designated as having captured.
9. a kind of grasping system, it is characterised in that including first acquisition unit, obtains in body feed tank position, the body feed tank and wraps
Containing at least one material to be captured；Second acquisition unit, using material information to be captured, obtains the crawl letter of material to be captured
Breath；3rd acquiring unit, is marked, obtain material to be captured grabs bits of information using on material to be captured；Control unit, control
Grabbing device is captured according to crawl information scratching material to be captured.
10. system according to claim 9, it is characterised in that the first acquisition unit by least two cameras or
The camera that person has depth information is obtained, and is obtained the fisrt feature in an at least sub-picture, identification image, is obtained using fisrt feature
Take the position of body feed tank；The position of the body feed tank includes the amount of deflection of body feed tank.
11. system according to claim 10, it is characterised in that the body feed tank includes second feature, is body feed tank
Identity, second acquisition unit is by recognizing that the second feature obtains material information；The material to be captured includes the 3rd
Feature, the 3rd acquiring unit grabs bits of information by recognizing that the third feature obtains material to be captured.
12. system according to claim 11, it is characterised in that the crawl information includes grasp force, crawl size, leads to
The second feature is crossed to obtain；
The crawl information includes crawl position information, is obtained by the third feature；
The crawl information also includes crawl amount of deflection, is obtained by the fisrt feature.
13. system according to claim 9, it is characterised in that the material information to be captured includes material to be captured
Dimension information, quality information, material to be captured surface to be captured capture the coefficient of friction on surface relative to grabbing device, wait to capture
Crawl dimension information, the position of centre of gravity information of material to be captured, the grasp force correction coefficient of material.
14. system according to claim 9, it is characterised in that the system also includes judging unit, the grabbing device
Including force snesor and position sensor；
The judging unit judge force snesor obtain value whether be grasp force value, if control unit control crawl dress
Crawl is put, grabbing device is then adjusted if not control unit to the value of grasp force；
The judging unit judges whether the value that position sensor is obtained is the value for capturing size, if control unit control is grabbed
Take device to capture, grabbing device is then adjusted if not control unit to the value for capturing size.
15. system according to claim 9, it is characterised in that described when it is a variety of to capture material, and material to be grabbed
Attribute is captured with certain threshold range, different materials to be captured, the crawl are distinguished using a variety of crawl positions information
Attribute includes：Grasp force, crawl size.
16. system according to claim 9, it is characterised in that after described material to be captured is crawled, this waits to capture
Position corresponding to material in body feed tank is designated as having captured.
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| PCT/CN2017/098243 WO2018036443A1 (en) | 2016-08-26 | 2017-08-21 | Material grabbing method, apparatus and system, and dynamometry apparatus and material case |
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