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Target grasping method and system applied to small size robot

A robot and target technology, which is applied in the target grasping method and system field of small robots, can solve the problems of high cost of laser modules, unsuitable for promotion, etc., and achieve the effect of low cost, high reliability and wide application

Inactive Publication Date: 2017-07-14
BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the high cost of the laser module, and the method of storing a large number of image positioning marks in advance is not suitable for promotion in the family

Method used

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  • Target grasping method and system applied to small size robot
  • Target grasping method and system applied to small size robot
  • Target grasping method and system applied to small size robot

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Experimental program
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specific Embodiment approach

[0077] Embodiment 4 of the present invention provides a specific implementation manner of step 300 in the above target grabbing method, and the step 300 specifically includes the following content:

[0078] According to the visual range of the small robot and the color picture of the target item once positioned, the included angles between the target item and the main optical axis of the camera head of the small robot in the horizontal direction and the vertical direction respectively are obtained.

[0079] It can be seen from the above description that the embodiments of the present invention can accurately, effectively and quickly acquire the location information of the target item.

[0080] Embodiment 5 of the present invention provides a specific implementation of step 400 in the above-mentioned target grabbing method, see Figure 4 , the step 400 specifically includes the following content:

[0081] Step 401: Send the values ​​of the included angles of the main optical a...

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Abstract

The invention provides a target grasping method and a system for a small size robot. The target grasping method comprises the following steps that a mechanical search of a target object is conducted in target space according to received grasping instructions, and in the mechanical searching process, color recognition is conducted throughout the target space, and color pictures all over the target space are obtained; one of the grasping instructions includes the color composition of the target object; each color picture is matched with the color composition of the target object, and primary positioning of the target object is conducted; secondary positioning of the target object after primary positioning is conducted; and according to the secondary positioning result of the target object, the robot runs near the target object and control mechanical arms to grasp the target object. The target grasping method and system enable the small size robot to grasp the target object accurately and rapidly, recognition process of the target object is high in reliability, grasping process of the target object is high in operation efficiency, the application is wide and the cost is low, and the target grasping method and system are applied to small laboratories and indoor family places.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for grabbing a target applied to a small robot. Background technique [0002] Small humanoid robots have gradually entered the home field. The tracking and grasping of household objects in its indoor environment are the basic functions of service robots, and the ability to grasp small items such as stationery will make the robot move towards application. How to obtain the position of the stationery relative to the robot, and control and set the position of the robot accordingly, is the core problem to be solved. [0003] The existing practice in China is to realize object recognition through labels. But tags are special marks for robots, and items in natural environments are not marked, which makes it only applicable to very limited systems. Foreign countries use laser modules or use a large number of image positioning and alignment methods to realize...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/162B25J9/1633B25J9/1671B25J9/1697
Inventor 张雷张凯博张亦雨
Owner BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE