Robot target localization and grasping method based on binocular vision and lidar
A laser radar and binocular vision technology, applied in the field of robotics, can solve the problems of grasping errors, inability to accurately grasp objects, and inability to detect the precise position of objects, etc., to achieve the effect of improving accuracy and reducing wrong grasping
Active Publication Date: 2021-07-20
ELECTRIC POWER RES INST OF GUANGXI POWER GRID CO LTD
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However, most of the visual sensing systems of existing robots include a camera, and the acquired item position information is a wide range of environmental information, which cannot detect the precise position of the item. Therefore, the robot arm cannot accurately grasp the Items, prone to grasping errors
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[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0028] Please refer to figure 1 , a preferred embodiment of the present invention provides a robot target location and grasping method based on binocular vision and laser radar, the method is suitable for robots, the robot includes a robot body, a left mechanical arm and a right mechanical arm that are movably connected with the robot body , the first camera arranged on the left mechanical arm and the second camera on the right mechanical arm and the lidar s...
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The invention relates to a robot target positioning and grabbing method based on binocular vision and laser radar. The method is suitable for robots. The robot includes a robot body, a left mechanical arm, a right mechanical arm, The first camera on the upper arm, the second camera on the right mechanical arm and the lidar sensor on the robot body; including the following steps: a) identifying the target object; b) determining the position of the target object; c) determining the distance between the robot and the target object distance; d) control the robot to grab the target object. The invention comprehensively utilizes the high-precision characteristics of laser ranging and the integrity of visual information to realize the precise positioning and grasping of the target object by the robot and reduce the error rate of the robot arm grasping the target object.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a robot target positioning and grasping method based on binocular vision and laser radar. Background technique [0002] A robot is an automated machine with some intelligence similar to humans or other creatures, such as perception, planning, action, and coordination. It is an automated machine with high flexibility. Compared with fixed robots, intelligent mobile robots put more emphasis on the mobility of robots, thus facing a more complex and uncertain environment. With the development of computer technology and control technology, the level of intelligence of robots is getting higher and higher. They can complete some tasks autonomously in an unstructured environment, can identify target objects, and can reach the area where the target object is located after positioning. , grab the target object. [0003] At present, the autonomous identification, positioning and grasping of...
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IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/161B25J9/1697B25J19/022B25J19/023
Inventor 黄锋郭丽娟蒋圣超郭金明唐捷
Owner ELECTRIC POWER RES INST OF GUANGXI POWER GRID CO LTD