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A device and method for determining the shape and position of a target object with a bionic dexterous hand

A technology of target objects and bionic spirits, applied in the field of robotics, can solve the problems of high external environment requirements and high costs, and achieve the effects of enhancing practicability, saving costs and reducing dependence.

Active Publication Date: 2021-05-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] When the bionic dexterous hand in the prior art acquires target parameters, it usually uses a visual sensor, which needs to arrange many cameras in the environment, which is costly and has high requirements for the external environment

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  • A device and method for determining the shape and position of a target object with a bionic dexterous hand
  • A device and method for determining the shape and position of a target object with a bionic dexterous hand
  • A device and method for determining the shape and position of a target object with a bionic dexterous hand

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Embodiment Construction

[0030] Before the dexterous hand grabs the target object, it needs to obtain the precise shape and position parameters of the target object. For this reason, the present invention draws lessons from the idea that blind people have no visual ability, and installs a circle of proximity sensors on the palm of the dexterous hand. The proximity sensor group formed by it is used to detect whether there is an object within a certain distance, and can be used for grasping and avoiding objects. barrier. Generally, the measurement accuracy of the proximity sensor can reach 0.1mm, the measurement range is between 10-100mm, and the output is a standard voltage signal. The proximity sensor can scan whether there is an object in front of the sensor, and the distance between the object and the sensor, so that the shape parameters of the object on one dimension can be obtained. As we all know, space objects have six dimensions (such as figure 1 shown), so after six scans, the shape parameter...

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Abstract

The invention provides a device and method for determining the shape and position of a target object with a bionic dexterous hand, wherein the object measuring device for determining the shape and position of the target object includes a proximity sensor group, a sensor moving device and a computing device. The present invention installs the sensor on the palm, obtains the shape and position parameter information of the target object through the proximity sensor, and then locates the target object. The invention can reduce the dependence of dexterous hands on external environment equipment, enhance usability and save cost at the same time.

Description

technical field [0001] The invention relates to a dexterous hand, in particular to a bionic dexterous hand capable of determining the shape and position of a target object, and belongs to the technical field of robots. Background technique [0002] When the bionic dexterous hand is performing precise grasping of objects, in order to enable the dexterous hand to accurately recognize the shape and pose of the object, it usually uses a visual sensor to identify and locate the target object. This makes the process of target recognition and positioning complicated and costly, which affects the final operation effect. [0003] Patent Document 1 (Chinese Patent Application No. 201610676653.0) provides a method for grasping objects based on vision-based target positioning. This method scans the object through the camera, selects the grasping point of the manipulator, and transforms the camera coordinate system and the manipulator coordinate system. , to make the robot realize the g...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1694
Inventor 余张国黄强于大程陈学超祝敏张伟民孙宁
Owner BEIJING INSTITUTE OF TECHNOLOGYGY