Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis

Abstract

The invention relates to a method for regulating a manipulator and grasping force thereof. The manipulator comprises a vision image acquisition system and a database. The vision image acquisition system takes and acquires 3D (three-dimensional) entitative images of objects to be grasped by the manipulator, simultaneously scans dimension information of the acquired objects, acquires the volumes of the acquired objects and transmits the volumes of the acquired objects to a central processing unit; image data of various objects and parameters of the density, the roughness and friction coefficients of materials of the various objects are stored in the database; the central processing unit compares the acquired 3D entitative images to the image data in the database, judges the acquired 3D entitative images, determines the types, the dimensions and the volumes of the grasped objects, calls out the parameters of the density, the roughness and the friction coefficients of the corresponding materials of the grasped objects and outputs grasping and lifting force information to a control unit according to the parameters, and the control unit controls the grasping force and lifting force of the manipulator. The method has the advantages that the three-dimensional entitative images are acquired, and accordingly the grasping force required to be outputted by the manipulator can be accurately computed.

Description

[0001] technical field [0002] The invention relates to a manipulator and an adjustment method for its gripping force, in particular to an intelligent adjustment method for a manipulator and its gripping force based on visual image analysis. [0003] Background technique [0004] With the development of science and technology, the level of robot technology has been continuously improved, and its application fields have also been continuously expanded, and it has also solved many problems in people's lives. The domestic manufacturing industry is facing the problem of employing labor: labor-intensive manufacturing enterprises need to hire a large number of laborers, but after the annual long holiday, some front-line personnel always lose some employees, which sometimes interferes with normal production. Frequent operator replacement will affect product quality and increase The rate of equipment damage and potential safety hazard accidents increased. Nowadays, many workers a...

AI Technical Summary

Problems solved by technology

The domestic manufacturing industry is facing the problem of employing labor: labor-intensive manufacturing enterprises need to hire a large number of laborers, but after the annual long holiday, some front-line personnel always lose some employees, which sometimes interferes with normal production. Frequent operator replacement will affect product quality and increase Increased equipment damage rate and safety hazard accidents

But the key problem at present is: people can judge based on experience how much grasping force and lifting force are needed to grasp an object, so as to ensure that the object to be grasped is grasped and lifted, which involves two problems: first, it will not slip and fall, What is the second lifting force

At present, the manipulator is still unable to do this, but is trying to develop in this direction by using various sensor technologies.

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