Fast automatic grabbing and placement method based on deep learning

A deep learning and fast technology, applied in neural learning methods, image analysis, program-controlled manipulators, etc., can solve problems such as inefficient processing, and achieve the effects of fast and convenient deployment, simple equipment, and low cost

Active Publication Date: 2021-01-26
HANGZHOU LANXIN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When dealing with some complex or irregular items, it cannot be processed efficiently

Method used

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  • Fast automatic grabbing and placement method based on deep learning
  • Fast automatic grabbing and placement method based on deep learning
  • Fast automatic grabbing and placement method based on deep learning

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Comparison scheme
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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] The present invention provides a fast automatic grasping and placement method based on deep learning, which specifically includes:

[0026] 1. Installation scheme. First install the robotic arm, and the 3D camera is installed above the side of the robotic arm. The field of view of the camera should overlap with the operating range of the robotic arm as much as possible, so as to maximize the operating space. Such as figure 1 shown. The robotic arm adopts a multi-axis robotic arm, which can complete various postures and spatial ranges. The 3D camera uses a structured light camera, which can accurately obtain color information and depth information in the field of view, and the error and noise of the depth information are small. If there is an unsatisfactory light situation, the scheme of placing a supplementary light above.

[0027] 2. Calib...

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PUM

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Abstract

The invention discloses a fast automatic grabbing and placing method based on deep learning. This method adopts a deep learning scheme, combined with GPU and 3D camera, can quickly and accurately determine the position and posture of the item. The present invention can obtain the transfer matrix from the coordinate system of the 3D camera to the coordinate system of the manipulator through the rapid calibration scheme. The transfer matrix can transform the position and posture of the item into the coordinate system of the manipulator, and then operate the manipulator to grab it. In order to accurately place the item in a specific way, the present invention performs secondary pose estimation on the item. The way of the second pose estimation is to first grab the object to the estimated position with a fixed pose. At this time, only the depth information is used to completely segment the item. It is then projected onto the placement plane. The information on the plane can be used for accurate pose estimation, which can be used for placement of the robotic arm.

Description

technical field [0001] The invention relates to the technical fields of computer vision, robotics, deep learning, artificial intelligence, and industrial automation, and in particular to a fast automatic grabbing and placing method based on deep learning. Background technique [0002] Industrial automation is of great significance to the improvement of production efficiency of industrial production lines, assembly lines, packaging lines, etc. With the rapid development of e-commerce and the increase of labor costs, industrial automation equipment and robots are used more and more widely. [0003] The current scenario where industrial robots are used is generally a multi-axis robotic arm. The automation method of the robotic arm is relatively simple. Generally, it can only handle specific and regular items, and can only grab and place items (parts, products, packaging boxes, etc.) according to the predetermined position and posture. When dealing with some complex or irregul...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06T7/80G06N3/04G06N3/08G06T3/00B25J9/16B25J9/10
CPCG06N3/08G06T3/0037G06T7/70G06T7/80B25J9/10B25J9/16B25J9/163G06N3/045
Inventor 时岭郑卫军高勇
Owner HANGZHOU LANXIN TECH CO LTD
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