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Grabbing position detecting method and device and mechanical arm

A detection method and technology of a detection device are applied in the detection of grasping positions and in the field of robotic arms, which can solve the problems of difficulty in accurately determining grasping positions and low grasping efficiency of robotic arms, so as to improve the probability of successful grasping and improve the accuracy of grasping. degree of effect

Active Publication Date: 2018-05-18
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a detection method, device and mechanical arm of the grasping position to solve the problem in the prior art that the successful grasping efficiency of the mechanical arm is low due to the difficulty of accurately determining the grasping position

Method used

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  • Grabbing position detecting method and device and mechanical arm
  • Grabbing position detecting method and device and mechanical arm
  • Grabbing position detecting method and device and mechanical arm

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Experimental program
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Embodiment 1

[0026] figure 1 It shows a schematic flowchart of a method for detecting a grabbing position provided in Embodiment 1 of the present application, and is described in detail as follows:

[0027] Step S11, the robotic arm acquires the first image information of the target object at the first position;

[0028] In the embodiment provided in the present application, the robotic arm first captures the first image information of the target object at a certain position. The first position may be the current position of the robotic arm, or may be a position suitable for photographing the target object selected by the robotic arm during the process of moving towards the target object.

[0029] Optionally, when acquiring the first image information, a binocular camera installed in the robotic arm may be activated, and the first image information of the target object may be acquired through the binocular camera.

[0030] Optionally, in another embodiment provided by the present applica...

Embodiment 2

[0065] Corresponding to the detection method of the grasping position described in the above embodiment, image 3 A structural block diagram of the device for detecting a grabbing position provided by the embodiment of the present application is shown, and for convenience of description, only parts related to the embodiment of the present application are shown.

[0066] refer to image 3 , the detection device of the grasping position comprises: an image information acquisition module 31, a three-dimensional geometric figure determination module 32, and a grasping position determination module 33, wherein:

[0067] The image information acquisition module 31 is used to make the mechanical arm acquire the first image information of the target object at the first position; it is also used to acquire the second image of the target object after moving the mechanical arm to the second position according to preset rules information;

[0068] A three-dimensional geometric figure de...

Embodiment 3

[0087] Figure 4 It is a schematic diagram of a robotic arm provided by an embodiment of the present application. like Figure 4 As shown, the robotic arm 4 of this embodiment includes: a processor 40 , a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40 . When the processor 40 executes the computer program 42, it realizes the steps in the above embodiments of the grasping control method of each mechanical arm, for example figure 1 Steps S11 to S15 are shown. Alternatively, when the processor 40 executes the computer program 42, it realizes the functions of the modules / units in the above-mentioned device embodiments, for example image 3 The functions of modules 31 to 33 are shown.

[0088] Exemplarily, the computer program 42 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 41 and executed by the processor 40 to complete this application. The one or more modules / units m...

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Abstract

The invention is suitable for the technical field of intelligent detection, and provides a grabbing position detecting method and device and a mechanical arm. The method includes the steps that the mechanical arm obtains first image information and second image information of a target object at the first position and the second position correspondingly, and a three-dimensional geometric figure ofthe appearance of the target object is determined; if the three-dimensional geometric figure is a regular geometric figure, the grabbing position of the target object is determined according to the geometric center of the geometric figure; or at least two feature points of an irregular geometric figure are obtained, and the grabbing position of the target object is determined according to the feature points. In the process, according to the image information, obtained at different positions, of the target object, three-dimensional geometric figure of the appearance of the target object is determined, and the accuracy of the detected appearance of the target object is improved; and different methods are adopted for target objects with different appearances for determining the grabbing position, the appropriate grabbing positions are found quickly and accurately according to self features of the target objects, and the successful grabbing rate of the mechanical arm is improved.

Description

technical field [0001] The present application belongs to the technical field of intelligent detection, and in particular relates to a detection method, device and mechanical arm of a grasping position. Background technique [0002] With the continuous development of computer technology, mechanical structures such as robots are constantly being used in various industries. For example, in some enterprises, robots are used to check the working conditions of some equipment in extreme environments or to repair equipment or Some industrial products are sorted, grasped and moved. When grabbing products, some mechanical arms with relatively simple structures are often used, and the movement of the robotic arms and the grabbing of items are controlled by the control center. The mechanical arm is generally provided with an execution end, and the execution end grabs the target object. Due to the influence of factors such as the shape and quality of the object, when the robotic arm g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06T7/66G06T7/73
CPCB25J9/1602B25J9/1697G06T7/66G06T7/73
Inventor 郎需林刘培超刘主福
Owner SHENZHEN YUEJIANG TECH CO LTD
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